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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); p->setParent(NULL);
delete p; 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(); onLogic();

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

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