Update to "Continue to implement the sleeping technique"

DanielChappuis/reactphysics3d@8db7823433deac41
c7ca47212fbc72786beafc17

Author: DDoS

src/main/java/org/spout/physics/ReactDefaults.java

@@ -55,7 +55,7 @@ public class ReactDefaults {
      */
     public static final float DEFAULT_BOUNCINESS = 0.5f;
     /**
-     * True if the deactivation (sleeping) of inactive bodies is enabled. Default: true
+     * True if the sleeping technique is enabled. Default: true
      */
     public static final boolean SLEEPING_ENABLED = true;
     /**
@@ -78,6 +78,18 @@ public class ReactDefaults {
      * Number of iterations when solving the position constraints of the Sequential Impulse technique. Default: 5
      */
     public static final int DEFAULT_POSITION_SOLVER_NB_ITERATIONS = 5;
+    /**
+     * Time (in seconds) that a body must stay still to be considered sleeping. Default: 1
+     */
+    public static final float DEFAULT_TIME_BEFORE_SLEEP = 1.0f;
+    /**
+     * A body with a linear velocity smaller than the sleep linear velocity (in m/s) might enter sleeping mode. Default: 0.02
+     */
+    public static final float DEFAULT_SLEEP_LINEAR_VELOCITY = 0.02f;
+    /**
+     * A body with angular velocity smaller than the sleep angular velocity (in rad/s) might enter sleeping mode. Default: 3pi/180
+     */
+    public static final float DEFAULT_SLEEP_ANGULAR_VELOCITY = (float) (3 * (Math.PI / 180));
     /**
      * The linked phase AABB scaling factor. Default: 2
      */

src/main/java/org/spout/physics/body/Body.java

@@ -34,6 +34,7 @@ public class Body {
     protected boolean mIsAlreadyInIsland;
     protected boolean mIsAllowedToSleep;
     protected boolean mIsSleeping;
+    protected float mSleepTime;
 
     /**
      * Construct a new body from its ID.
@@ -42,6 +43,10 @@ public class Body {
      */
     public Body(int id) {
         mID = id;
+        mIsAlreadyInIsland = false;
+        mIsAllowedToSleep = true;
+        mIsSleeping = false;
+        mSleepTime = 0;
     }
 
     /**
@@ -87,6 +92,9 @@ public boolean isAllowedToSleep() {
      */
     public void setIsAllowedToSleep(boolean isAllowedToSleep) {
         mIsAllowedToSleep = isAllowedToSleep;
+        if (!mIsAllowedToSleep) {
+            setIsSleeping(false);
+        }
     }
 
     /**
@@ -104,9 +112,34 @@ public boolean isSleeping() {
      * @param isSleeping Whether or not the body is sleeping
      */
     public void setIsSleeping(boolean isSleeping) {
+        if (isSleeping) {
+            mSleepTime = 0;
+        } else {
+            if (mIsSleeping) {
+                mSleepTime = 0;
+            }
+        }
         mIsSleeping = isSleeping;
     }
 
+    /**
+     * Returns the sleep time.
+     *
+     * @return The sleep time
+     */
+    public float getSleepTime() {
+        return mSleepTime;
+    }
+
+    /**
+     * Sets the sleep time.
+     *
+     * @param sleepTime The sleep time
+     */
+    public void setSleepTime(float sleepTime) {
+        mSleepTime = sleepTime;
+    }
+
     /**
      * Returns true this body's ID is smaller than the other body's ID, false if not.
      *

src/main/java/org/spout/physics/body/RigidBody.java

@@ -347,4 +347,15 @@ public void removeJointFromJointsList(Constraint joint) {
             }
         }
     }
+
+    @Override
+    public void setIsSleeping(boolean isSleeping) {
+        if (isSleeping) {
+            mLinearVelocity.setToZero();
+            mAngularVelocity.setToZero();
+            mExternalForce.setToZero();
+            mExternalTorque.setToZero();
+        }
+        super.setIsSleeping(isSleeping);
+    }
 }

src/main/java/org/spout/physics/constraint/ConstraintSolver.java

@@ -168,9 +168,10 @@ public void solvePositionConstraints(Island island) {
         if (island == null) {
             throw new IllegalArgumentException("Island cannot be null");
         }
-        if (island.getNbJoints() <= 0) {
-            throw new IllegalArgumentException("The number of joints in the island must be greater than zero");
-        }
+        // TODO: this doesn't make sense
+        //if (island.getNbJoints() <= 0) {
+        //    throw new IllegalArgumentException("The number of joints in the island must be greater than zero");
+        //}
         final Constraint[] joints = island.getJoints();
         for (int i = 0; i < island.getNbJoints(); i++) {
             joints[i].solvePositionConstraint(mConstraintSolverData);

src/main/java/org/spout/physics/constraint/HingeJoint.java

@@ -509,7 +509,8 @@ public void enableLimit(boolean isLimitEnabled) {
     public void enableMotor(boolean isMotorEnabled) {
         mIsMotorEnabled = isMotorEnabled;
         mImpulseMotor = 0;
-        // TODO : Wake up the bodies of the joint here when sleeping is implemented
+        mBody1.setIsSleeping(false);
+        mBody2.setIsSleeping(false);
     }
 
     /**
@@ -546,7 +547,8 @@ public void setMaxAngleLimit(float upperLimit) {
     private void resetLimits() {
         mImpulseLowerLimit = 0;
         mImpulseUpperLimit = 0;
-        // TODO : Wake up the bodies of the joint here when sleeping is implemented
+        mBody1.setIsSleeping(false);
+        mBody2.setIsSleeping(false);
     }
 
     /**
@@ -557,7 +559,8 @@ private void resetLimits() {
     public void setMotorSpeed(float motorSpeed) {
         if (motorSpeed != mMotorSpeed) {
             mMotorSpeed = motorSpeed;
-            // TODO : Wake up the bodies of the joint here when sleeping is implemented
+            mBody1.setIsSleeping(false);
+            mBody2.setIsSleeping(false);
         }
     }
 
@@ -572,7 +575,8 @@ public void setMaxMotorForce(float maxMotorForce) {
         }
         if (maxMotorForce != mMaxMotorTorque) {
             mMaxMotorTorque = maxMotorForce;
-            // TODO : Wake up the bodies of the joint here when sleeping is implemented
+            mBody1.setIsSleeping(false);
+            mBody2.setIsSleeping(false);
         }
     }
 

src/main/java/org/spout/physics/constraint/SliderJoint.java

@@ -549,7 +549,8 @@ public void enableLimit(boolean isLimitEnabled) {
     public void enableMotor(boolean isMotorEnabled) {
         mIsMotorEnabled = isMotorEnabled;
         mImpulseMotor = 0;
-        // TODO : Wake up the bodies of the joint here when sleeping is implemented
+        mBody1.setIsSleeping(false);
+        mBody2.setIsSleeping(false);
     }
 
     /**
@@ -586,7 +587,8 @@ public void setMaxTranslationLimit(float upperLimit) {
     private void resetLimits() {
         mImpulseLowerLimit = 0;
         mImpulseUpperLimit = 0;
-        // TODO : Wake up the bodies of the joint here when sleeping is implemented
+        mBody1.setIsSleeping(false);
+        mBody2.setIsSleeping(false);
     }
 
     /**
@@ -597,7 +599,8 @@ private void resetLimits() {
     public void setMotorSpeed(float motorSpeed) {
         if (motorSpeed != mMotorSpeed) {
             mMotorSpeed = motorSpeed;
-            // TODO : Wake up the bodies of the joint here when sleeping is implemented
+            mBody1.setIsSleeping(false);
+            mBody2.setIsSleeping(false);
         }
     }
 
@@ -612,7 +615,8 @@ public void setMaxMotorForce(float maxMotorForce) {
         }
         if (maxMotorForce != mMaxMotorForce) {
             mMaxMotorForce = maxMotorForce;
-            // TODO : Wake up the bodies of the joint here when sleeping is implemented
+            mBody1.setIsSleeping(false);
+            mBody2.setIsSleeping(false);
         }
     }
 

src/main/java/org/spout/physics/engine/ContactSolver.java

@@ -219,7 +219,7 @@ public void initializeForIsland(float dt, Island island) {
         for (int i = 0; i < mNbContactManifolds; i++) {
             final ContactManifold externalManifold = contactManifolds[i];
             final ContactManifoldSolver internalManifold = new ContactManifoldSolver();
-            mContactConstraints[i] = new ContactManifoldSolver();
+            mContactConstraints[i] = internalManifold;
             if (externalManifold.getNbContactPoints() <= 0) {
                 throw new IllegalStateException("external manifold must have at least one contact point");
             }