Bugfix for #26795 and #26917, Fix a bug that cause the radar sensor to break
authorErwin Coumans <blender@erwincoumans.com>
Wed, 20 Apr 2011 04:55:58 +0000 (04:55 +0000)
committerErwin Coumans <blender@erwincoumans.com>
Wed, 20 Apr 2011 04:55:58 +0000 (04:55 +0000)
Never memset(&ob, 0,sizeof(class)) when there is a constructor, it overrides all memory.
The problem was that the memset(0) was setting the scaling to (0,0,0), the height of the cone became 'infinity'
so GJK would iterate 'MAX_ITER' without converging due to this #NAN value

source/gameengine/Physics/Bullet/CcdPhysicsController.h
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

index 00ecc64c41e7958fd460a315430bd3d5e1d3e899..97dc65c5850478106c61155eeeb9efb16fc32020 100644 (file)
@@ -252,8 +252,40 @@ struct CcdConstructionInfo
                m_inertiaFactor(1.f),
                m_do_anisotropic(false),
                m_anisotropicFriction(1.f,1.f,1.f),
-               m_contactProcessingThreshold(1e10)
+               m_contactProcessingThreshold(1e10f),
+               m_soft_linStiff(1.f),
+               m_soft_angStiff(1.f),
+               m_soft_volume(1.f),
+               m_soft_viterations(0),
+               m_soft_piterations(1),
+               m_soft_diterations(0),
+               m_soft_citerations(4),
+               m_do_fh(false),
+               m_do_rot_fh(false),
+               m_fh_spring(0.f),
+               m_fh_damping(0.f),
+               m_fh_distance(1.f),
+               m_fh_normal(false),
+       m_soft_kVCF(1.f),
+       m_soft_kDG(0.f),
+       m_soft_kLF(0.f),
+       m_soft_kDP(0.f),
+       m_soft_kPR(0.f),
+       m_soft_kVC(0.f),
+       m_soft_kDF(0.2f),
+       m_soft_kMT(0),
+       m_soft_kCHR(1.0f),
+       m_soft_kKHR(0.1f),
+       m_soft_kSHR(1.0f),
+       m_soft_kAHR(0.7f),
+       m_soft_kSRHR_CL(0.1f),
+       m_soft_kSKHR_CL(1.f),
+       m_soft_kSSHR_CL(0.5f),
+       m_soft_kSR_SPLT_CL(0.5f),
+       m_soft_kSK_SPLT_CL(0.5f),
+       m_soft_kSS_SPLT_CL(0.5f)
        {
+
        }
 
        btVector3       m_localInertiaTensor;
index c87157ee993b5a99e7dd72d9e80274c9e333a751..416cef71067e276d745a0cd4413d2337f1cd965b 100644 (file)
@@ -592,6 +592,9 @@ bool        CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep,float
 
        float subStep = timeStep / float(m_numTimeSubSteps);
        i = m_dynamicsWorld->stepSimulation(interval,25,subStep);//perform always a full simulation step
+//uncomment next line to see where Bullet spend its time (printf in console)   
+//CProfileManager::dumpAll();
+
        processFhSprings(curTime,i*subStep);
 
        for (it=m_controllers.begin(); it!=m_controllers.end(); it++)
@@ -2759,7 +2762,8 @@ int                       CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 PHY_IPhysicsController* CcdPhysicsEnvironment::CreateConeController(float coneradius,float coneheight)
 {
        CcdConstructionInfo     cinfo;
-       memset(&cinfo, 0, sizeof(cinfo)); /* avoid uninitialized values */
+//don't memset cinfo: this is C++ and values should be set in the constructor!
+
        // we don't need a CcdShapeConstructionInfo for this shape:
        // it is simple enough for the standard copy constructor (see CcdPhysicsController::GetReplica)
        cinfo.m_collisionShape = new btConeShape(coneradius,coneheight);