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Added physics sleep, fixed stack overflows

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This commit is contained in:
Vulpovile
2022-10-05 07:39:19 -07:00
parent 618a3eeec0
commit 79e8a9738e
2 changed files with 36 additions and 6 deletions
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4
src/source/Application.cpp
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@@ -343,9 +343,9 @@ void Application::onSimulation(RealTime rdt, SimTime sdt, SimTime idt) {
p->setParent(NULL);
delete p;
}
for(int i = 0; i < 6; i++)
for(int i = 0; i < 10; i++)
{
_dataModel->getEngine()->step(0.1F);
_dataModel->getEngine()->step(0.05F);
}
onLogic();

38
src/source/XplicitNgine/XplicitNgine.cpp
View File

@@ -16,6 +16,10 @@ XplicitNgine::XplicitNgine()
contactgroup = dJointGroupCreate(0);
dWorldSetGravity(physWorld, 0, -0.5, 0);
dWorldSetAutoDisableFlag(physWorld, 1);
dWorldSetAutoDisableLinearThreshold(physWorld, 0.05F);
dWorldSetAutoDisableAngularThreshold(physWorld, 0.05F);
dWorldSetAutoDisableSteps(physWorld, 400);
this->name = "PhysicsService";
//dGeomID ground_geom = dCreatePlane(physSpace, 0, 1, 0, 0);
@@ -70,8 +74,30 @@ void XplicitNgine::deleteBody(PartInstance* partInstance)
{
if(partInstance->physBody != NULL)
{
while(dBodyGetNumJoints(partInstance->physBody) > 0) {
dJointDestroy(dBodyGetJoint(partInstance->physBody, 0));
dBodyEnable(partInstance->physBody);
dGeomEnable(partInstance->physGeom[0]);
//createBody(partInstance);
//step(0.5F);
for(int i = 0; i < dBodyGetNumJoints(partInstance->physBody); i++) {
dBodyID b1 = dJointGetBody(dBodyGetJoint(partInstance->physBody, i), 0);
dBodyID b2 = dJointGetBody(dBodyGetJoint(partInstance->physBody, i), 1);
if(b1 != NULL)
{
dBodyEnable(b1);
PartInstance * part = (PartInstance *)dBodyGetData(b1);
if(part != NULL)
dGeomEnable(part->physGeom[0]);
}
if(b2 != NULL)
{
dBodyEnable(b2);
PartInstance * part = (PartInstance *)dBodyGetData(b2);
if(part != NULL)
dGeomEnable(part->physGeom[0]);
}
dJointDestroy(dBodyGetJoint(partInstance->physBody, i));
}
dBodyDestroy(partInstance->physBody);
dGeomDestroy(partInstance->physGeom[0]);
@@ -90,6 +116,7 @@ void XplicitNgine::createBody(PartInstance* partInstance)
{
// init body
partInstance->physBody = dBodyCreate(physWorld);
dBodySetData(partInstance->physBody, partInstance);
// Create geom
if(partInstance->shape == Enum::Shape::Block)
@@ -169,9 +196,10 @@ void XplicitNgine::createBody(PartInstance* partInstance)
void XplicitNgine::step(float stepSize)
{
dSpaceCollide (physSpace,0,&collisionCallback);
dWorldQuickStep(physWorld, stepSize);
dJointGroupEmpty(contactgroup);
dSpaceCollide (physSpace,0,&collisionCallback);
//dWorldQuickStep(physWorld, stepSize);
dWorldStepFast1(physWorld, stepSize, 20);
}
void XplicitNgine::updateBody(PartInstance *partInstance, CoordinateFrame * cFrame)
@@ -185,6 +213,8 @@ void XplicitNgine::updateBody(PartInstance *partInstance, CoordinateFrame * cFra
position[1],
position[2]
);
dBodyEnable(partInstance->physBody);
dGeomEnable(partInstance->physGeom[0]);
Matrix3 g3dRot = cFrame->rotation;
float rotation [12] = { g3dRot[0][0], g3dRot[0][1], g3dRot[0][2], 0,