I just tested the RC1 (svn 1691), and I think I might have a problem with static rigid bodies. We depend on switching the rigid bodies from dynamic to static and back (by removing, re-adding with or without mass).
Previous behaviour for these was that they are added to the world and show up as active for a second or so, before turning inactive (they return body->getActivationState() == ISLAND_SLEEPING). Now, they appear to remain active at all times, returning body->getActivationState() == ACTIVE_TAG.
I don't know if the only problem is that they return ACTIVE_TAG instead of ISLAND_SLEEPING, or if this then also influences the collision detection performance? At least, there might be code that relies on this flag, which will now break because of this change. I'm looking through my own code for this right now...
I also saw that now btDiscreteDynamicsWorld::setGravity and clearForces only applies to the dynamic rigid bodies. This could have broken some functionality in our case, so please make a note of this in the release notes
Apart from that, the improvement in only updating the moving rigid body transforms is great
Best regards,
Ola
EDIT:
Maybe it's sufficient to add something like this to btDiscreteDynamicsWorld::addRigidBody? "else setActivationState(ISLAND_SLEEPING);" That fixed the issues I had here in my code.
Code:
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
{
if (!body->isStaticOrKinematicObject())
{
body->setGravity(m_gravity);
}
if (body->getCollisionShape())
{
if (!body->isStaticObject())
{
m_nonStaticRigidBodies.push_back(body);
}
else
body->setActivationState(ISLAND_SLEEPING);
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
}
}
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