Revision: 20369
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20369
Author: erwin
Date: 2009-05-24 00:35:47 +0200 (Sun, 24 May 2009)
Log Message:
-----------
Set default constraint solver mode more compatible to Blender 2.48 settings,
this fixes rigid body stacking in this blend file:
http://blenderartists.org/forum/showpost.php?p=1382653&postcount=102
(todo: expose this setting in World setting GUI)
Expose contact processing threshold in Advanced GUI, next to rigid body margin,
called CPT.
Default to 1, makes rigid body stacking a bit more stable, smaller values makes
sliding easier (at the cost of easier jittering).
Disabled for 'dynamic' objects that don't rotate, because characters etc.
always need smooth sliding.
Modified Paths:
--------------
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
trunk/blender/source/blender/blenkernel/intern/object.c
trunk/blender/source/blender/blenloader/intern/readfile.c
trunk/blender/source/blender/makesdna/DNA_object_types.h
trunk/blender/source/blender/src/buttons_logic.c
trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp
trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
Modified:
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
===================================================================
---
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
2009-05-23 22:19:25 UTC (rev 20368)
+++
trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
2009-05-23 22:35:47 UTC (rev 20369)
@@ -77,7 +77,7 @@
m_splitImpulsePenetrationThreshold = -0.02f;
m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85);
- m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD
;//SOLVER_RANDMIZE_ORDER
+ m_solverMode = SOLVER_USE_WARMSTARTING |
SOLVER_USE_2_FRICTION_DIRECTIONS |SOLVER_SIMD | SOLVER_RANDMIZE_ORDER;
m_restingContactRestitutionThreshold = 2;//resting contact
lifetime threshold to disable restitution
}
};
Modified: trunk/blender/source/blender/blenkernel/intern/object.c
===================================================================
--- trunk/blender/source/blender/blenkernel/intern/object.c 2009-05-23
22:19:25 UTC (rev 20368)
+++ trunk/blender/source/blender/blenkernel/intern/object.c 2009-05-23
22:35:47 UTC (rev 20369)
@@ -984,6 +984,8 @@
ob->anisotropicFriction[2] = 1.0f;
ob->gameflag= OB_PROP|OB_COLLISION;
ob->margin = 0.0;
+ /* ob->pad3 == Contact Processing Threshold */
+ ob->pad3 = 1.;
/* NT fluid sim defaults */
ob->fluidsimFlag = 0;
Modified: trunk/blender/source/blender/blenloader/intern/readfile.c
===================================================================
--- trunk/blender/source/blender/blenloader/intern/readfile.c 2009-05-23
22:19:25 UTC (rev 20368)
+++ trunk/blender/source/blender/blenloader/intern/readfile.c 2009-05-23
22:35:47 UTC (rev 20369)
@@ -8083,7 +8083,7 @@
/* Adjustments needed after Bullets update */
for(ob = main->object.first; ob; ob= ob->id.next) {
ob->damping *= 0.635f;
- ob->rdamping = 0.1 + (0.59f * ob->rdamping);
+ ob->rdamping = 0.1 + (0.8f * ob->rdamping);
}
}
@@ -8105,11 +8105,12 @@
wrld->occlusionRes = 128;
}
}
-
+
if (main->versionfile < 248 || (main->versionfile == 248 &&
main->subversionfile < 5)) {
Object *ob;
World *wrld;
for(ob = main->object.first; ob; ob= ob->id.next) {
+ ob->pad3 = 1.; //pad3 is used for
m_contactProcessingThreshold
if(ob->parent) {
/* check if top parent has compound shape set
and if yes, set this object
to compound shaper as well (was the
behaviour before, now it's optional) */
Modified: trunk/blender/source/blender/makesdna/DNA_object_types.h
===================================================================
--- trunk/blender/source/blender/makesdna/DNA_object_types.h 2009-05-23
22:19:25 UTC (rev 20368)
+++ trunk/blender/source/blender/makesdna/DNA_object_types.h 2009-05-23
22:35:47 UTC (rev 20369)
@@ -159,7 +159,7 @@
float margin;
float max_vel; /* clamp the maximum velocity 0.0 is disabled */
float min_vel; /* clamp the maximum velocity 0.0 is disabled */
- float pad3; /* clamp the maximum velocity 0.0 is disabled */
+ float pad3; /* pad3 is now used for m_contactProcessingThreshold, can
we still rename it? */
char dt, dtx;
char totcol; /* copy of mesh or curve or meta */
Modified: trunk/blender/source/blender/src/buttons_logic.c
===================================================================
--- trunk/blender/source/blender/src/buttons_logic.c 2009-05-23 22:19:25 UTC
(rev 20368)
+++ trunk/blender/source/blender/src/buttons_logic.c 2009-05-23 22:35:47 UTC
(rev 20369)
@@ -3198,11 +3198,17 @@
uiDefButF(block, NUM, 0, "Margin",
xco, yco, 180, 19, &ob->margin, 0.001,
1.0, 1, 0,
"Collision margin");
+
- yco -= 20;
if (ob->gameflag & OB_RIGID_BODY)
{
+ uiDefButF(block, NUM, 0, "CPT",
+ xco+180, yco, 180, 19, &ob->pad3, 0.00,
1., 1, 0,
+ "Contact Processing Threshold");
+
+ yco -= 20;
+
uiDefButBitI(block, TOG,
OB_LOCK_RIGID_BODY_X_AXIS, 0, "Lock X Axis",
xco, yco, 180, 19, &ob->gameflag2, 0,
0, 0, 0,
"Disable simulation of linear motion
along the X axis");
@@ -3226,8 +3232,9 @@
uiDefButBitI(block, TOG,
OB_LOCK_RIGID_BODY_Z_ROT_AXIS, 0, "Lock Z Rot Axis",
xco+=180, yco, 180, 19, &ob->gameflag2,
0, 0, 0, 0,
"Disable simulation of angular motion
along the Z axis");
- yco -= 20;
}
+
+ yco -= 20;
xco = 0;
uiBlockEndAlign(block);
@@ -3279,6 +3286,10 @@
uiDefButF(block, NUM, 0, "Margin",
xco, yco, 180, 19, &ob->margin, 0.0,
1.0, 1, 0,
"Collision margin");
+ uiDefButF(block, NUM, 0, "CPT",
+ xco+180, yco, 180, 19, &ob->pad3, 0.00, 1., 1,
0,
+ "Contact Processing Threshold");
+
}
yco -= 20;
xco = 0;
Modified: trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp
===================================================================
--- trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp
2009-05-23 22:19:25 UTC (rev 20368)
+++ trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp
2009-05-23 22:35:47 UTC (rev 20369)
@@ -1412,11 +1412,22 @@
objprop.m_isCompoundChild = isCompoundChild;
objprop.m_hasCompoundChildren = hasCompoundChildren;
objprop.m_margin = blenderobject->margin;
+
// ACTOR is now a separate feature
objprop.m_isactor = (blenderobject->gameflag & OB_ACTOR)!=0;
objprop.m_dyna = (blenderobject->gameflag & OB_DYNAMIC) != 0;
objprop.m_softbody = (blenderobject->gameflag & OB_SOFT_BODY) != 0;
objprop.m_angular_rigidbody = (blenderobject->gameflag & OB_RIGID_BODY)
!= 0;
+
+ ///contact processing threshold is only for rigid bodies and static
geometry, not 'dynamic'
+ if (objprop.m_angular_rigidbody || !objprop.m_dyna )
+ {
+ objprop.m_contactProcessingThreshold = blenderobject->pad3;
+ } else
+ {
+ objprop.m_contactProcessingThreshold = 0.f;
+ }
+
objprop.m_sensor = (blenderobject->gameflag & OB_SENSOR) != 0;
if (objprop.m_softbody)
@@ -1461,6 +1472,7 @@
objprop.m_soft_numclusteriterations=
blenderobject->bsoft->numclusteriterations; /* number of iterations to
refine collision clusters*/
objprop.m_soft_welding = blenderobject->bsoft->welding;
/* welding */
objprop.m_margin = blenderobject->bsoft->margin;
+ objprop.m_contactProcessingThreshold = 0.f;
} else
{
objprop.m_gamesoftFlag = OB_BSB_BENDING_CONSTRAINTS |
OB_BSB_SHAPE_MATCHING | OB_BSB_AERO_VPOINT;
@@ -1501,6 +1513,7 @@
objprop.m_soft_numclusteriterations= 16;
objprop.m_soft_welding = 0.f;
objprop.m_margin = 0.f;
+ objprop.m_contactProcessingThreshold = 0.f;
}
}
Modified: trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
2009-05-23 22:19:25 UTC (rev 20368)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
2009-05-23 22:35:47 UTC (rev 20369)
@@ -139,6 +139,8 @@
/////////////////////////
double m_margin;
+ float m_contactProcessingThreshold;
+
KX_BoundBoxClass m_boundclass;
union {
KX_BoxBounds box;
Modified: trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
2009-05-23 22:19:25 UTC (rev 20368)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
2009-05-23 22:35:47 UTC (rev 20369)
@@ -1103,6 +1103,8 @@
(isbulletdyna) ? short(CcdConstructionInfo::AllFilter) :
short(CcdConstructionInfo::AllFilter ^
CcdConstructionInfo::StaticFilter);
ci.m_bRigid = objprop->m_dyna && objprop->m_angular_rigidbody;
+
+ ci.m_contactProcessingThreshold =
objprop->m_contactProcessingThreshold;//todo: expose this in advanced settings,
just like margin, default to 10000 or so
ci.m_bSoft = objprop->m_softbody;
ci.m_bSensor = isbulletsensor;
MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
Modified:
trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
2009-05-23 22:19:25 UTC (rev 20368)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
2009-05-23 22:35:47 UTC (rev 20369)
@@ -519,6 +519,8 @@
{
body->setAngularFactor(0.f);
}
+
body->setContactProcessingThreshold(m_cci.m_contactProcessingThreshold);
+
}
if (m_object && m_cci.m_do_anisotropic)
{
Modified: trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
===================================================================
--- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
2009-05-23 22:19:25 UTC (rev 20368)
+++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
2009-05-23 22:35:47 UTC (rev 20369)
@@ -231,7 +231,8 @@
m_physicsEnv(0),
m_inertiaFactor(1.f),
m_do_anisotropic(false),
- m_anisotropicFriction(1.f,1.f,1.f)
+ m_anisotropicFriction(1.f,1.f,1.f),
+ m_contactProcessingThreshold(1e10)
{
}
@@ -317,6 +318,13 @@
btScalar m_fh_distance; ///< The range above the
surface where Fh is active.
bool m_fh_normal; ///< Should the object slide
off slopes?
float m_radius;//for fh backwards compatibility
+
+ ///m_contactProcessingThreshold allows to process contact points with
positive distance
+ ///normally only contacts with negative distance (penetration) are
solved
+ ///however, rigid body stacking is more stable when positive contacts
are still passed into the constraint solver
+ ///this might sometimes lead to collisions with 'internal edges' such
as a sliding character controller
+ ///so disable/set m_contactProcessingThreshold to zero for sliding
characters etc.
+ float m_contactProcessingThreshold;///< Process contacts with
positive distance in range [0..INF]
};
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