diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp | 355 |
1 files changed, 130 insertions, 225 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp index f110cd48081..ccf89160491 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp @@ -15,14 +15,9 @@ subject to the following restrictions: #include "btNNCGConstraintSolver.h" - - - - - -btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) { - btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies,numBodies,manifoldPtr, numManifolds, constraints,numConstraints,infoGlobal,debugDrawer); + btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); m_pNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size()); m_pC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size()); @@ -37,38 +32,39 @@ btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject* return val; } -btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/) +btScalar btNNCGConstraintSolver::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(); int numConstraintPool = m_tmpSolverContactConstraintPool.size(); int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) { - if (1) // uncomment this for a bit less random ((iteration & 7) == 0) + if (1) // uncomment this for a bit less random ((iteration & 7) == 0) { - - for (int j=0; j<numNonContactPool; ++j) { + for (int j = 0; j < numNonContactPool; ++j) + { int tmp = m_orderNonContactConstraintPool[j]; - int swapi = btRandInt2(j+1); + int swapi = btRandInt2(j + 1); m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi]; m_orderNonContactConstraintPool[swapi] = tmp; } - //contact/friction constraints are not solved more than - if (iteration< infoGlobal.m_numIterations) + //contact/friction constraints are not solved more than + if (iteration < infoGlobal.m_numIterations) { - for (int j=0; j<numConstraintPool; ++j) { + for (int j = 0; j < numConstraintPool; ++j) + { int tmp = m_orderTmpConstraintPool[j]; - int swapi = btRandInt2(j+1); + int swapi = btRandInt2(j + 1); m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi]; m_orderTmpConstraintPool[swapi] = tmp; } - for (int j=0; j<numFrictionPool; ++j) { + for (int j = 0; j < numFrictionPool; ++j) + { int tmp = m_orderFrictionConstraintPool[j]; - int swapi = btRandInt2(j+1); + int swapi = btRandInt2(j + 1); m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; m_orderFrictionConstraintPool[swapi] = tmp; } @@ -76,53 +72,40 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision } } - btScalar deltaflengthsqr = 0; - - if (infoGlobal.m_solverMode & SOLVER_SIMD) { - for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) { btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; - if (iteration < constraint.m_overrideNumSolverIterations) + if (iteration < constraint.m_overrideNumSolverIterations) { - btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint); - m_deltafNC[j] = deltaf; - deltaflengthsqr += deltaf * deltaf; - } - } - } else - { - for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) - { - btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; - if (iteration < constraint.m_overrideNumSolverIterations) - { - btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint); + btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint); m_deltafNC[j] = deltaf; deltaflengthsqr += deltaf * deltaf; } } } - - if (m_onlyForNoneContact) + if (m_onlyForNoneContact) { - if (iteration==0) + if (iteration == 0) + { + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = m_deltafNC[j]; + } + else { - for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j]; - } else { // deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation - btScalar beta = m_deltafLengthSqrPrev>0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2; - if (beta>1) + btScalar beta = m_deltafLengthSqrPrev > 0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2; + if (beta > 1) { - for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0; - } else + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = 0; + } + else { - for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) { btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; - if (iteration < constraint.m_overrideNumSolverIterations) + if (iteration < constraint.m_overrideNumSolverIterations) { btScalar additionaldeltaimpulse = beta * m_pNC[j]; constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse; @@ -130,8 +113,8 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA]; btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB]; const btSolverConstraint& c = constraint; - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse); + body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse); + body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse); } } } @@ -139,300 +122,225 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision m_deltafLengthSqrPrev = deltaflengthsqr; } - - - if (infoGlobal.m_solverMode & SOLVER_SIMD) { - - if (iteration< infoGlobal.m_numIterations) + if (iteration < infoGlobal.m_numIterations) { - for (int j=0;j<numConstraints;j++) + for (int j = 0; j < numConstraints; j++) { if (constraints[j]->isEnabled()) { - int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep); - int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); + 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); + constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep); } } - ///solve all contact constraints using SIMD, if available + ///solve all contact constraints if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) { int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1; + int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1; - for (int c=0;c<numPoolConstraints;c++) + for (int c = 0; c < numPoolConstraints; c++) { - btScalar totalImpulse =0; + btScalar totalImpulse = 0; { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]]; - btScalar deltaf = resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); m_deltafC[c] = deltaf; - deltaflengthsqr += deltaf*deltaf; + deltaflengthsqr += deltaf * deltaf; totalImpulse = solveManifold.m_appliedImpulse; } bool applyFriction = true; if (applyFriction) { { + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]]; - btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]]; - - if (totalImpulse>btScalar(0)) + if (totalImpulse > btScalar(0)) { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; - btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - m_deltafCF[c*multiplier] = deltaf; - deltaflengthsqr += deltaf*deltaf; - } else { - m_deltafCF[c*multiplier] = 0; + solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); + solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; + btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + m_deltafCF[c * multiplier] = deltaf; + deltaflengthsqr += deltaf * deltaf; + } + else + { + m_deltafCF[c * multiplier] = 0; } } if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) { + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]]; - btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]]; - - if (totalImpulse>btScalar(0)) + if (totalImpulse > btScalar(0)) + { + solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse); + solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse; + btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); + m_deltafCF[c * multiplier + 1] = deltaf; + deltaflengthsqr += deltaf * deltaf; + } + else { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; - btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - m_deltafCF[c*multiplier+1] = deltaf; - deltaflengthsqr += deltaf*deltaf; - } else { - m_deltafCF[c*multiplier+1] = 0; + m_deltafCF[c * multiplier + 1] = 0; } } } } - } - else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS + else //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS { //solve the friction constraints after all contact constraints, don't interleave them int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int j; - for (j=0;j<numPoolConstraints;j++) + 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); - btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); m_deltafC[j] = deltaf; - deltaflengthsqr += deltaf*deltaf; + deltaflengthsqr += deltaf * deltaf; } - - - ///solve all friction constraints, using SIMD, if available + ///solve all friction constraints int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); - for (j=0;j<numFrictionPoolConstraints;j++) + for (j = 0; j < numFrictionPoolConstraints; j++) { btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; - if (totalImpulse>btScalar(0)) + if (totalImpulse > btScalar(0)) { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + 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); - btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold); m_deltafCF[j] = deltaf; - deltaflengthsqr += deltaf*deltaf; - } else { + deltaflengthsqr += deltaf * deltaf; + } + else + { m_deltafCF[j] = 0; } } + } - + { int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); - for (j=0;j<numRollingFrictionPoolConstraints;j++) + for (int j = 0; j < numRollingFrictionPoolConstraints; j++) { - btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j]; btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; - if (totalImpulse>btScalar(0)) + if (totalImpulse > btScalar(0)) { - btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; - if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction) + btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse; + if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction) rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; - btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); + btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint); m_deltafCRF[j] = deltaf; - deltaflengthsqr += deltaf*deltaf; - } else { + deltaflengthsqr += deltaf * deltaf; + } + else + { m_deltafCRF[j] = 0; } } - - } } + } - - - } else + if (!m_onlyForNoneContact) { - - if (iteration< infoGlobal.m_numIterations) + if (iteration == 0) { - for (int j=0;j<numConstraints;j++) - { - 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(); - for (int j=0;j<numPoolConstraints;j++) - { - const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - m_deltafC[j] = deltaf; - deltaflengthsqr += deltaf*deltaf; - } - ///solve all friction constraints - int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); - for (int j=0;j<numFrictionPoolConstraints;j++) - { - btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; - btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; - - if (totalImpulse>btScalar(0)) - { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; - - btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - m_deltafCF[j] = deltaf; - deltaflengthsqr += deltaf*deltaf; - } else { - m_deltafCF[j] = 0; - } - } - - int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); - for (int j=0;j<numRollingFrictionPoolConstraints;j++) - { - btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j]; - btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse; - if (totalImpulse>btScalar(0)) - { - btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; - if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction) - rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; - - rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; - rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; - - btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); - m_deltafCRF[j] = deltaf; - deltaflengthsqr += deltaf*deltaf; - } else { - m_deltafCRF[j] = 0; - } - } + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = m_deltafNC[j]; + for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) m_pC[j] = m_deltafC[j]; + for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) m_pCF[j] = m_deltafCF[j]; + for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) m_pCRF[j] = m_deltafCRF[j]; } - } - - - - - if (!m_onlyForNoneContact) - { - if (iteration==0) + else { - for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j]; - for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = m_deltafC[j]; - for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = m_deltafCF[j]; - if ( (infoGlobal.m_solverMode & SOLVER_SIMD) ==0 || (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) + // deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation + btScalar beta = m_deltafLengthSqrPrev > 0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2; + if (beta > 1) { - for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = m_deltafCRF[j]; + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = 0; + for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) m_pC[j] = 0; + for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) m_pCF[j] = 0; + for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) m_pCRF[j] = 0; } - } else - { - // deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation - btScalar beta = m_deltafLengthSqrPrev>0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2; - if (beta>1) { - for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0; - for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = 0; - for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = 0; - if ( (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) { - for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = 0; - } - } else { - for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) + else + { + for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) { btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; - if (iteration < constraint.m_overrideNumSolverIterations) { + if (iteration < constraint.m_overrideNumSolverIterations) + { btScalar additionaldeltaimpulse = beta * m_pNC[j]; constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse; m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j]; btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA]; btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB]; const btSolverConstraint& c = constraint; - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse); + body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse); + body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse); } } - for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) + for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) { btSolverConstraint& constraint = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - if (iteration< infoGlobal.m_numIterations) { + if (iteration < infoGlobal.m_numIterations) + { btScalar additionaldeltaimpulse = beta * m_pC[j]; constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse; m_pC[j] = beta * m_pC[j] + m_deltafC[j]; btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA]; btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB]; const btSolverConstraint& c = constraint; - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse); + body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse); + body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse); } } - for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) + for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) { btSolverConstraint& constraint = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; - if (iteration< infoGlobal.m_numIterations) { + if (iteration < infoGlobal.m_numIterations) + { btScalar additionaldeltaimpulse = beta * m_pCF[j]; constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse; m_pCF[j] = beta * m_pCF[j] + m_deltafCF[j]; btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA]; btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB]; const btSolverConstraint& c = constraint; - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse); + body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse); + body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse); } } - if ( (infoGlobal.m_solverMode & SOLVER_SIMD) ==0 || (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) { - for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) + { + for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) { btSolverConstraint& constraint = m_tmpSolverContactRollingFrictionConstraintPool[j]; - if (iteration< infoGlobal.m_numIterations) { + if (iteration < infoGlobal.m_numIterations) + { btScalar additionaldeltaimpulse = beta * m_pCRF[j]; constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse; m_pCRF[j] = beta * m_pCRF[j] + m_deltafCRF[j]; btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA]; btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB]; const btSolverConstraint& c = constraint; - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse); + body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse); + body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse); } } } @@ -444,7 +352,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision return deltaflengthsqr; } -btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal) +btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) { m_pNC.resizeNoInitialize(0); m_pC.resizeNoInitialize(0); @@ -458,6 +366,3 @@ btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal); } - - - |