int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
{
(void)fixedTimeStep;
(void)maxSubSteps;
///apply gravity, predict motion
predictUnconstraintMotion(timeStep);
btDispatcherInfo& dispatchInfo = getDispatchInfo();
dispatchInfo.m_timeStep = timeStep;
dispatchInfo.m_stepCount = 0;
dispatchInfo.m_debugDraw = getDebugDrawer();
///perform collision detection
performDiscreteCollisionDetection();
///solve contact constraints
int numManifolds = m_dispatcher1->getNumManifolds();
if (numManifolds)
{
btPersistentManifold** manifoldPtr = ((btCollisionDispatcher*)m_dispatcher1)->getInternalManifoldPointer();
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
m_constraintSolver->prepareSolve(0,numManifolds);
m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
}
///integrate transforms
integrateTransforms(timeStep);
updateAabbs();
synchronizeMotionStates();
clearForces();
return 1;
}
void Particle::integrate(fseconds duration) {
// don't move objects that have "infinite mass."
if (invMass <= 0.0f) {
return;
}
//update velocity using Verlet
vel = vel + 1.0f/2.0f*acc*duration.count();
// update position using Velocity Verlet
pos = pos + vel * duration.count();
vec3 resultantAcc = (pos+duration.count())-(2.0f*pos+pos)-(duration.count());
// update velocity using Velocity Verlet
vel = vel + 1.0f/2.0f*resultantAcc*duration.count();
// incorporate damping
vel = vel * damping;
clearForces();
}
void Particle::integrate(fseconds duration) {
// don't move objects that have "infinite mass."
if (invMass <= 0.0f) {
return;
}
// update position using Euler integration
pos = pos + duration.count() * vel;
vec3 resultantAcc = acc;
resultantAcc = resultantAcc + (invMass * accumulatedForces);
// update velocity using Euler integration
vel = vel + duration.count() * resultantAcc;
// incorporate damping
vel = vel * damping;
clearForces();
}
void Solver::Solve(double dt)
{
for (int i = 0; i < ray.size(); i++)
ray[i]->setAABB();
if (applyg)
applyg(body);
else
applyG();
BPT.Start();
bp.sort();
BPT.End();
NPT.Start();
checkCol();
NPT.End();
applyForces(dt);
SLT.Start();
solveVelocities(dt);
SLT.End();
MVT.Start();
solvePositions(dt);
MVT.End();
clearForces();
}
int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, btScalar fixedTimeStep)
{
startProfiling(timeStep);
BT_PROFILE("stepSimulation");
int numSimulationSubSteps = 0;
if (maxSubSteps)
{
//fixed timestep with interpolation
m_localTime += timeStep;
if (m_localTime >= fixedTimeStep)
{
numSimulationSubSteps = int( m_localTime / fixedTimeStep);
m_localTime -= numSimulationSubSteps * fixedTimeStep;
}
} else
{
//variable timestep
fixedTimeStep = timeStep;
m_localTime = timeStep;
if (btFuzzyZero(timeStep))
{
numSimulationSubSteps = 0;
maxSubSteps = 0;
} else
{
numSimulationSubSteps = 1;
maxSubSteps = 1;
}
}
//process some debugging flags
if (getDebugDrawer())
{
btIDebugDraw* debugDrawer = getDebugDrawer ();
gDisableDeactivation = (debugDrawer->getDebugMode() & btIDebugDraw::DBG_NoDeactivation) != 0;
}
if (numSimulationSubSteps)
{
//clamp the number of substeps, to prevent simulation grinding spiralling down to a halt
int clampedSimulationSteps = (numSimulationSubSteps > maxSubSteps)? maxSubSteps : numSimulationSubSteps;
saveKinematicState(fixedTimeStep*clampedSimulationSteps);
applyGravity();
for (int i=0;i<clampedSimulationSteps;i++)
{
internalSingleStepSimulation(fixedTimeStep);
synchronizeMotionStates();
}
} else
{
synchronizeMotionStates();
}
clearForces();
#ifndef BT_NO_PROFILE
CProfileManager::Increment_Frame_Counter();
#endif //BT_NO_PROFILE
return numSimulationSubSteps;
}
int b3GpuDynamicsWorld::stepSimulation( btScalar timeStepUnused, int maxSubStepsUnused, btScalar fixedTimeStep)
{
///Don't use more than 1 simulation step, it destroys the performance having to copy the data between CPU and GPU multiple times per frame
///Please use the CPU version in btDiscreteDynamicsWorld if you don't like this
#ifndef BT_NO_PROFILE
CProfileManager::Reset();
#endif //BT_NO_PROFILE
BT_PROFILE("stepSimulation");
{
BT_PROFILE("sync constraints CPU");
//todo: determine what data has changed, or perform copy on GPU?
for (int i=0;i<m_constraints.size();i++)
{
btTypedConstraint* constraint = m_constraints[i];
b3TypedConstraint* c = (b3TypedConstraint*) constraint->getUserConstraintPtr();
if (c)
{
switch (constraint->getConstraintType())
{
case POINT2POINT_CONSTRAINT_TYPE:
{
btPoint2PointConstraint* p2 = (btPoint2PointConstraint*) constraint;
b3Point2PointConstraint* p3 = (b3Point2PointConstraint*) c;
p3->setPivotA((const b3Vector3&)p2->getPivotInA());
p3->setPivotB((const b3Vector3&)p2->getPivotInB());
p3->m_setting.m_damping = p2->m_setting.m_damping;
p3->m_setting.m_impulseClamp = p2->m_setting.m_impulseClamp;
p3->m_setting.m_tau = p2->m_setting.m_tau;
break;
};
case D6_CONSTRAINT_TYPE:
{
btGeneric6DofConstraint* dof2 = (btGeneric6DofConstraint*) constraint;
b3Generic6DofConstraint* dof3 = (b3Generic6DofConstraint*) c;
const b3RigidBodyCL* bodiesCL = m_np->getBodiesCpu();
b3Transform frameInA = (b3Transform&) dof2->getFrameOffsetA();
b3Transform frameInB = (b3Transform&) dof2->getFrameOffsetB();
dof3->setFrames(frameInA,frameInB,bodiesCL);
break;
}
default:
{
}
};
}
}
}
// detect any change (very simple)
{
BT_PROFILE("body update revision detection (CPU)");
#ifdef BT_USE_BODY_UPDATE_REVISION
b3Assert(m_bodyUpdateRevisions.size() == m_collisionObjects.size());
b3Assert(m_np->getNumRigidBodies() == m_bodyUpdateRevisions.size());
#endif //BT_USE_BODY_UPDATE_REVISION
for (int i=0;i<this->m_collisionObjects.size();i++)
{
if (i>=m_np->getNumRigidBodies())
{
b3Error("bodiesCL out-of-range\n");
continue;
}
#ifdef BT_USE_BODY_UPDATE_REVISION
if (m_bodyUpdateRevisions[i] != m_collisionObjects[i]->getUpdateRevisionInternal())
#endif//BT_USE_BODY_UPDATE_REVISION
{
m_cpuGpuSync = true;
#ifdef BT_USE_BODY_UPDATE_REVISION
m_bodyUpdateRevisions[i] = m_collisionObjects[i]->getUpdateRevisionInternal();
#endif
btRigidBody* body = btRigidBody::upcast(m_collisionObjects[i]);
if (body)
{
b3Vector3 pos = (const b3Vector3&)m_collisionObjects[i]->getWorldTransform().getOrigin();
btQuaternion orn2 = m_collisionObjects[i]->getWorldTransform().getRotation();
b3Quaternion orn(orn2[0],orn2[1],orn2[2],orn2[3]);
body->integrateVelocities(fixedTimeStep);
m_np->setObjectTransformCpu(&pos[0],&orn[0],i);
b3Vector3 linVel = (const b3Vector3&)body->getLinearVelocity();
b3Vector3 angVel = (const b3Vector3&)body->getAngularVelocity();
m_np->setObjectVelocityCpu(&linVel[0],&angVel[0],i);
}
}
}
}
if (m_cpuGpuSync)
{
BT_PROFILE("cpuGpuSync");
m_cpuGpuSync = false;
m_np->writeAllBodiesToGpu();
m_bp->writeAabbsToGpu();
m_rigidBodyPipeline->writeAllInstancesToGpu();
}
//internalSingleStepSimulation(fixedTimeStep);
// dispatch preTick callback
if(0 != m_internalPreTickCallback)
{
BT_PROFILE("internalPreTickCallback");
(*m_internalPreTickCallback)(this, fixedTimeStep);
}
{
BT_PROFILE("m_rigidBodyPipeline->stepSimulation");
m_rigidBodyPipeline->stepSimulation(fixedTimeStep);
}
{
BT_PROFILE("readbackBodiesToCpu");
//now copy info back to rigid bodies....
m_np->readbackAllBodiesToCpu();
}
{
BT_PROFILE("scatter transforms into rigidbody (CPU)");
const b3RigidBodyCL* bodiesCL = m_np->getBodiesCpu();
for (int i=0;i<this->m_collisionObjects.size();i++)
{
btVector3 pos;
btQuaternion orn;
if (m_np->getObjectTransformFromCpu(&pos[0],&orn[0],i))
{
btTransform newTrans;
newTrans.setOrigin(pos);
newTrans.setRotation(orn);
btCollisionObject* colObj = this->m_collisionObjects[i];
colObj->setWorldTransform(newTrans);
btRigidBody* body = btRigidBody::upcast(m_collisionObjects[i]);
if (body)
{
body->setLinearVelocity((btVector3&)bodiesCL[i].m_linVel);
body->setAngularVelocity((btVector3&)bodiesCL[i].m_angVel);
}
}
#ifdef BT_USE_BODY_UPDATE_REVISION
//ignore this revision update
m_bodyUpdateRevisions[i] = m_collisionObjects[i]->getUpdateRevisionInternal();
#endif //BT_USE_BODY_UPDATE_REVISION
}
{
BT_PROFILE("synchronizeMotionStates");
synchronizeMotionStates();
}
}
clearForces();
#ifndef B3_NO_PROFILE
CProfileManager::Increment_Frame_Counter();
#endif //B3_NO_PROFILE
return 1;
}
MainWindow::MainWindow(QDesktopWidget * d):QMainWindow()
{
this->setMinimumSize(d->availableGeometry().width()/1.15, d->availableGeometry().height()/1.25);
this->setDockNestingEnabled(false);
this->setDockOptions(NULL);
this->setCorner(Qt::TopLeftCorner, Qt::LeftDockWidgetArea);
this->setCorner(Qt::BottomLeftCorner, Qt::LeftDockWidgetArea);
this->setCorner(Qt::TopRightCorner, Qt::RightDockWidgetArea);
this->setCorner(Qt::BottomRightCorner, Qt::RightDockWidgetArea);
databackend=new DataBackend();
databackend->setDataInserter(new ChangeFactory(databackend));
databrowser=new DataBrowser(databackend,d);
dataeditor=new DataEditor(databackend,d);
QObject::connect(databrowser,SIGNAL(editObject(QString)),dataeditor,SLOT(loadObject(QString)));
QObject::connect(databrowser,SIGNAL(editForce(QString)),dataeditor,SLOT(loadForce(QString)));
QObject::connect(databrowser,SIGNAL(editMacro(QString)),dataeditor,SLOT(loadMacro(QString)));
QObject::connect(databrowser,SIGNAL(editConstant(QString)),dataeditor,SLOT(loadConstant(QString)));
QObject::connect(databrowser,SIGNAL(deleteObject(QString)),dataeditor,SLOT(loadBlank()));
QObject::connect(databrowser,SIGNAL(deleteForce(QString)),dataeditor,SLOT(loadBlank()));
QObject::connect(databrowser,SIGNAL(deleteMacro(QString)),dataeditor,SLOT(loadBlank()));
QObject::connect(databrowser,SIGNAL(deleteConstant(QString)),dataeditor,SLOT(loadBlank()));
simcontrol=new SimulationControl(databackend);
openglpane=new GLDrawPane(databackend,d);
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), openglpane, SLOT(updateGL()));
connect(qApp, SIGNAL(lastWindowClosed()),timer,SLOT(stop()));
timer -> start(15);
this->setCentralWidget(openglpane);
this->addDockWidget(Qt::RightDockWidgetArea, databrowser);
this->addDockWidget(Qt::RightDockWidgetArea, dataeditor);
this->addDockWidget(Qt::BottomDockWidgetArea, simcontrol);
QMenu * fileMenu = this->menuBar()->addMenu(tr("File"));
QMenu * newMenu=fileMenu->addMenu("New Project");
newMenu->addAction("Blank Project",databackend,SLOT(newFromBlank()),QKeySequence("Ctrl+N"));
newMenu->addAction("From Default",databackend,SLOT(newFromDefault()),QKeySequence("Ctrl+Shift+N"));
fileMenu->addAction("Open Project",databackend,SLOT(load()),QKeySequence("Ctrl+O"));
fileMenu->addAction("Save Project",databackend,SLOT(save()),QKeySequence("Ctrl+S"));
fileMenu->addAction("Save Project As",databackend,SLOT(saveAs()),QKeySequence("Ctrl+Shift+S"));
fileMenu->addAction("Exit",databackend, SLOT(quit()));
QMenu * editMenu = this->menuBar()->addMenu(tr("Edit"));
QAction * undo=databackend->getUndoStack()->createUndoAction(this);
undo->setShortcut(QKeySequence(QKeySequence::Undo));
editMenu->addAction(undo);
QAction * redo=databackend->getUndoStack()->createRedoAction(this);
redo->setShortcut(QKeySequence(QKeySequence::Redo));
editMenu->addAction(redo);
QMenu * viewMenu = this->menuBar()->addMenu(tr("View"));
QMenu * cameraMenu=viewMenu->addMenu("Camera Presets");
cameraMenu->addAction("Isometric",this,SLOT(view_setIsometric()));
cameraMenu->addAction("View XY Plane",this,SLOT(view_setXY()));
cameraMenu->addAction("View XZ Plane",this,SLOT(view_setXZ()));
cameraMenu->addAction("View YZ Plane",this,SLOT(view_setYZ()));
QMenu * zoomMenu=viewMenu->addMenu("Zoom");
QActionGroup * zoomGroup=new QActionGroup(NULL);
zoomGroup->addAction(zoomMenu->addAction("10%",this,SLOT(view_zoom10())))->setCheckable(true);
zoomGroup->addAction(zoomMenu->addAction("50%",this,SLOT(view_zoom50())))->setCheckable(true);
zoomGroup->addAction(zoomMenu->addAction("100%",this,SLOT(view_zoom100())))->setCheckable(true);
zoomGroup->addAction(zoomMenu->addAction("150%",this,SLOT(view_zoom150())))->setCheckable(true);
zoomGroup->addAction(zoomMenu->addAction("200%",this,SLOT(view_zoom200())))->setCheckable(true);
view_zoom50();
viewMenu->addSeparator();
viewMenu->addAction(databrowser->toggleViewAction());
viewMenu->addAction(dataeditor->toggleViewAction());
viewMenu->addAction(simcontrol->toggleViewAction());
QMenu * simulationMenu = this->menuBar()->addMenu(tr("Simulation"));
simulationMenu->addAction("Run",simcontrol->getStepEngine(),SLOT(startPull()),QKeySequence("Ctrl+R"));
simulationMenu->addAction("Pause",simcontrol->getStepEngine(),SLOT(stopPull()),QKeySequence("Ctrl+P"));
simulationMenu->addAction("Reset to Initial Conditions",databackend->getUndoStack(),SLOT(undo()),QKeySequence("Ctrl+Shift+R"));
QAction * a=simulationMenu->addAction("Warn Before Clearing Undo Stack");
a->setCheckable(true);
a->setChecked(true);
QObject::connect(a,SIGNAL(toggled(bool)),databackend,SLOT(setWarning(bool)));
QMenu * dataMenu = this->menuBar()->addMenu(tr("Data"));
dataMenu->addAction("Clear All Objects",databackend->getDataInserter(),SLOT(clearObjects()));
dataMenu->addAction("Clear All Forces",databackend->getDataInserter(),SLOT(clearForces()));
dataMenu->addAction("Clear All Macros",databackend->getDataInserter(),SLOT(clearMacros()));
dataMenu->addAction("Clear All Constants",databackend->getDataInserter(),SLOT(clearConstants()));
QMenu * helpMenu = this->menuBar()->addMenu(tr("Help"));
helpMenu->addAction("Manual",this,SLOT(showManual()));
helpMenu->addAction("About",this,SLOT(showAbout()));
}
void preTick(const FrameEvent& evt)
{
clearForces();
}