diff options
author | Sergej Reich <sergej.reich@googlemail.com> | 2013-10-25 07:43:20 +0400 |
---|---|---|
committer | Sergej Reich <sergej.reich@googlemail.com> | 2013-10-25 07:43:20 +0400 |
commit | 472a021aca3c0a6278151f7abee4e0970b026e3f (patch) | |
tree | 3456ce084e33450cc21c68beca1bd407801bf256 /extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp | |
parent | 4514eeaa8e335a86de0bda68aa4814c0bafad7eb (diff) |
bullet: Update to version 2.82 (bullet revision 2705)
Remove patch that has been applied upstream.
Fixes several bugs.
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp | 296 |
1 files changed, 190 insertions, 106 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index 5f9437b7add..be93e35434c 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -152,7 +152,7 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( #endif } -// Project Gauss Seidel or the equivalent Sequential Impulse +// Projected Gauss Seidel or the equivalent Sequential Impulse void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) { btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; @@ -280,7 +280,7 @@ int btSequentialImpulseConstraintSolver::btRandInt2 (int n) -void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject) +void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep) { btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0; @@ -299,6 +299,9 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod solverBody->m_linearFactor = rb->getLinearFactor(); solverBody->m_linearVelocity = rb->getLinearVelocity(); solverBody->m_angularVelocity = rb->getAngularVelocity(); + solverBody->m_externalForceImpulse = rb->getTotalForce()*rb->getInvMass()*timeStep; + solverBody->m_externalTorqueImpulse = rb->getTotalTorque()*rb->getInvInertiaTensorWorld()*timeStep ; + } else { solverBody->m_worldTransform.setIdentity(); @@ -308,6 +311,8 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod solverBody->m_linearFactor.setValue(1,1,1); solverBody->m_linearVelocity.setValue(0,0,0); solverBody->m_angularVelocity.setValue(0,0,0); + solverBody->m_externalForceImpulse.setValue(0,0,0); + solverBody->m_externalTorqueImpulse.setValue(0,0,0); } @@ -326,8 +331,7 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, -static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode); -static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode) +void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode) { @@ -351,8 +355,6 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr { - solverConstraint.m_contactNormal1 = normalAxis; - solverConstraint.m_contactNormal2 = -normalAxis; btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; @@ -368,15 +370,30 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f; + if (body0) { + solverConstraint.m_contactNormal1 = normalAxis; btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal1); solverConstraint.m_relpos1CrossNormal = ftorqueAxis1; - solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0); + solverConstraint.m_angularComponentA = body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor(); + }else + { + solverConstraint.m_contactNormal1.setZero(); + solverConstraint.m_relpos1CrossNormal.setZero(); + solverConstraint.m_angularComponentA .setZero(); } + + if (body1) { + solverConstraint.m_contactNormal2 = -normalAxis; btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2); solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; - solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0); + solverConstraint.m_angularComponentB = body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor(); + } else + { + solverConstraint.m_contactNormal2.setZero(); + solverConstraint.m_relpos2CrossNormal.setZero(); + solverConstraint.m_angularComponentB.setZero(); } { @@ -401,9 +418,9 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr btScalar rel_vel; - btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity:btVector3(0,0,0)) + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0)) + solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0)); - btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity:btVector3(0,0,0)) + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0)); rel_vel = vel1Dotn+vel2Dotn; @@ -414,8 +431,8 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv); solverConstraint.m_rhs = velocityImpulse; solverConstraint.m_cfm = cfmSlip; - solverConstraint.m_lowerLimit = 0; - solverConstraint.m_upperLimit = 1e10f; + solverConstraint.m_lowerLimit = -solverConstraint.m_friction; + solverConstraint.m_upperLimit = solverConstraint.m_friction; } } @@ -481,9 +498,9 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv btScalar rel_vel; - btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity:btVector3(0,0,0)) + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0)) + solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0)); - btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity:btVector3(0,0,0)) + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0)); rel_vel = vel1Dotn+vel2Dotn; @@ -494,8 +511,8 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv); solverConstraint.m_rhs = velocityImpulse; solverConstraint.m_cfm = cfmSlip; - solverConstraint.m_lowerLimit = 0; - solverConstraint.m_upperLimit = 1e10f; + solverConstraint.m_lowerLimit = -solverConstraint.m_friction; + solverConstraint.m_upperLimit = solverConstraint.m_friction; } } @@ -517,7 +534,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addRollingFrictionConst } -int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body) +int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body,btScalar timeStep) { int solverBodyIdA = -1; @@ -535,11 +552,19 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& { solverBodyIdA = m_tmpSolverBodyPool.size(); btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&solverBody,&body); + initSolverBody(&solverBody,&body,timeStep); body.setCompanionId(solverBodyIdA); } else { - return 0;//assume first one is a fixed solver body + + if (m_fixedBodyId<0) + { + m_fixedBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&fixedBody,0,timeStep); + } + return m_fixedBodyId; +// return 0;//assume first one is a fixed solver body } } @@ -552,8 +577,8 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, - btVector3& vel, btScalar& rel_vel, btScalar& relaxation, - btVector3& rel_pos1, btVector3& rel_pos2) + btScalar& relaxation, + const btVector3& rel_pos1, const btVector3& rel_pos2) { const btVector3& pos1 = cp.getPositionWorldOnA(); @@ -567,8 +592,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra // btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); // btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); - rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); - rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin(); + //rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); + //rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin(); relaxation = 1.f; @@ -601,10 +626,24 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra solverConstraint.m_jacDiagABInv = denom; } - solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB; - solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB; - solverConstraint.m_relpos1CrossNormal = torqueAxis0; - solverConstraint.m_relpos2CrossNormal = -torqueAxis1; + if (rb0) + { + solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB; + solverConstraint.m_relpos1CrossNormal = torqueAxis0; + } else + { + solverConstraint.m_contactNormal1.setZero(); + solverConstraint.m_relpos1CrossNormal.setZero(); + } + if (rb1) + { + solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB; + solverConstraint.m_relpos2CrossNormal = -torqueAxis1; + }else + { + solverConstraint.m_contactNormal2.setZero(); + solverConstraint.m_relpos2CrossNormal.setZero(); + } btScalar restitution = 0.f; btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop; @@ -616,8 +655,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra vel2 = rb1? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); // btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); - vel = vel1 - vel2; - rel_vel = cp.m_normalWorldOnB.dot(vel); + btVector3 vel = vel1 - vel2; + btScalar rel_vel = cp.m_normalWorldOnB.dot(vel); @@ -648,10 +687,17 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra solverConstraint.m_appliedPushImpulse = 0.f; { - btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rb0?bodyA->m_linearVelocity:btVector3(0,0,0)) - + solverConstraint.m_relpos1CrossNormal.dot(rb0?bodyA->m_angularVelocity:btVector3(0,0,0)); - btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rb1?bodyB->m_linearVelocity:btVector3(0,0,0)) - + solverConstraint.m_relpos2CrossNormal.dot(rb1?bodyB->m_angularVelocity:btVector3(0,0,0)); + + btVector3 externalForceImpulseA = bodyA->m_originalBody ? bodyA->m_externalForceImpulse: btVector3(0,0,0); + btVector3 externalTorqueImpulseA = bodyA->m_originalBody ? bodyA->m_externalTorqueImpulse: btVector3(0,0,0); + btVector3 externalForceImpulseB = bodyB->m_originalBody ? bodyB->m_externalForceImpulse: btVector3(0,0,0); + btVector3 externalTorqueImpulseB = bodyB->m_originalBody ?bodyB->m_externalTorqueImpulse : btVector3(0,0,0); + + + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(bodyA->m_linearVelocity+externalForceImpulseA) + + solverConstraint.m_relpos1CrossNormal.dot(bodyA->m_angularVelocity+externalTorqueImpulseA); + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyB->m_linearVelocity+externalForceImpulseB) + + solverConstraint.m_relpos2CrossNormal.dot(bodyB->m_angularVelocity+externalTorqueImpulseB); btScalar rel_vel = vel1Dotn+vel2Dotn; btScalar positionalError = 0.f; @@ -680,7 +726,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) { //combine position and velocity into rhs - solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; + solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;//-solverConstraint.m_contactNormal1.dot(bodyA->m_externalForce*bodyA->m_invMass-bodyB->m_externalForce/bodyB->m_invMass)*solverConstraint.m_jacDiagABInv; solverConstraint.m_rhsPenetration = 0.f; } else @@ -754,8 +800,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m colObj0 = (btCollisionObject*)manifold->getBody0(); colObj1 = (btCollisionObject*)manifold->getBody1(); - int solverBodyIdA = getOrInitSolverBody(*colObj0); - int solverBodyIdB = getOrInitSolverBody(*colObj1); + int solverBodyIdA = getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep); // btRigidBody* bodyA = btRigidBody::upcast(colObj0); // btRigidBody* bodyB = btRigidBody::upcast(colObj1); @@ -780,19 +826,35 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m btVector3 rel_pos1; btVector3 rel_pos2; btScalar relaxation; - btScalar rel_vel; - btVector3 vel; + int frictionIndex = m_tmpSolverContactConstraintPool.size(); btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing(); -// btRigidBody* rb0 = btRigidBody::upcast(colObj0); -// btRigidBody* rb1 = btRigidBody::upcast(colObj1); + btRigidBody* rb0 = btRigidBody::upcast(colObj0); + btRigidBody* rb1 = btRigidBody::upcast(colObj1); solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; solverConstraint.m_originalContactPoint = &cp; - setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2); + const btVector3& pos1 = cp.getPositionWorldOnA(); + const btVector3& pos2 = cp.getPositionWorldOnB(); + + rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); + rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); + + btVector3 vel1;// = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0); + btVector3 vel2;// = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); + + solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1,vel1); + solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2,vel2 ); + + btVector3 vel = vel1 - vel2; + btScalar rel_vel = cp.m_normalWorldOnB.dot(vel); + + setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2); + + // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); @@ -801,9 +863,11 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size(); - btVector3 angVelA,angVelB; - solverBodyA->getAngularVelocity(angVelA); - solverBodyB->getAngularVelocity(angVelB); + btVector3 angVelA(0,0,0),angVelB(0,0,0); + if (rb0) + angVelA = rb0->getAngularVelocity(); + if (rb1) + angVelB = rb1->getAngularVelocity(); btVector3 relAngVel = angVelB-angVelA; if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0)) @@ -857,6 +921,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON) { cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel); + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB); @@ -864,17 +932,16 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); - } - applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); - applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); - addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); - } else { btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); + applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION); @@ -882,9 +949,6 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); } - applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); - applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION); - addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) { @@ -899,8 +963,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2); - setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); } + setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); @@ -909,10 +973,24 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m } } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc) +void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal) +{ + int i; + btPersistentManifold* manifold = 0; +// btCollisionObject* colObj0=0,*colObj1=0; + + + for (i=0;i<numManifolds;i++) + { + manifold = manifoldPtr[i]; + convertContact(manifold,infoGlobal); + } +} + +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) { + m_fixedBodyId = -1; BT_PROFILE("solveGroupCacheFriendlySetup"); - (void)stackAlloc; (void)debugDrawer; m_maxOverrideNumSolverIterations = 0; @@ -996,14 +1074,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol m_tmpSolverBodyPool.reserve(numBodies+1); m_tmpSolverBodyPool.resize(0); - btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - initSolverBody(&fixedBody,0); + //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + //initSolverBody(&fixedBody,0); //convert all bodies for (int i=0;i<numBodies;i++) { - int bodyId = getOrInitSolverBody(*bodies[i]); + int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep); + btRigidBody* body = btRigidBody::upcast(bodies[i]); if (body && body->getInvMass()) { @@ -1012,9 +1091,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE) { gyroForce = body->computeGyroscopicForce(infoGlobal.m_maxGyroscopicForce); + solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; } - solverBody.m_linearVelocity += body->getTotalForce()*body->getInvMass()*infoGlobal.m_timeStep; - solverBody.m_angularVelocity += (body->getTotalTorque()-gyroForce)*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; } } @@ -1084,8 +1162,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol btRigidBody& rbA = constraint->getRigidBodyA(); btRigidBody& rbB = constraint->getRigidBodyB(); - int solverBodyIdA = getOrInitSolverBody(rbA); - int solverBodyIdB = getOrInitSolverBody(rbB); + int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep); btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; @@ -1182,15 +1260,22 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol } - ///fix rhs - ///todo: add force/torque accelerators + { btScalar rel_vel; - btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()); - btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()); + btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0); + btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0); + + btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0); + btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0); + + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA) + + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA); + + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB) + + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB); rel_vel = vel1Dotn+vel2Dotn; - btScalar restitution = 0.f; btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2 btScalar velocityError = restitution - rel_vel * info2.m_damping; @@ -1199,6 +1284,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; solverConstraint.m_appliedImpulse = 0.f; + } } } @@ -1206,18 +1292,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol } } - { - int i; - btPersistentManifold* manifold = 0; -// btCollisionObject* colObj0=0,*colObj1=0; - + convertContacts(manifoldPtr,numManifolds,infoGlobal); - for (i=0;i<numManifolds;i++) - { - manifold = manifoldPtr[i]; - convertContact(manifold,infoGlobal); - } - } } // btContactSolverInfo info = infoGlobal; @@ -1256,7 +1332,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol } -btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/) +btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/) { int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); @@ -1309,14 +1385,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration { for (int j=0;j<numConstraints;j++) { - if (constraints[j]->isEnabled()) - { - int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA()); - int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB()); - btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; - btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; - constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); - } + if (constraints[j]->isEnabled()) + { + int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep); + int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); + btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; + btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; + constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); + } } ///solve all contact constraints using SIMD, if available @@ -1376,7 +1452,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration for (j=0;j<numPoolConstraints;j++) { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + //resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); } @@ -1395,7 +1472,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; - resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + //resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); } } @@ -1437,14 +1515,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration { for (int j=0;j<numConstraints;j++) { - if (constraints[j]->isEnabled()) - { - int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA()); - int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB()); - btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; - btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; - constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); - } + if (constraints[j]->isEnabled()) + { + int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep); + int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); + btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; + btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; + constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); + } } ///solve all contact constraints int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); @@ -1492,7 +1570,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration } -void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc) +void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) { int iteration; if (infoGlobal.m_splitImpulse) @@ -1532,20 +1610,20 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte } } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc) +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) { BT_PROFILE("solveGroupCacheFriendlyIterations"); { ///this is a special step to resolve penetrations (just for contacts) - solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc); + solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer); int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; for ( int iteration = 0 ; iteration< maxIterations ; iteration++) //for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--) { - solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc); + solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer); } } @@ -1610,9 +1688,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp); else m_tmpSolverBodyPool[i].writebackVelocity(); + + m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity( + m_tmpSolverBodyPool[i].m_linearVelocity+ + m_tmpSolverBodyPool[i].m_externalForceImpulse); + + m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity( + m_tmpSolverBodyPool[i].m_angularVelocity+ + m_tmpSolverBodyPool[i].m_externalTorqueImpulse); - m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity); - m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity); if (infoGlobal.m_splitImpulse) m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform); @@ -1632,15 +1716,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo /// btSequentialImpulseConstraintSolver Sequentially applies impulses -btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/) +btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btDispatcher* /*dispatcher*/) { BT_PROFILE("solveGroup"); //you need to provide at least some bodies - solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc); + solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer); - solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc); + solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer); solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal); |