updating Bullet 2.x with latest changes. The integration + C-API will follow at some stage.

1 files changed, 67 insertions, 58 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index ac06f718c9e..568bcc40939 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -32,6 +32,27 @@ int totalCpd = 0;
 
 int	gTotalContactPoints = 0;
 
+struct	btOrderIndex
+{
+	short int	m_manifoldIndex;
+	short int	m_pointIndex;
+};
+
+#define SEQUENTIAL_IMPULSE_MAX_SOLVER_POINTS 16384
+static btOrderIndex	gOrder[SEQUENTIAL_IMPULSE_MAX_SOLVER_POINTS];
+static unsigned long btSeed2 = 0;
+unsigned long btRand2()
+{
+  btSeed2 = (1664525L*btSeed2 + 1013904223L) & 0xffffffff;
+  return btSeed2;
+}
+
+int btRandInt2 (int n)
+{
+  float a = float(n) / 4294967296.0f;
+  return (int) (float(btRand2()) * a);
+}
+
 bool  MyContactDestroyedCallback(void* userPersistentData)
 {
 	assert (userPersistentData);
@@ -69,52 +90,62 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
 	btProfiler::beginBlock("solve");
 #endif //USE_PROFILE
 
+	int totalPoints = 0;
+
 	{
 		int j;
 		for (j=0;j<numManifolds;j++)
 		{
-			int k=j;
-			prepareConstraints(manifoldPtr[k],info,debugDrawer);
-			solve(manifoldPtr[k],info,0,debugDrawer);
+			prepareConstraints(manifoldPtr[j],info,debugDrawer);
 		}
 	}
-	
-	
-	//should traverse the contacts random order...
-	int i;
-	for ( i = 0;i<numiter-1;i++)
+
 	{
 		int j;
 		for (j=0;j<numManifolds;j++)
 		{
-			int k=j;
-			if (i&1)
-				k=numManifolds-j-1;
-
-			solve(manifoldPtr[k],info,i,debugDrawer);
+			for (int p=0;p<manifoldPtr[j]->getNumContacts();p++)
+			{
+				gOrder[totalPoints].m_manifoldIndex = j;
+				gOrder[totalPoints].m_pointIndex = p;
+				totalPoints++;
+			}
 		}
-		
 	}
-#ifdef USE_PROFILE
-	btProfiler::endBlock("solve");
-
-	btProfiler::beginBlock("solveFriction");
-#endif //USE_PROFILE
-
-	//now solve the friction		
-	for (i = 0;i<numiter-1;i++)
+	
+	
+	//should traverse the contacts random order...
+	int iteration;
+	for ( iteration = 0;iteration<numiter-1;iteration++)
 	{
 		int j;
-	for (j=0;j<numManifolds;j++)
+		if ((iteration & 7) == 0) {
+			for (j=0; j<totalPoints; ++j) {
+				btOrderIndex tmp = gOrder[j];
+				int swapi = btRandInt2(j+1);
+				gOrder[j] = gOrder[swapi];
+				gOrder[swapi] = tmp;
+			}
+		}
+
+		for (j=0;j<totalPoints;j++)
 		{
-			int k = j;
-			if (i&1)
-				k=numManifolds-j-1;
-			solveFriction(manifoldPtr[k],info,i,debugDrawer);
+			btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
+			solve( (btRigidBody*)manifold->getBody0(),
+								(btRigidBody*)manifold->getBody1()
+			,manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
+		}
+	
+		for (j=0;j<totalPoints;j++)
+		{
+			btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
+			solveFriction((btRigidBody*)manifold->getBody0(),
+				(btRigidBody*)manifold->getBody1(),manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
 		}
 	}
+		
 #ifdef USE_PROFILE
-	btProfiler::endBlock("solveFriction");
+	btProfiler::endBlock("solve");
 #endif //USE_PROFILE
 
 	return 0.f;
@@ -225,7 +256,7 @@ void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
 				
 				btScalar penVel = -cpd->m_penetration/info.m_timeStep;
 
-				if (cpd->m_restitution >= penVel)
+				if (cpd->m_restitution > penVel)
 				{
 					cpd->m_penetration = 0.f;
 				} 				
@@ -233,7 +264,7 @@ void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
 				
 
 				float relaxation = info.m_damping;
-				cpd->m_appliedImpulse *= relaxation;
+				cpd->m_appliedImpulse =0.f;//*= relaxation;
 				//for friction
 				cpd->m_prevAppliedImpulse = cpd->m_appliedImpulse;
 				
@@ -260,8 +291,8 @@ void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
 
 				btVector3 totalImpulse = 
 	#ifndef NO_FRICTION_WARMSTART
-					cp.m_frictionWorldTangential0*cp.m_accumulatedTangentImpulse0+
-					cp.m_frictionWorldTangential1*cp.m_accumulatedTangentImpulse1+
+					cpd->m_frictionWorldTangential0*cpd->m_accumulatedTangentImpulse0+
+					cpd->m_frictionWorldTangential1*cpd->m_accumulatedTangentImpulse1+
 	#endif //NO_FRICTION_WARMSTART
 					cp.m_normalWorldOnB*cpd->m_appliedImpulse;
 
@@ -304,29 +335,16 @@ void	btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
 	}
 }
 
-float btSequentialImpulseConstraintSolver::solve(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
+float btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
 {
 
-	btRigidBody* body0 = (btRigidBody*)manifoldPtr->getBody0();
-	btRigidBody* body1 = (btRigidBody*)manifoldPtr->getBody1();
-
 	float maxImpulse = 0.f;
 
 	{
-		const int numpoints = manifoldPtr->getNumContacts();
 
 		btVector3 color(0,1,0);
-		for (int i=0;i<numpoints ;i++)
 		{
-
-			int j=i;
-			if (iter % 2)
-				j = numpoints-1-i;
-			else
-				j=i;
-
-			btManifoldPoint& cp = manifoldPtr->getContactPoint(j);
-				if (cp.getDistance() <= 0.f)
+			if (cp.getDistance() <= 0.f)
 			{
 
 				if (iter == 0)
@@ -353,24 +371,15 @@ float btSequentialImpulseConstraintSolver::solve(btPersistentManifold* manifoldP
 	return maxImpulse;
 }
 
-float btSequentialImpulseConstraintSolver::solveFriction(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
+float btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
 {
-	btRigidBody* body0 = (btRigidBody*)manifoldPtr->getBody0();
-	btRigidBody* body1 = (btRigidBody*)manifoldPtr->getBody1();
 
 
 	{
-		const int numpoints = manifoldPtr->getNumContacts();
 
 		btVector3 color(0,1,0);
-		for (int i=0;i<numpoints ;i++)
 		{
-
-			int j=i;
-			//if (iter % 2)
-			//	j = numpoints-1-i;
-
-			btManifoldPoint& cp = manifoldPtr->getContactPoint(j);
+			
 			if (cp.getDistance() <= 0.f)
 			{