Add split velocities into the DynamicsComponents
This commit is contained in:
Daniel Chappuis
parent
9afedae1a7
commit
81303fbaeb
|
|
@ -35,7 +35,8 @@ using namespace reactphysics3d;
|
|||
|
||||
// Constructor
|
||||
DynamicsComponents::DynamicsComponents(MemoryAllocator& allocator)
|
||||
:Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(bool)) {
|
||||
:Components(allocator, sizeof(Entity) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) + sizeof(Vector3) +
|
||||
sizeof(Vector3) + sizeof(Vector3) + sizeof(bool)) {
|
||||
|
||||
// Allocate memory for the components data
|
||||
allocate(INIT_NB_ALLOCATED_COMPONENTS);
|
||||
|
|
@ -59,7 +60,9 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) {
|
|||
Vector3* newAngularVelocities = reinterpret_cast<Vector3*>(newLinearVelocities + nbComponentsToAllocate);
|
||||
Vector3* newConstrainedLinearVelocities = reinterpret_cast<Vector3*>(newAngularVelocities + nbComponentsToAllocate);
|
||||
Vector3* newConstrainedAngularVelocities = reinterpret_cast<Vector3*>(newConstrainedLinearVelocities + nbComponentsToAllocate);
|
||||
bool* newIsAlreadyInIsland = reinterpret_cast<bool*>(newConstrainedAngularVelocities + nbComponentsToAllocate);
|
||||
Vector3* newSplitLinearVelocities = reinterpret_cast<Vector3*>(newConstrainedAngularVelocities + nbComponentsToAllocate);
|
||||
Vector3* newSplitAngularVelocities = reinterpret_cast<Vector3*>(newSplitLinearVelocities + nbComponentsToAllocate);
|
||||
bool* newIsAlreadyInIsland = reinterpret_cast<bool*>(newSplitAngularVelocities + nbComponentsToAllocate);
|
||||
|
||||
// If there was already components before
|
||||
if (mNbComponents > 0) {
|
||||
|
|
@ -70,6 +73,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) {
|
|||
memcpy(newAngularVelocities, mAngularVelocities, mNbComponents * sizeof(Vector3));
|
||||
memcpy(newConstrainedLinearVelocities, mConstrainedLinearVelocities, mNbComponents * sizeof(Vector3));
|
||||
memcpy(newConstrainedAngularVelocities, mConstrainedAngularVelocities, mNbComponents * sizeof(Vector3));
|
||||
memcpy(newSplitLinearVelocities, mSplitLinearVelocities, mNbComponents * sizeof(Vector3));
|
||||
memcpy(newSplitAngularVelocities, mSplitAngularVelocities, mNbComponents * sizeof(Vector3));
|
||||
memcpy(newIsAlreadyInIsland, mIsAlreadyInIsland, mNbComponents * sizeof(bool));
|
||||
|
||||
// Deallocate previous memory
|
||||
|
|
@ -82,6 +87,8 @@ void DynamicsComponents::allocate(uint32 nbComponentsToAllocate) {
|
|||
mAngularVelocities = newAngularVelocities;
|
||||
mConstrainedLinearVelocities = newConstrainedLinearVelocities;
|
||||
mConstrainedAngularVelocities = newConstrainedAngularVelocities;
|
||||
mSplitLinearVelocities = newSplitLinearVelocities;
|
||||
mSplitAngularVelocities = newSplitAngularVelocities;
|
||||
mIsAlreadyInIsland = newIsAlreadyInIsland;
|
||||
mNbAllocatedComponents = nbComponentsToAllocate;
|
||||
}
|
||||
|
|
@ -98,6 +105,8 @@ void DynamicsComponents::addComponent(Entity bodyEntity, bool isSleeping, const
|
|||
new (mAngularVelocities + index) Vector3(component.angularVelocity);
|
||||
new (mConstrainedLinearVelocities + index) Vector3(0, 0, 0);
|
||||
new (mConstrainedAngularVelocities + index) Vector3(0, 0, 0);
|
||||
new (mSplitLinearVelocities + index) Vector3(0, 0, 0);
|
||||
new (mSplitAngularVelocities + index) Vector3(0, 0, 0);
|
||||
mIsAlreadyInIsland[index] = false;
|
||||
|
||||
// Map the entity with the new component lookup index
|
||||
|
|
@ -121,6 +130,8 @@ void DynamicsComponents::moveComponentToIndex(uint32 srcIndex, uint32 destIndex)
|
|||
new (mAngularVelocities + destIndex) Vector3(mAngularVelocities[srcIndex]);
|
||||
new (mConstrainedLinearVelocities + destIndex) Vector3(mConstrainedLinearVelocities[srcIndex]);
|
||||
new (mConstrainedAngularVelocities + destIndex) Vector3(mConstrainedAngularVelocities[srcIndex]);
|
||||
new (mSplitLinearVelocities + destIndex) Vector3(mSplitLinearVelocities[srcIndex]);
|
||||
new (mSplitAngularVelocities + destIndex) Vector3(mSplitAngularVelocities[srcIndex]);
|
||||
mIsAlreadyInIsland[destIndex] = mIsAlreadyInIsland[srcIndex];
|
||||
|
||||
// Destroy the source component
|
||||
|
|
@ -146,6 +157,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) {
|
|||
Vector3 angularVelocity1(mAngularVelocities[index1]);
|
||||
Vector3 constrainedLinearVelocity1(mConstrainedLinearVelocities[index1]);
|
||||
Vector3 constrainedAngularVelocity1(mConstrainedAngularVelocities[index1]);
|
||||
Vector3 splitLinearVelocity1(mSplitLinearVelocities[index1]);
|
||||
Vector3 splitAngularVelocity1(mSplitAngularVelocities[index1]);
|
||||
bool isAlreadyInIsland1 = mIsAlreadyInIsland[index1];
|
||||
|
||||
// Destroy component 1
|
||||
|
|
@ -159,6 +172,8 @@ void DynamicsComponents::swapComponents(uint32 index1, uint32 index2) {
|
|||
new (mAngularVelocities + index2) Vector3(angularVelocity1);
|
||||
new (mConstrainedLinearVelocities + index2) Vector3(constrainedLinearVelocity1);
|
||||
new (mConstrainedAngularVelocities + index2) Vector3(constrainedAngularVelocity1);
|
||||
new (mSplitLinearVelocities + index2) Vector3(splitLinearVelocity1);
|
||||
new (mSplitAngularVelocities + index2) Vector3(splitAngularVelocity1);
|
||||
mIsAlreadyInIsland[index2] = isAlreadyInIsland1;
|
||||
|
||||
// Update the entity to component index mapping
|
||||
|
|
@ -183,4 +198,6 @@ void DynamicsComponents::destroyComponent(uint32 index) {
|
|||
mAngularVelocities[index].~Vector3();
|
||||
mConstrainedLinearVelocities[index].~Vector3();
|
||||
mConstrainedAngularVelocities[index].~Vector3();
|
||||
mSplitLinearVelocities[index].~Vector3();
|
||||
mSplitAngularVelocities[index].~Vector3();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -65,6 +65,12 @@ class DynamicsComponents : public Components {
|
|||
/// Array with the constrained angular velocity of each component
|
||||
Vector3* mConstrainedAngularVelocities;
|
||||
|
||||
/// Array with the split linear velocity of each component
|
||||
Vector3* mSplitLinearVelocities;
|
||||
|
||||
/// Array with the split angular velocity of each component
|
||||
Vector3* mSplitAngularVelocities;
|
||||
|
||||
/// Array with the boolean value to know if the body has already been added into an island
|
||||
bool* mIsAlreadyInIsland;
|
||||
|
||||
|
|
@ -120,6 +126,12 @@ class DynamicsComponents : public Components {
|
|||
/// Return the constrained angular velocity of an entity
|
||||
const Vector3& getConstrainedAngularVelocity(Entity bodyEntity) const;
|
||||
|
||||
/// Return the split linear velocity of an entity
|
||||
const Vector3& getSplitLinearVelocity(Entity bodyEntity) const;
|
||||
|
||||
/// Return the split angular velocity of an entity
|
||||
const Vector3& getSplitAngularVelocity(Entity bodyEntity) const;
|
||||
|
||||
/// Return true if the entity is already in an island
|
||||
bool getIsAlreadyInIsland(Entity bodyEntity) const;
|
||||
|
||||
|
|
@ -135,6 +147,12 @@ class DynamicsComponents : public Components {
|
|||
/// Set the constrained angular velocity of an entity
|
||||
void setConstrainedAngularVelocity(Entity bodyEntity, const Vector3& constrainedAngularVelocity);
|
||||
|
||||
/// Set the split linear velocity of an entity
|
||||
void setSplitLinearVelocity(Entity bodyEntity, const Vector3& splitLinearVelocity);
|
||||
|
||||
/// Set the split angular velocity of an entity
|
||||
void setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity);
|
||||
|
||||
/// Set the value to know if the entity is already in an island
|
||||
bool setIsAlreadyInIsland(Entity bodyEntity, bool isAlreadyInIsland);
|
||||
|
||||
|
|
@ -185,24 +203,37 @@ inline void DynamicsComponents::setAngularVelocity(Entity bodyEntity, const Vect
|
|||
}
|
||||
|
||||
// Return the constrained linear velocity of an entity
|
||||
inline const Vector3 &DynamicsComponents::getConstrainedLinearVelocity(Entity bodyEntity) const {
|
||||
inline const Vector3& DynamicsComponents::getConstrainedLinearVelocity(Entity bodyEntity) const {
|
||||
|
||||
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
|
||||
|
||||
// TODO : DELETE THIS
|
||||
uint testIndex = mMapEntityToComponentIndex[bodyEntity];
|
||||
|
||||
return mConstrainedLinearVelocities[mMapEntityToComponentIndex[bodyEntity]];
|
||||
}
|
||||
|
||||
// Return the constrained angular velocity of an entity
|
||||
inline const Vector3 &DynamicsComponents::getConstrainedAngularVelocity(Entity bodyEntity) const {
|
||||
inline const Vector3& DynamicsComponents::getConstrainedAngularVelocity(Entity bodyEntity) const {
|
||||
|
||||
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
|
||||
|
||||
return mConstrainedAngularVelocities[mMapEntityToComponentIndex[bodyEntity]];
|
||||
}
|
||||
|
||||
// Return the split linear velocity of an entity
|
||||
inline const Vector3& DynamicsComponents::getSplitLinearVelocity(Entity bodyEntity) const {
|
||||
|
||||
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
|
||||
|
||||
return mSplitLinearVelocities[mMapEntityToComponentIndex[bodyEntity]];
|
||||
}
|
||||
|
||||
// Return the split angular velocity of an entity
|
||||
inline const Vector3& DynamicsComponents::getSplitAngularVelocity(Entity bodyEntity) const {
|
||||
|
||||
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
|
||||
|
||||
return mSplitAngularVelocities[mMapEntityToComponentIndex[bodyEntity]];
|
||||
}
|
||||
|
||||
// Set the constrained linear velocity of an entity
|
||||
inline void DynamicsComponents::setConstrainedLinearVelocity(Entity bodyEntity, const Vector3& constrainedLinearVelocity) {
|
||||
|
||||
|
|
@ -219,6 +250,22 @@ inline void DynamicsComponents::setConstrainedAngularVelocity(Entity bodyEntity,
|
|||
mConstrainedAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = constrainedAngularVelocity;
|
||||
}
|
||||
|
||||
// Set the split linear velocity of an entity
|
||||
inline void DynamicsComponents::setSplitLinearVelocity(Entity bodyEntity, const Vector3& splitLinearVelocity) {
|
||||
|
||||
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
|
||||
|
||||
mSplitLinearVelocities[mMapEntityToComponentIndex[bodyEntity]] = splitLinearVelocity;
|
||||
}
|
||||
|
||||
// Set the split angular velocity of an entity
|
||||
inline void DynamicsComponents::setSplitAngularVelocity(Entity bodyEntity, const Vector3& splitAngularVelocity) {
|
||||
|
||||
assert(mMapEntityToComponentIndex.containsKey(bodyEntity));
|
||||
|
||||
mSplitAngularVelocities[mMapEntityToComponentIndex[bodyEntity]] = splitAngularVelocity;
|
||||
}
|
||||
|
||||
// Return true if the entity is already in an island
|
||||
inline bool DynamicsComponents::getIsAlreadyInIsland(Entity bodyEntity) const {
|
||||
|
||||
|
|
|
|||
|
|
@ -46,9 +46,7 @@ const decimal ContactSolver::SLOP = decimal(0.01);
|
|||
// Constructor
|
||||
ContactSolver::ContactSolver(MemoryManager& memoryManager, Islands& islands, BodyComponents& bodyComponents, DynamicsComponents& dynamicsComponents,
|
||||
ProxyShapeComponents& proxyShapeComponents, const WorldSettings& worldSettings)
|
||||
:mMemoryManager(memoryManager), mSplitLinearVelocities(nullptr),
|
||||
mSplitAngularVelocities(nullptr), mContactConstraints(nullptr),
|
||||
mContactPoints(nullptr),
|
||||
:mMemoryManager(memoryManager), mContactConstraints(nullptr), mContactPoints(nullptr),
|
||||
mIslands(islands), mAllContactManifolds(nullptr), mAllContactPoints(nullptr), mBodyComponents(bodyComponents),
|
||||
mDynamicsComponents(dynamicsComponents), mProxyShapeComponents(proxyShapeComponents), mIsSplitImpulseActive(true),
|
||||
mWorldSettings(worldSettings) {
|
||||
|
|
@ -109,8 +107,6 @@ void ContactSolver::initializeForIsland(uint islandIndex) {
|
|||
|
||||
assert(mIslands.bodyEntities[islandIndex].size() > 0);
|
||||
assert(mIslands.nbContactManifolds[islandIndex] > 0);
|
||||
assert(mSplitLinearVelocities != nullptr);
|
||||
assert(mSplitAngularVelocities != nullptr);
|
||||
|
||||
// For each contact manifold of the island
|
||||
uint contactManifoldsIndex = mIslands.contactManifoldsIndices[islandIndex];
|
||||
|
|
@ -574,10 +570,10 @@ void ContactSolver::solve() {
|
|||
if (mIsSplitImpulseActive) {
|
||||
|
||||
// Split impulse (position correction)
|
||||
const Vector3& v1Split = mSplitLinearVelocities[mContactConstraints[c].indexBody1];
|
||||
const Vector3& w1Split = mSplitAngularVelocities[mContactConstraints[c].indexBody1];
|
||||
const Vector3& v2Split = mSplitLinearVelocities[mContactConstraints[c].indexBody2];
|
||||
const Vector3& w2Split = mSplitAngularVelocities[mContactConstraints[c].indexBody2];
|
||||
const Vector3& v1Split = mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1];
|
||||
const Vector3& w1Split = mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1];
|
||||
const Vector3& v2Split = mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2];
|
||||
const Vector3& w2Split = mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2];
|
||||
|
||||
//Vector3 deltaVSplit = v2Split + w2Split.cross(mContactPoints[contactPointIndex].r2) - v1Split - w1Split.cross(mContactPoints[contactPointIndex].r1);
|
||||
Vector3 deltaVSplit(v2Split.x + w2Split.y * mContactPoints[contactPointIndex].r2.z - w2Split.z * mContactPoints[contactPointIndex].r2.y - v1Split.x -
|
||||
|
|
@ -602,22 +598,22 @@ void ContactSolver::solve() {
|
|||
mContactPoints[contactPointIndex].normal.z * deltaLambdaSplit);
|
||||
|
||||
// Update the velocities of the body 1 by applying the impulse P
|
||||
mSplitLinearVelocities[mContactConstraints[c].indexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulse.x;
|
||||
mSplitLinearVelocities[mContactConstraints[c].indexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulse.y;
|
||||
mSplitLinearVelocities[mContactConstraints[c].indexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulse.z;
|
||||
mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactConstraints[c].massInverseBody1 * linearImpulse.x;
|
||||
mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactConstraints[c].massInverseBody1 * linearImpulse.y;
|
||||
mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactConstraints[c].massInverseBody1 * linearImpulse.z;
|
||||
|
||||
mSplitAngularVelocities[mContactConstraints[c].indexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * deltaLambdaSplit;
|
||||
mSplitAngularVelocities[mContactConstraints[c].indexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * deltaLambdaSplit;
|
||||
mSplitAngularVelocities[mContactConstraints[c].indexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * deltaLambdaSplit;
|
||||
mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].x -= mContactPoints[contactPointIndex].i1TimesR1CrossN.x * deltaLambdaSplit;
|
||||
mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].y -= mContactPoints[contactPointIndex].i1TimesR1CrossN.y * deltaLambdaSplit;
|
||||
mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody1].z -= mContactPoints[contactPointIndex].i1TimesR1CrossN.z * deltaLambdaSplit;
|
||||
|
||||
// Update the velocities of the body 1 by applying the impulse P
|
||||
mSplitLinearVelocities[mContactConstraints[c].indexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulse.x;
|
||||
mSplitLinearVelocities[mContactConstraints[c].indexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulse.y;
|
||||
mSplitLinearVelocities[mContactConstraints[c].indexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulse.z;
|
||||
mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactConstraints[c].massInverseBody2 * linearImpulse.x;
|
||||
mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactConstraints[c].massInverseBody2 * linearImpulse.y;
|
||||
mDynamicsComponents.mSplitLinearVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactConstraints[c].massInverseBody2 * linearImpulse.z;
|
||||
|
||||
mSplitAngularVelocities[mContactConstraints[c].indexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * deltaLambdaSplit;
|
||||
mSplitAngularVelocities[mContactConstraints[c].indexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * deltaLambdaSplit;
|
||||
mSplitAngularVelocities[mContactConstraints[c].indexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * deltaLambdaSplit;
|
||||
mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].x += mContactPoints[contactPointIndex].i2TimesR2CrossN.x * deltaLambdaSplit;
|
||||
mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].y += mContactPoints[contactPointIndex].i2TimesR2CrossN.y * deltaLambdaSplit;
|
||||
mDynamicsComponents.mSplitAngularVelocities[mContactConstraints[c].dynamicsComponentIndexBody2].z += mContactPoints[contactPointIndex].i2TimesR2CrossN.z * deltaLambdaSplit;
|
||||
}
|
||||
|
||||
contactPointIndex++;
|
||||
|
|
|
|||
|
|
@ -291,14 +291,6 @@ class ContactSolver {
|
|||
/// Memory manager
|
||||
MemoryManager& mMemoryManager;
|
||||
|
||||
/// Split linear velocities for the position contact solver (split impulse)
|
||||
// TODO : Use List<> here
|
||||
Vector3* mSplitLinearVelocities;
|
||||
|
||||
/// Split angular velocities for the position contact solver (split impulse)
|
||||
// TODO : Use List<> here
|
||||
Vector3* mSplitAngularVelocities;
|
||||
|
||||
/// Current time step
|
||||
decimal mTimeStep;
|
||||
|
||||
|
|
@ -388,10 +380,6 @@ class ContactSolver {
|
|||
/// Initialize the constraint solver for a given island
|
||||
void initializeForIsland(uint islandIndex);
|
||||
|
||||
/// Set the split velocities arrays
|
||||
void setSplitVelocitiesArrays(Vector3* splitLinearVelocities,
|
||||
Vector3* splitAngularVelocities);
|
||||
|
||||
/// Store the computed impulses to use them to
|
||||
/// warm start the solver at the next iteration
|
||||
void storeImpulses();
|
||||
|
|
@ -413,17 +401,6 @@ class ContactSolver {
|
|||
#endif
|
||||
};
|
||||
|
||||
// Set the split velocities arrays
|
||||
inline void ContactSolver::setSplitVelocitiesArrays(Vector3* splitLinearVelocities,
|
||||
Vector3* splitAngularVelocities) {
|
||||
|
||||
assert(splitLinearVelocities != nullptr);
|
||||
assert(splitAngularVelocities != nullptr);
|
||||
|
||||
mSplitLinearVelocities = splitLinearVelocities;
|
||||
mSplitAngularVelocities = splitAngularVelocities;
|
||||
}
|
||||
|
||||
// Return true if the split impulses position correction technique is used for contacts
|
||||
inline bool ContactSolver::isSplitImpulseActive() const {
|
||||
return mIsSplitImpulseActive;
|
||||
|
|
|
|||
|
|
@ -56,7 +56,7 @@ DynamicsWorld::DynamicsWorld(const Vector3& gravity, const WorldSettings& worldS
|
|||
mNbPositionSolverIterations(mConfig.defaultPositionSolverNbIterations),
|
||||
mIsSleepingEnabled(mConfig.isSleepingEnabled), mRigidBodies(mMemoryManager.getPoolAllocator()),
|
||||
mJoints(mMemoryManager.getPoolAllocator()), mGravity(gravity), mTimeStep(decimal(1.0f / 60.0f)),
|
||||
mIsGravityEnabled(true), mSplitLinearVelocities(nullptr), mSplitAngularVelocities(nullptr), mConstrainedPositions(nullptr),
|
||||
mIsGravityEnabled(true), mConstrainedPositions(nullptr),
|
||||
mConstrainedOrientations(nullptr), mSleepLinearVelocity(mConfig.defaultSleepLinearVelocity),
|
||||
mSleepAngularVelocity(mConfig.defaultSleepAngularVelocity), mTimeBeforeSleep(mConfig.defaultTimeBeforeSleep),
|
||||
mFreeJointsIDs(mMemoryManager.getPoolAllocator()), mCurrentJointId(0) {
|
||||
|
|
@ -187,8 +187,8 @@ void DynamicsWorld::integrateRigidBodiesPositions() {
|
|||
// to update the position)
|
||||
if (mContactSolver.isSplitImpulseActive()) {
|
||||
|
||||
newLinVelocity += mSplitLinearVelocities[indexArray];
|
||||
newAngVelocity += mSplitAngularVelocities[indexArray];
|
||||
newLinVelocity += mDynamicsComponents.getSplitLinearVelocity(bodyEntity);
|
||||
newAngVelocity += mDynamicsComponents.getSplitAngularVelocity(bodyEntity);
|
||||
}
|
||||
|
||||
// Get current position and orientation of the body
|
||||
|
|
@ -259,16 +259,10 @@ void DynamicsWorld::initVelocityArrays() {
|
|||
|
||||
assert(mDynamicsComponents.getNbComponents() == nbBodies);
|
||||
|
||||
mSplitLinearVelocities = static_cast<Vector3*>(mMemoryManager.allocate(MemoryManager::AllocationType::Frame,
|
||||
nbBodies * sizeof(Vector3)));
|
||||
mSplitAngularVelocities = static_cast<Vector3*>(mMemoryManager.allocate(MemoryManager::AllocationType::Frame,
|
||||
nbBodies * sizeof(Vector3)));
|
||||
mConstrainedPositions = static_cast<Vector3*>(mMemoryManager.allocate(MemoryManager::AllocationType::Frame,
|
||||
nbBodies * sizeof(Vector3)));
|
||||
mConstrainedOrientations = static_cast<Quaternion*>(mMemoryManager.allocate(MemoryManager::AllocationType::Frame,
|
||||
nbBodies * sizeof(Quaternion)));
|
||||
assert(mSplitLinearVelocities != nullptr);
|
||||
assert(mSplitAngularVelocities != nullptr);
|
||||
assert(mConstrainedPositions != nullptr);
|
||||
assert(mConstrainedOrientations != nullptr);
|
||||
|
||||
|
|
@ -276,13 +270,19 @@ void DynamicsWorld::initVelocityArrays() {
|
|||
uint i = 0;
|
||||
for (List<RigidBody*>::Iterator it = mRigidBodies.begin(); it != mRigidBodies.end(); ++it) {
|
||||
|
||||
mSplitLinearVelocities[i].setToZero();
|
||||
mSplitAngularVelocities[i].setToZero();
|
||||
|
||||
(*it)->mArrayIndex = i++;
|
||||
}
|
||||
}
|
||||
|
||||
// Reset the split velocities of the bodies
|
||||
void DynamicsWorld::resetSplitVelocities() {
|
||||
|
||||
for(uint32 i=0; i < mDynamicsComponents.getNbEnabledComponents(); i++) {
|
||||
mDynamicsComponents.mSplitLinearVelocities[i].setToZero();
|
||||
mDynamicsComponents.mSplitAngularVelocities[i].setToZero();
|
||||
}
|
||||
}
|
||||
|
||||
// Integrate the velocities of rigid bodies.
|
||||
/// This method only set the temporary velocities but does not update
|
||||
/// the actual velocitiy of the bodies. The velocities updated in this method
|
||||
|
|
@ -295,6 +295,9 @@ void DynamicsWorld::integrateRigidBodiesVelocities() {
|
|||
// Initialize the bodies velocity arrays
|
||||
initVelocityArrays();
|
||||
|
||||
// Reset the split velocities of the bodies
|
||||
resetSplitVelocities();
|
||||
|
||||
// TODO : We should loop over non-sleeping dynamic components here and not over islands
|
||||
|
||||
// For each island of the world
|
||||
|
|
@ -309,8 +312,8 @@ void DynamicsWorld::integrateRigidBodiesVelocities() {
|
|||
|
||||
const uint indexBody = body->mArrayIndex;
|
||||
|
||||
assert(mSplitLinearVelocities[indexBody] == Vector3(0, 0, 0));
|
||||
assert(mSplitAngularVelocities[indexBody] == Vector3(0, 0, 0));
|
||||
assert(mDynamicsComponents.getSplitLinearVelocity(bodyEntity) == Vector3(0, 0, 0));
|
||||
assert(mDynamicsComponents.getSplitAngularVelocity(bodyEntity) == Vector3(0, 0, 0));
|
||||
assert(indexBody < mRigidBodies.size());
|
||||
|
||||
// Integrate the external force to get the new velocity of the body
|
||||
|
|
@ -356,7 +359,6 @@ void DynamicsWorld::solveContactsAndConstraints() {
|
|||
RP3D_PROFILE("DynamicsWorld::solveContactsAndConstraints()", mProfiler);
|
||||
|
||||
// Set the velocities arrays
|
||||
mContactSolver.setSplitVelocitiesArrays(mSplitLinearVelocities, mSplitAngularVelocities);
|
||||
mConstraintSolver.setConstrainedPositionsArrays(mConstrainedPositions,
|
||||
mConstrainedOrientations);
|
||||
|
||||
|
|
|
|||
|
|
@ -88,14 +88,6 @@ class DynamicsWorld : public CollisionWorld {
|
|||
/// True if the gravity force is on
|
||||
bool mIsGravityEnabled;
|
||||
|
||||
// TODO : Move this into dynamic components
|
||||
/// Split linear velocities for the position contact solver (split impulse)
|
||||
Vector3* mSplitLinearVelocities;
|
||||
|
||||
// TODO : Move this into dynamic components
|
||||
/// Split angular velocities for the position contact solver (split impulse)
|
||||
Vector3* mSplitAngularVelocities;
|
||||
|
||||
/// Array of constrained rigid bodies position (for position error correction)
|
||||
Vector3* mConstrainedPositions;
|
||||
|
||||
|
|
@ -129,6 +121,9 @@ class DynamicsWorld : public CollisionWorld {
|
|||
/// Initialize the bodies velocities arrays for the next simulation step.
|
||||
void initVelocityArrays();
|
||||
|
||||
/// Reset the split velocities of the bodies
|
||||
void resetSplitVelocities();
|
||||
|
||||
/// Integrate the velocities of rigid bodies.
|
||||
void integrateRigidBodiesVelocities();
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user