diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp | 530 |
1 files changed, 357 insertions, 173 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index f855581c712..8da572bf7d8 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. @@ -22,6 +22,8 @@ subject to the following restrictions: #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" #include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btCpuFeatureUtility.h" + //#include "btJacobianEntry.h" #include "LinearMath/btMinMax.h" #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" @@ -37,121 +39,253 @@ int gNumSplitImpulseRecoveries = 0; #include "BulletDynamics/Dynamics/btRigidBody.h" -btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver() -:m_btSeed2(0) + +///This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver +///Below are optional SSE2 and SSE4/FMA3 versions. We assume most hardware has SSE2. For SSE4/FMA3 we perform a CPU feature check. +static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) { + btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm; + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); + // const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn; + deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; + deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; + + const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; + if (sum < c.m_lowerLimit) + { + deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse; + c.m_appliedImpulse = c.m_lowerLimit; + } + else if (sum > c.m_upperLimit) + { + deltaImpulse = c.m_upperLimit - c.m_appliedImpulse; + c.m_appliedImpulse = c.m_upperLimit; + } + else + { + c.m_appliedImpulse = sum; + } + + body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); + body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); + + return deltaImpulse; } -btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver() + +static btSimdScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) { + btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm; + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); + + deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; + deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; + const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; + if (sum < c.m_lowerLimit) + { + deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse; + c.m_appliedImpulse = c.m_lowerLimit; + } + else + { + c.m_appliedImpulse = sum; + } + body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); + body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); + + return deltaImpulse; } + + #ifdef USE_SIMD #include <emmintrin.h> + + #define btVecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e)) static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 ) { __m128 result = _mm_mul_ps( vec0, vec1); return _mm_add_ps( btVecSplat( result, 0 ), _mm_add_ps( btVecSplat( result, 1 ), btVecSplat( result, 2 ) ) ); } -#endif//USE_SIMD + +#if defined (BT_ALLOW_SSE4) +#include <intrin.h> + +#define USE_FMA 1 +#define USE_FMA3_INSTEAD_FMA4 1 +#define USE_SSE4_DOT 1 + +#define SSE4_DP(a, b) _mm_dp_ps(a, b, 0x7f) +#define SSE4_DP_FP(a, b) _mm_cvtss_f32(_mm_dp_ps(a, b, 0x7f)) + +#if USE_SSE4_DOT +#define DOT_PRODUCT(a, b) SSE4_DP(a, b) +#else +#define DOT_PRODUCT(a, b) btSimdDot3(a, b) +#endif + +#if USE_FMA +#if USE_FMA3_INSTEAD_FMA4 +// a*b + c +#define FMADD(a, b, c) _mm_fmadd_ps(a, b, c) +// -(a*b) + c +#define FMNADD(a, b, c) _mm_fnmadd_ps(a, b, c) +#else // USE_FMA3 +// a*b + c +#define FMADD(a, b, c) _mm_macc_ps(a, b, c) +// -(a*b) + c +#define FMNADD(a, b, c) _mm_nmacc_ps(a, b, c) +#endif +#else // USE_FMA +// c + a*b +#define FMADD(a, b, c) _mm_add_ps(c, _mm_mul_ps(a, b)) +// c - a*b +#define FMNADD(a, b, c) _mm_sub_ps(c, _mm_mul_ps(a, b)) +#endif +#endif // Project Gauss Seidel or the equivalent Sequential Impulse -btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) { -#ifdef USE_SIMD __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); - btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm))); - __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128)); - deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv))); - deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv))); - btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse); - btSimdScalar resultLowerLess,resultUpperLess; - resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1); - resultUpperLess = _mm_cmplt_ps(sum,upperLimit1); - __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); - deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); - c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); - __m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp); - deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) ); - c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) ); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128,body2.internalGetInvMass().mVec128); + btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm))); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv))); + deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv))); + btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse); + btSimdScalar resultLowerLess, resultUpperLess; + resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1); + resultUpperLess = _mm_cmplt_ps(sum, upperLimit1); + __m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp); + deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse)); + c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum)); + __m128 upperMinApplied = _mm_sub_ps(upperLimit1, cpAppliedImp); + deltaImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied)); + c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1)); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128, body2.internalGetInvMass().mVec128); __m128 impulseMagnitude = deltaImpulse; - body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); - body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); - body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); - body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); + body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude)); + body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude)); + body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude)); + body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude)); + return deltaImpulse; +} + +// Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3 +static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +{ +#if defined (BT_ALLOW_SSE4) + __m128 tmp = _mm_set_ps1(c.m_jacDiagABInv); + __m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm); + const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit); + const __m128 upperLimit = _mm_set_ps1(c.m_upperLimit); + const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); + const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse); + deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse); + tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse); // sum + const __m128 maskLower = _mm_cmpgt_ps(tmp, lowerLimit); + const __m128 maskUpper = _mm_cmpgt_ps(upperLimit, tmp); + deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), _mm_blendv_ps(_mm_sub_ps(upperLimit, c.m_appliedImpulse), deltaImpulse, maskUpper), maskLower); + c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, _mm_blendv_ps(upperLimit, tmp, maskUpper), maskLower); + body1.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128); + body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128); + body2.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128); + body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128); return deltaImpulse; #else - return resolveSingleConstraintRowGeneric(body1,body2,c); + return gResolveSingleConstraintRowGeneric_sse2(body1,body2,c); #endif } -// Project Gauss Seidel or the equivalent Sequential Impulse -btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) -{ - btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; - const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); - const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); -// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn; - deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; - deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; - const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; - if (sum < c.m_lowerLimit) - { - deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse; - c.m_appliedImpulse = c.m_lowerLimit; - } - else if (sum > c.m_upperLimit) - { - deltaImpulse = c.m_upperLimit-c.m_appliedImpulse; - c.m_appliedImpulse = c.m_upperLimit; - } - else - { - c.m_appliedImpulse = sum; - } +static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +{ + __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); + __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); + __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); + btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm))); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv))); + deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv))); + btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse); + btSimdScalar resultLowerLess, resultUpperLess; + resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1); + resultUpperLess = _mm_cmplt_ps(sum, upperLimit1); + __m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp); + deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse)); + c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum)); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128); + __m128 impulseMagnitude = deltaImpulse; + body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude)); + body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude)); + body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude)); + body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude)); + return deltaImpulse; +} - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); +// Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3 +static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +{ +#ifdef BT_ALLOW_SSE4 + __m128 tmp = _mm_set_ps1(c.m_jacDiagABInv); + __m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm); + const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit); + const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); + const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse); + deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse); + tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse); + const __m128 mask = _mm_cmpgt_ps(tmp, lowerLimit); + deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), deltaImpulse, mask); + c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, tmp, mask); + body1.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128); + body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128); + body2.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128); + body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128); return deltaImpulse; +#else + return gResolveSingleConstraintRowLowerLimit_sse2(body1,body2,c); +#endif //BT_ALLOW_SSE4 +} + + +#endif //USE_SIMD + + + +btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +{ +#ifdef USE_SIMD + return m_resolveSingleConstraintRowGeneric(body1, body2, c); +#else + return resolveSingleConstraintRowGeneric(body1,body2,c); +#endif +} + +// Project Gauss Seidel or the equivalent Sequential Impulse +btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +{ + return gResolveSingleConstraintRowGeneric_scalar_reference(body1, body2, c); } btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) { #ifdef USE_SIMD - __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); - __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); - __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); - btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm))); - __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128)); - deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv))); - deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv))); - btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse); - btSimdScalar resultLowerLess,resultUpperLess; - resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1); - resultUpperLess = _mm_cmplt_ps(sum,upperLimit1); - __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); - deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); - c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128); - __m128 impulseMagnitude = deltaImpulse; - body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); - body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); - body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); - body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); - return deltaImpulse; + return m_resolveSingleConstraintRowLowerLimit(body1, body2, c); #else return resolveSingleConstraintRowLowerLimit(body1,body2,c); #endif @@ -160,26 +294,7 @@ btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowe btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) { - btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; - const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); - const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); - - deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; - deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; - const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; - if (sum < c.m_lowerLimit) - { - deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse; - c.m_appliedImpulse = c.m_lowerLimit; - } - else - { - c.m_appliedImpulse = sum; - } - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); - - return deltaImpulse; + return gResolveSingleConstraintRowLowerLimit_scalar_reference(body1,body2,c); } @@ -248,6 +363,63 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri } + btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver() + : m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_scalar_reference), + m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_scalar_reference), + m_btSeed2(0) + { + +#ifdef USE_SIMD + m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse2; + m_resolveSingleConstraintRowLowerLimit=gResolveSingleConstraintRowLowerLimit_sse2; +#endif //USE_SIMD + +#ifdef BT_ALLOW_SSE4 + int cpuFeatures = btCpuFeatureUtility::getCpuFeatures(); + if ((cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_FMA3) && (cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_SSE4_1)) + { + m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse4_1_fma3; + m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse4_1_fma3; + } +#endif//BT_ALLOW_SSE4 + + } + + btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver() + { + } + + btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverGeneric() + { + return gResolveSingleConstraintRowGeneric_scalar_reference; + } + + btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverLowerLimit() + { + return gResolveSingleConstraintRowLowerLimit_scalar_reference; + } + + +#ifdef USE_SIMD + btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric() + { + return gResolveSingleConstraintRowGeneric_sse2; + } + btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit() + { + return gResolveSingleConstraintRowLowerLimit_sse2; + } +#ifdef BT_ALLOW_SSE4 + btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric() + { + return gResolveSingleConstraintRowGeneric_sse4_1_fma3; + } + btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit() + { + return gResolveSingleConstraintRowLowerLimit_sse4_1_fma3; + } +#endif //BT_ALLOW_SSE4 +#endif //USE_SIMD unsigned long btSequentialImpulseConstraintSolver::btRand2() { @@ -308,7 +480,7 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod 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(); @@ -340,7 +512,7 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode) { - + if (colObj && colObj->hasAnisotropicFriction(frictionMode)) { @@ -361,7 +533,7 @@ void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionOb void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) { - + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; @@ -422,26 +594,26 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr } { - + btScalar rel_vel; - btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse: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+solverBodyB.m_externalForceImpulse: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; // btScalar positionalError = 0.f; - btSimdScalar velocityError = desiredVelocity - rel_vel; - btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv); + btScalar velocityError = desiredVelocity - rel_vel; + btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv; solverConstraint.m_rhs = velocityImpulse; solverConstraint.m_rhsPenetration = 0.f; solverConstraint.m_cfm = cfmSlip; solverConstraint.m_lowerLimit = -solverConstraint.m_friction; solverConstraint.m_upperLimit = solverConstraint.m_friction; - + } } @@ -449,7 +621,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c { btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing(); solverConstraint.m_frictionIndex = frictionIndex; - setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, + setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); return solverConstraint; } @@ -457,7 +629,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis1,int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, - btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) { @@ -503,12 +675,12 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv } { - + btScalar rel_vel; - btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse: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+solverBodyB.m_externalForceImpulse: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; @@ -521,7 +693,7 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv solverConstraint.m_cfm = cfmSlip; solverConstraint.m_lowerLimit = -solverConstraint.m_friction; solverConstraint.m_upperLimit = solverConstraint.m_friction; - + } } @@ -536,7 +708,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addRollingFrictionConst { btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); solverConstraint.m_frictionIndex = frictionIndex; - setupRollingFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, + setupRollingFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); return solverConstraint; } @@ -564,7 +736,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body.setCompanionId(solverBodyIdA); } else { - + if (m_fixedBodyId<0) { m_fixedBodyId = m_tmpSolverBodyPool.size(); @@ -582,15 +754,15 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& #include <stdio.h> -void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, +void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2) { - - const btVector3& pos1 = cp.getPositionWorldOnA(); - const btVector3& pos2 = cp.getPositionWorldOnB(); + + // const btVector3& pos1 = cp.getPositionWorldOnA(); + // const btVector3& pos2 = cp.getPositionWorldOnB(); btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; @@ -598,23 +770,23 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra btRigidBody* rb0 = bodyA->m_originalBody; btRigidBody* rb1 = bodyB->m_originalBody; -// btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); +// btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); // btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); - //rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); + //rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); //rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin(); relaxation = 1.f; btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB); solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0); - btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB); + btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB); solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0); { #ifdef COMPUTE_IMPULSE_DENOM btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB); btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB); -#else +#else btVector3 vec; btScalar denom0 = 0.f; btScalar denom1 = 0.f; @@ -628,7 +800,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec); } -#endif //COMPUTE_IMPULSE_DENOM +#endif //COMPUTE_IMPULSE_DENOM btScalar denom = relaxation/(denom0+denom1); solverConstraint.m_jacDiagABInv = denom; @@ -666,11 +838,11 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra btVector3 vel = vel1 - vel2; btScalar rel_vel = cp.m_normalWorldOnB.dot(vel); - + solverConstraint.m_friction = cp.m_combinedFriction; - + restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution); if (restitution <= btScalar(0.)) { @@ -700,17 +872,17 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra 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) + + 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) + 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; btScalar velocityError = restitution - rel_vel;// * damping; - + btScalar erp = infoGlobal.m_erp2; if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) @@ -755,7 +927,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra -void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, +void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) { @@ -834,7 +1006,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m btVector3 rel_pos1; btVector3 rel_pos2; btScalar relaxation; - + int frictionIndex = m_tmpSolverContactConstraintPool.size(); btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing(); @@ -848,7 +1020,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m const btVector3& pos1 = cp.getPositionWorldOnA(); const btVector3& pos2 = cp.getPositionWorldOnB(); - rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); + rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); btVector3 vel1;// = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0); @@ -856,13 +1028,13 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m 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(); @@ -903,21 +1075,21 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m addRollingFrictionConstraint(axis0,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); if (axis1.length()>0.001) addRollingFrictionConstraint(axis1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); - + } } ///Bullet has several options to set the friction directions - ///By default, each contact has only a single friction direction that is recomputed automatically very frame + ///By default, each contact has only a single friction direction that is recomputed automatically very frame ///based on the relative linear velocity. ///If the relative velocity it zero, it will automatically compute a friction direction. - + ///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS. ///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction. /// ///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity. /// - ///The user can manually override the friction directions for certain contacts using a contact callback, + ///The user can manually override the friction directions for certain contacts using a contact callback, ///and set the cp.m_lateralFrictionInitialized to true ///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) ///this will give a conveyor belt effect @@ -973,9 +1145,9 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m } setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal); - - + + } } @@ -1015,7 +1187,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol bool found=false; for (int b=0;b<numBodies;b++) { - + if (&constraint->getRigidBodyA()==bodies[b]) { found = true; @@ -1047,7 +1219,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol bool found=false; for (int b=0;b<numBodies;b++) { - + if (manifoldPtr[i]->getBody0()==bodies[b]) { found = true; @@ -1071,8 +1243,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol } } #endif //BT_ADDITIONAL_DEBUG - - + + for (int i = 0; i < numBodies; i++) { bodies[i]->setCompanionId(-1); @@ -1087,6 +1259,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol //convert all bodies + for (int i=0;i<numBodies;i++) { int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep); @@ -1096,14 +1269,27 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol { btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; btVector3 gyroForce (0,0,0); - if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE) + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) { - gyroForce = body->computeGyroscopicForce(infoGlobal.m_maxGyroscopicForce); + gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce); solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; } + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD) + { + gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep); + solverBody.m_externalTorqueImpulse += gyroForce; + } + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY) + { + gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep); + solverBody.m_externalTorqueImpulse += gyroForce; + + } + + } } - + if (1) { int j; @@ -1123,7 +1309,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol int totalNumRows = 0; int i; - + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); //calculate the total number of contraint rows for (i=0;i<numConstraints;i++) @@ -1153,14 +1339,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol } m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); - + ///setup the btSolverConstraints int currentRow = 0; for (i=0;i<numConstraints;i++) { const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; - + if (info1.m_numConstraintRows) { btAssert(currentRow<totalNumRows); @@ -1268,7 +1454,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol } - + { btScalar rel_vel; btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0); @@ -1276,11 +1462,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol 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) + + 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) + + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB); rel_vel = vel1Dotn+vel2Dotn; @@ -1346,7 +1532,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration 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) @@ -1359,7 +1545,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration m_orderNonContactConstraintPool[swapi] = tmp; } - //contact/friction constraints are not solved more than + //contact/friction constraints are not solved more than if (iteration< infoGlobal.m_numIterations) { for (int j=0; j<numConstraintPool; ++j) { @@ -1438,7 +1624,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration { btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]]; - + if (totalImpulse>btScalar(0)) { solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); @@ -1463,8 +1649,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); } - - + + ///solve all friction constraints, using SIMD, if available @@ -1483,7 +1669,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration } } - + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); for (j=0;j<numRollingFrictionPoolConstraints;j++) { @@ -1502,9 +1688,9 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); } } - - } + + } } } else { @@ -1628,10 +1814,10 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( 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); } - + } return 0.f; } @@ -1673,7 +1859,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo fb->m_appliedForceBodyB += solverConstr.m_contactNormal2*solverConstr.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep; fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal* constr->getRigidBodyA().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep; fb->m_appliedTorqueBodyB += solverConstr.m_relpos2CrossNormal* constr->getRigidBodyB().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep; /*RGM ???? */ - + } constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse); @@ -1694,7 +1880,7 @@ 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); @@ -1727,13 +1913,13 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod BT_PROFILE("solveGroup"); //you need to provide at least some bodies - + solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer); solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer); solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal); - + return 0.f; } @@ -1741,5 +1927,3 @@ void btSequentialImpulseConstraintSolver::reset() { m_btSeed2 = 0; } - - |