void PhysicsWorld::performTimestep(float seconds) { for (auto & body : m_rigidBodies) { body->applyForce({0.0f, -m_gravity * body->mass(), 0.0f}); body->integrateVelocities(seconds); body->updateWorldInertia(); } /** * Update broadphase */ for (auto & body : m_rigidBodies) { m_broadphase->setProxyBounds(*body->proxy(), body->bounds()); } m_broadphase->checkProximities(); m_narrowphase->updateContacts(); solve(); integrateTransforms(seconds); /** * Clear forces */ for (auto & body : m_rigidBodies) { body->setForce({}); } }
void btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep) { startProfiling(timeStep); if(0 != m_internalPreTickCallback) { (*m_internalPreTickCallback)(this, timeStep); } ///update aabbs information updateAabbs(); //static int frame=0; // printf("frame %d\n",frame++); ///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(); calculateSimulationIslands(); getSolverInfo().m_timeStep = timeStep; ///solve contact and other joint constraints solveConstraints(getSolverInfo()); ///CallbackTriggers(); calculateTimeOfImpacts(timeStep); btScalar toi = dispatchInfo.m_timeOfImpact; // if (toi < 1.f) // printf("toi = %f\n",toi); if (toi < 0.f) kdPrintf("toi = %f\n",toi); ///integrate transforms integrateTransforms(timeStep * toi); ///update vehicle simulation updateActions(timeStep); updateActivationState( timeStep ); if(0 != m_internalTickCallback) { (*m_internalTickCallback)(this, timeStep); } }
void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { BT_PROFILE("internalSingleStepSimulation"); if(0 != m_internalPreTickCallback) { (*m_internalPreTickCallback)(this, timeStep); } ///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(); if (getDispatchInfo().m_useContinuous) addSpeculativeContacts(timeStep); calculateSimulationIslands(); getSolverInfo().m_timeStep = timeStep; ///solve contact and other joint constraints solveConstraints(getSolverInfo()); ///CallbackTriggers(); ///integrate transforms integrateTransforms(timeStep); ///update vehicle simulation updateActions(timeStep); updateActivationState( timeStep ); if(0 != m_internalTickCallback) { (*m_internalTickCallback)(this, timeStep); } }
int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep, btScalar fixedSubSteps) { (void)fixedTimeStep; (void)maxSubSteps; (void)fixedSubSteps; ///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; }