diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp | 1016 |
1 files changed, 701 insertions, 315 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index ab074224028..0ccadea7ab8 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -14,28 +14,29 @@ subject to the following restrictions: */ //#define COMPUTE_IMPULSE_DENOM 1 +//#define BT_ADDITIONAL_DEBUG + //It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms. #include "btSequentialImpulseConstraintSolver.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" -#include "BulletDynamics/Dynamics/btRigidBody.h" -#include "btContactConstraint.h" -#include "btSolve2LinearConstraint.h" -#include "btContactSolverInfo.h" + #include "LinearMath/btIDebugDraw.h" -#include "btJacobianEntry.h" +//#include "btJacobianEntry.h" #include "LinearMath/btMinMax.h" #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" #include <new> #include "LinearMath/btStackAlloc.h" #include "LinearMath/btQuickprof.h" -#include "btSolverBody.h" -#include "btSolverConstraint.h" +//#include "btSolverBody.h" +//#include "btSolverConstraint.h" #include "LinearMath/btAlignedObjectArray.h" #include <string.h> //for memset int gNumSplitImpulseRecoveries = 0; +#include "BulletDynamics/Dynamics/btRigidBody.h" + btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver() :m_btSeed2(0) { @@ -57,15 +58,15 @@ static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 ) #endif//USE_SIMD // Project Gauss Seidel or the equivalent Sequential Impulse -void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c) +void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(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); __m128 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_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128)); + __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); @@ -78,12 +79,12 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( __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_contactNormal.mVec128,body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128); + __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_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,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)); #else resolveSingleConstraintRowGeneric(body1,body2,c); @@ -91,11 +92,11 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( } // Project Gauss Seidel or the equivalent Sequential Impulse - void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c) + void 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_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); - const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); + 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; @@ -116,19 +117,20 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( { c.m_appliedImpulse = sum; } - body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); - body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); + + body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); } - void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c) + void 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); __m128 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_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128)); + __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); @@ -138,12 +140,12 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( __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_contactNormal.mVec128,body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128); + __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_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,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)); #else resolveSingleConstraintRowLowerLimit(body1,body2,c); @@ -151,11 +153,11 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( } // Project Gauss Seidel or the equivalent Sequential Impulse - void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c) + void 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_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); - const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); + 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; @@ -169,22 +171,22 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD( { c.m_appliedImpulse = sum; } - body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); - body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); + body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); } void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly( - btRigidBody& body1, - btRigidBody& body2, + btSolverBody& body1, + btSolverBody& body2, const btSolverConstraint& c) { if (c.m_rhsPenetration) { gNumSplitImpulseRecoveries++; btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm; - const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity()); - const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity()); + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity()); deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; @@ -198,12 +200,12 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri { c.m_appliedPushImpulse = sum; } - body1.internalApplyPushImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); - body2.internalApplyPushImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); + body1.internalApplyPushImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + body2.internalApplyPushImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); } } - void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& c) + void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) { #ifdef USE_SIMD if (!c.m_rhsPenetration) @@ -215,8 +217,8 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); __m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm))); - __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetPushVelocity().mVec128)); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().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); @@ -226,12 +228,12 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128); + __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.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); - body2.internalGetPushVelocity().mVec128 = _mm_sub_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); + body2.internalGetPushVelocity().mVec128 = _mm_add_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); #else resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c); @@ -277,9 +279,10 @@ int btSequentialImpulseConstraintSolver::btRandInt2 (int n) } -#if 0 + void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject) { + btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0; solverBody->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); @@ -289,17 +292,27 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod if (rb) { - solverBody->internalGetInvMass() = btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor(); + solverBody->m_worldTransform = rb->getWorldTransform(); + solverBody->internalSetInvMass(btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor()); solverBody->m_originalBody = rb; solverBody->m_angularFactor = rb->getAngularFactor(); + solverBody->m_linearFactor = rb->getLinearFactor(); + solverBody->m_linearVelocity = rb->getLinearVelocity(); + solverBody->m_angularVelocity = rb->getAngularVelocity(); } else { - solverBody->internalGetInvMass().setValue(0,0,0); + solverBody->m_worldTransform.setIdentity(); + solverBody->internalSetInvMass(btVector3(0,0,0)); solverBody->m_originalBody = 0; solverBody->m_angularFactor.setValue(1,1,1); + solverBody->m_linearFactor.setValue(1,1,1); + solverBody->m_linearVelocity.setValue(0,0,0); + solverBody->m_angularVelocity.setValue(0,0,0); } + + } -#endif + @@ -313,10 +326,12 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, -void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection); -void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection) +static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode); +static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode) { - if (colObj && colObj->hasAnisotropicFriction()) + + + if (colObj && colObj->hasAnisotropicFriction(frictionMode)) { // transform to local coordinates btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis(); @@ -326,20 +341,26 @@ void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirec // ... and transform it back to global coordinates frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral; } + } -void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) -{ - btRigidBody* body0=btRigidBody::upcast(colObj0); - btRigidBody* body1=btRigidBody::upcast(colObj1); +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) +{ + + + solverConstraint.m_contactNormal1 = normalAxis; + solverConstraint.m_contactNormal2 = -normalAxis; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; - solverConstraint.m_contactNormal = normalAxis; + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; - solverConstraint.m_solverBodyA = body0 ? body0 : &getFixedBody(); - solverConstraint.m_solverBodyB = body1 ? body1 : &getFixedBody(); + solverConstraint.m_solverBodyIdA = solverBodyIdA; + solverConstraint.m_solverBodyIdB = solverBodyIdB; solverConstraint.m_friction = cp.m_combinedFriction; solverConstraint.m_originalContactPoint = 0; @@ -348,55 +369,122 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr solverConstraint.m_appliedPushImpulse = 0.f; { - btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal); + 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); } { - btVector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal); + 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); } -#ifdef COMPUTE_IMPULSE_DENOM - btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal); - btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal); -#else - btVector3 vec; - btScalar denom0 = 0.f; - btScalar denom1 = 0.f; - if (body0) { - vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); - denom0 = body0->getInvMass() + normalAxis.dot(vec); + btVector3 vec; + btScalar denom0 = 0.f; + btScalar denom1 = 0.f; + if (body0) + { + vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); + denom0 = body0->getInvMass() + normalAxis.dot(vec); + } + if (body1) + { + vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); + denom1 = body1->getInvMass() + normalAxis.dot(vec); + } + btScalar denom = relaxation/(denom0+denom1); + solverConstraint.m_jacDiagABInv = denom; } - if (body1) + { - vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); - denom1 = body1->getInvMass() + normalAxis.dot(vec); + + + btScalar rel_vel; + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity: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)) + + 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); + solverConstraint.m_rhs = velocityImpulse; + solverConstraint.m_cfm = cfmSlip; + solverConstraint.m_lowerLimit = 0; + solverConstraint.m_upperLimit = 1e10f; + } +} +btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) +{ + btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing(); + solverConstraint.m_frictionIndex = frictionIndex; + setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, + colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); + return solverConstraint; +} -#endif //COMPUTE_IMPULSE_DENOM - btScalar denom = relaxation/(denom0+denom1); - solverConstraint.m_jacDiagABInv = denom; -#ifdef _USE_JACOBIAN - solverConstraint.m_jac = btJacobianEntry ( - rel_pos1,rel_pos2,solverConstraint.m_contactNormal, - body0->getInvInertiaDiagLocal(), - body0->getInvMass(), - body1->getInvInertiaDiagLocal(), - body1->getInvMass()); -#endif //_USE_JACOBIAN +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, + btScalar desiredVelocity, btScalar cfmSlip) +{ + btVector3 normalAxis(0,0,0); + + + solverConstraint.m_contactNormal1 = normalAxis; + solverConstraint.m_contactNormal2 = -normalAxis; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; + + btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; + btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; + + solverConstraint.m_solverBodyIdA = solverBodyIdA; + solverConstraint.m_solverBodyIdB = solverBodyIdB; + + solverConstraint.m_friction = cp.m_combinedRollingFriction; + solverConstraint.m_originalContactPoint = 0; + + solverConstraint.m_appliedImpulse = 0.f; + solverConstraint.m_appliedPushImpulse = 0.f; + + { + btVector3 ftorqueAxis1 = -normalAxis1; + solverConstraint.m_relpos1CrossNormal = ftorqueAxis1; + solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0); + } + { + btVector3 ftorqueAxis1 = normalAxis1; + solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; + solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0); + } + + + { + btVector3 iMJaA = body0?body0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0); + btVector3 iMJaB = body1?body1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0); + btScalar sum = 0; + sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); + sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); + solverConstraint.m_jacDiagABInv = btScalar(1.)/sum; + } { + + btScalar rel_vel; - btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?body0->getLinearVelocity():btVector3(0,0,0)) - + solverConstraint.m_relpos1CrossNormal.dot(body0?body0->getAngularVelocity():btVector3(0,0,0)); - btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?body1->getLinearVelocity():btVector3(0,0,0)) - + solverConstraint.m_relpos2CrossNormal.dot(body1?body1->getAngularVelocity():btVector3(0,0,0)); + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity: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)) + + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0)); rel_vel = vel1Dotn+vel2Dotn; @@ -408,33 +496,42 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr solverConstraint.m_cfm = cfmSlip; solverConstraint.m_lowerLimit = 0; solverConstraint.m_upperLimit = 1e10f; + } } -btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) + + + + + +btSolverConstraint& btSequentialImpulseConstraintSolver::addRollingFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip) { - btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing(); + btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing(); solverConstraint.m_frictionIndex = frictionIndex; - setupFrictionConstraint(solverConstraint, normalAxis, solverBodyA, solverBodyB, cp, rel_pos1, rel_pos2, + setupRollingFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, desiredVelocity, cfmSlip); return solverConstraint; } + int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body) { -#if 0 + int solverBodyIdA = -1; if (body.getCompanionId() >= 0) { //body has already been converted solverBodyIdA = body.getCompanionId(); + btAssert(solverBodyIdA < m_tmpSolverBodyPool.size()); } else { btRigidBody* rb = btRigidBody::upcast(&body); - if (rb && rb->getInvMass()) + //convert both active and kinematic objects (for their velocity) + if (rb && (rb->getInvMass() || rb->isKinematicObject())) { solverBodyIdA = m_tmpSolverBodyPool.size(); btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); @@ -445,29 +542,33 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& return 0;//assume first one is a fixed solver body } } + return solverBodyIdA; -#endif - return 0; + } #include <stdio.h> void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint, - btCollisionObject* colObj0, btCollisionObject* colObj1, + int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation, btVector3& rel_pos1, btVector3& rel_pos2) { - btRigidBody* rb0 = btRigidBody::upcast(colObj0); - btRigidBody* rb1 = btRigidBody::upcast(colObj1); - + const btVector3& pos1 = cp.getPositionWorldOnA(); const btVector3& pos2 = cp.getPositionWorldOnB(); + btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; + + btRigidBody* rb0 = bodyA->m_originalBody; + btRigidBody* rb1 = bodyB->m_originalBody; + // btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); // btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); - rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); - rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); + rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin(); + rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin(); relaxation = 1.f; @@ -500,30 +601,29 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra solverConstraint.m_jacDiagABInv = denom; } - solverConstraint.m_contactNormal = cp.m_normalWorldOnB; - solverConstraint.m_relpos1CrossNormal = rel_pos1.cross(cp.m_normalWorldOnB); - solverConstraint.m_relpos2CrossNormal = rel_pos2.cross(-cp.m_normalWorldOnB); - + solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB; + solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB; + solverConstraint.m_relpos1CrossNormal = torqueAxis0; + solverConstraint.m_relpos2CrossNormal = -torqueAxis1; + btScalar restitution = 0.f; + btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop; + { + btVector3 vel1,vel2; - btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : 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); + vel1 = rb0? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0); + vel2 = rb1? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); - btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop; + // btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); + vel = vel1 - vel2; + rel_vel = cp.m_normalWorldOnB.dot(vel); + - solverConstraint.m_friction = cp.m_combinedFriction; + solverConstraint.m_friction = cp.m_combinedFriction; - btScalar restitution = 0.f; - if (cp.m_lifeTime>infoGlobal.m_restingContactRestitutionThreshold) - { - restitution = 0.f; - } else - { restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution); if (restitution <= btScalar(0.)) { @@ -537,9 +637,9 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra { solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; if (rb0) - rb0->internalApplyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); + bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); if (rb1) - rb1->internalApplyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); + bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse); } else { solverConstraint.m_appliedImpulse = 0.f; @@ -548,33 +648,41 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra solverConstraint.m_appliedPushImpulse = 0.f; { - btScalar rel_vel; - btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?rb0->getLinearVelocity():btVector3(0,0,0)) - + solverConstraint.m_relpos1CrossNormal.dot(rb0?rb0->getAngularVelocity():btVector3(0,0,0)); - btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?rb1->getLinearVelocity():btVector3(0,0,0)) - + solverConstraint.m_relpos2CrossNormal.dot(rb1?rb1->getAngularVelocity():btVector3(0,0,0)); - - rel_vel = vel1Dotn+vel2Dotn; + 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)); + 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)) + { + erp = infoGlobal.m_erp; + } if (penetration>0) { positionalError = 0; + velocityError -= penetration / infoGlobal.m_timeStep; } else { - positionalError = -penetration * infoGlobal.m_erp/infoGlobal.m_timeStep; + positionalError = -penetration * erp/infoGlobal.m_timeStep; } btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; + if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) { //combine position and velocity into rhs solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; solverConstraint.m_rhsPenetration = 0.f; + } else { //split position and velocity into rhs and m_rhsPenetration @@ -594,51 +702,46 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, - btRigidBody* rb0, btRigidBody* rb1, + int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal) { - if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING) - { - { - btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; - if (rb0) - rb0->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse); - if (rb1) - rb1->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse); - } else - { - frictionConstraint1.m_appliedImpulse = 0.f; - } - } - if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - { - btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1]; - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; - if (rb0) - rb0->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse); - if (rb1) - rb1->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse); - } else - { - frictionConstraint2.m_appliedImpulse = 0.f; - } - } - } else - { - btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; - frictionConstraint1.m_appliedImpulse = 0.f; - if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - { - btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1]; - frictionConstraint2.m_appliedImpulse = 0.f; - } - } + btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB]; + + btRigidBody* rb0 = bodyA->m_originalBody; + btRigidBody* rb1 = bodyB->m_originalBody; + + { + btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; + if (rb0) + bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse); + if (rb1) + bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse); + } else + { + frictionConstraint1.m_appliedImpulse = 0.f; + } + } + + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + { + btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1]; + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; + if (rb0) + bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse); + if (rb1) + bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse); + } else + { + frictionConstraint2.m_appliedImpulse = 0.f; + } + } } @@ -651,14 +754,22 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m colObj0 = (btCollisionObject*)manifold->getBody0(); colObj1 = (btCollisionObject*)manifold->getBody1(); + int solverBodyIdA = getOrInitSolverBody(*colObj0); + int solverBodyIdB = getOrInitSolverBody(*colObj1); + +// btRigidBody* bodyA = btRigidBody::upcast(colObj0); +// btRigidBody* bodyB = btRigidBody::upcast(colObj1); + + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB]; + - btRigidBody* solverBodyA = btRigidBody::upcast(colObj0); - btRigidBody* solverBodyB = btRigidBody::upcast(colObj1); ///avoid collision response between two static objects - if ((!solverBodyA || !solverBodyA->getInvMass()) && (!solverBodyB || !solverBodyB->getInvMass())) + if (!solverBodyA || (!solverBodyA->m_originalBody && (!solverBodyB || !solverBodyB->m_originalBody))) return; + int rollingFriction=1; for (int j=0;j<manifold->getNumContacts();j++) { @@ -674,13 +785,14 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m int frictionIndex = m_tmpSolverContactConstraintPool.size(); btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing(); - btRigidBody* rb0 = btRigidBody::upcast(colObj0); - btRigidBody* rb1 = btRigidBody::upcast(colObj1); - solverConstraint.m_solverBodyA = rb0? rb0 : &getFixedBody(); - solverConstraint.m_solverBodyB = rb1? rb1 : &getFixedBody(); +// btRigidBody* rb0 = btRigidBody::upcast(colObj0); +// btRigidBody* rb1 = btRigidBody::upcast(colObj1); + solverConstraint.m_solverBodyIdA = solverBodyIdA; + solverConstraint.m_solverBodyIdB = solverBodyIdB; + solverConstraint.m_originalContactPoint = &cp; - setupContactConstraint(solverConstraint, colObj0, colObj1, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2); + setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2); // const btVector3& pos1 = cp.getPositionWorldOnA(); // const btVector3& pos2 = cp.getPositionWorldOnB(); @@ -689,52 +801,109 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size(); + btVector3 angVelA,angVelB; + solverBodyA->getAngularVelocity(angVelA); + solverBodyB->getAngularVelocity(angVelB); + btVector3 relAngVel = angVelB-angVelA; + + if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0)) + { + //only a single rollingFriction per manifold + rollingFriction--; + if (relAngVel.length()>infoGlobal.m_singleAxisRollingFrictionThreshold) + { + relAngVel.normalize(); + applyAnisotropicFriction(colObj0,relAngVel,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,relAngVel,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + if (relAngVel.length()>0.001) + addRollingFrictionConstraint(relAngVel,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + + } else + { + addRollingFrictionConstraint(cp.m_normalWorldOnB,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + btVector3 axis0,axis1; + btPlaneSpace1(cp.m_normalWorldOnB,axis0,axis1); + applyAnisotropicFriction(colObj0,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj0,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + applyAnisotropicFriction(colObj1,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); + if (axis0.length()>0.001) + 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 + ///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, + ///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 + /// if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized) { cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2(); if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON) { - cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel); + cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel); if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB); cp.m_lateralFrictionDir2.normalize();//?? - applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2); - applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2); - addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + 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); - applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1); - addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); - cp.m_lateralFrictionInitialized = true; + 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 { - //re-calculate friction direction every frame, todo: check if this is really needed btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) { - applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2); - applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2); - addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); + 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); - applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1); - addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,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); - cp.m_lateralFrictionInitialized = true; + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION)) + { + cp.m_lateralFrictionInitialized = true; + } } } else { - addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,cp.m_contactMotion1, cp.m_contactCFM1); + addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,cp.m_contactMotion1, cp.m_contactCFM1); + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) - addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2); + 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, rb0, rb1, cp, infoGlobal); } } @@ -748,39 +917,107 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol m_maxOverrideNumSolverIterations = 0; - if (!(numConstraints + numManifolds)) - { - // printf("empty\n"); - return 0.f; - } - - if (infoGlobal.m_splitImpulse) +#ifdef BT_ADDITIONAL_DEBUG + //make sure that dynamic bodies exist for all (enabled) constraints + for (int i=0;i<numConstraints;i++) { - for (int i = 0; i < numBodies; i++) + btTypedConstraint* constraint = constraints[i]; + if (constraint->isEnabled()) { - btRigidBody* body = btRigidBody::upcast(bodies[i]); - if (body) - { - body->internalGetDeltaLinearVelocity().setZero(); - body->internalGetDeltaAngularVelocity().setZero(); - body->internalGetPushVelocity().setZero(); - body->internalGetTurnVelocity().setZero(); + if (!constraint->getRigidBodyA().isStaticOrKinematicObject()) + { + bool found=false; + for (int b=0;b<numBodies;b++) + { + + if (&constraint->getRigidBodyA()==bodies[b]) + { + found = true; + break; + } + } + btAssert(found); + } + if (!constraint->getRigidBodyB().isStaticOrKinematicObject()) + { + bool found=false; + for (int b=0;b<numBodies;b++) + { + if (&constraint->getRigidBodyB()==bodies[b]) + { + found = true; + break; + } + } + btAssert(found); } } } - else + //make sure that dynamic bodies exist for all contact manifolds + for (int i=0;i<numManifolds;i++) + { + if (!manifoldPtr[i]->getBody0()->isStaticOrKinematicObject()) + { + bool found=false; + for (int b=0;b<numBodies;b++) + { + + if (manifoldPtr[i]->getBody0()==bodies[b]) + { + found = true; + break; + } + } + btAssert(found); + } + if (!manifoldPtr[i]->getBody1()->isStaticOrKinematicObject()) + { + bool found=false; + for (int b=0;b<numBodies;b++) + { + if (manifoldPtr[i]->getBody1()==bodies[b]) + { + found = true; + break; + } + } + btAssert(found); + } + } +#endif //BT_ADDITIONAL_DEBUG + + + for (int i = 0; i < numBodies; i++) { - for (int i = 0; i < numBodies; i++) + bodies[i]->setCompanionId(-1); + } + + + m_tmpSolverBodyPool.reserve(numBodies+1); + m_tmpSolverBodyPool.resize(0); + + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody(&fixedBody,0); + + //convert all bodies + + for (int i=0;i<numBodies;i++) + { + int bodyId = getOrInitSolverBody(*bodies[i]); + btRigidBody* body = btRigidBody::upcast(bodies[i]); + if (body && body->getInvMass()) { - btRigidBody* body = btRigidBody::upcast(bodies[i]); - if (body) - { - body->internalGetDeltaLinearVelocity().setZero(); - body->internalGetDeltaAngularVelocity().setZero(); + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; + btVector3 gyroForce (0,0,0); + if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE) + { + gyroForce = body->computeGyroscopicForce(infoGlobal.m_maxGyroscopicForce); } + solverBody.m_linearVelocity += body->getTotalForce()*body->getInvMass()*infoGlobal.m_timeStep; + solverBody.m_angularVelocity += (body->getTotalTorque()-gyroForce)*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; } } - + if (1) { int j; @@ -791,6 +1028,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol constraint->internalSetAppliedImpulse(0.0f); } } + //btRigidBody* rb0=0,*rb1=0; //if (1) @@ -800,11 +1038,23 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol int totalNumRows = 0; int i; - m_tmpConstraintSizesPool.resize(numConstraints); + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); //calculate the total number of contraint rows for (i=0;i<numConstraints;i++) { btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + btJointFeedback* fb = constraints[i]->getJointFeedback(); + if (fb) + { + fb->m_appliedForceBodyA.setZero(); + fb->m_appliedTorqueBodyA.setZero(); + fb->m_appliedForceBodyB.setZero(); + fb->m_appliedTorqueBodyB.setZero(); + } + + if (constraints[i]->isEnabled()) + { + } if (constraints[i]->isEnabled()) { constraints[i]->getInfo1(&info1); @@ -815,7 +1065,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol } totalNumRows += info1.m_numConstraintRows; } - m_tmpSolverNonContactConstraintPool.resize(totalNumRows); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); ///setup the btSolverConstraints @@ -834,6 +1084,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol btRigidBody& rbA = constraint->getRigidBodyA(); btRigidBody& rbB = constraint->getRigidBodyB(); + int solverBodyIdA = getOrInitSolverBody(rbA); + int solverBodyIdB = getOrInitSolverBody(rbB); + + btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; + btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; + + + int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations) @@ -848,28 +1106,31 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol currentConstraintRow[j].m_upperLimit = SIMD_INFINITY; currentConstraintRow[j].m_appliedImpulse = 0.f; currentConstraintRow[j].m_appliedPushImpulse = 0.f; - currentConstraintRow[j].m_solverBodyA = &rbA; - currentConstraintRow[j].m_solverBodyB = &rbB; + currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA; + currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB; currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations; } - rbA.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); - rbA.internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); - rbB.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); - rbB.internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); - + bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); + bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); + bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); + bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); + bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); + bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); + bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); + bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); btTypedConstraint::btConstraintInfo2 info2; info2.fps = 1.f/infoGlobal.m_timeStep; info2.erp = infoGlobal.m_erp; - info2.m_J1linearAxis = currentConstraintRow->m_contactNormal; + info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1; info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal; - info2.m_J2linearAxis = 0; + info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2; info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal; info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this ///the size of btSolverConstraint needs be a multiple of btScalar - btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint)); + btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint)); info2.m_constraintError = ¤tConstraintRow->m_rhs; currentConstraintRow->m_cfm = infoGlobal.m_globalCfm; info2.m_damping = infoGlobal.m_damping; @@ -906,17 +1167,18 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol } { - btVector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass(); + btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass(); btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal; - btVector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal? + btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal? btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal; - btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal); + btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1); sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); - sum += iMJlB.dot(solverConstraint.m_contactNormal); + sum += iMJlB.dot(solverConstraint.m_contactNormal2); sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); - - solverConstraint.m_jacDiagABInv = btScalar(1.)/sum; + btScalar fsum = btFabs(sum); + btAssert(fsum > SIMD_EPSILON); + solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?btScalar(1.)/sum : 0.f; } @@ -924,8 +1186,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol ///todo: add force/torque accelerators { btScalar rel_vel; - btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()); - btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()); + 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()); rel_vel = vel1Dotn+vel2Dotn; @@ -958,7 +1220,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol } } - btContactSolverInfo info = infoGlobal; +// btContactSolverInfo info = infoGlobal; int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); @@ -966,9 +1228,13 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); ///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints - m_orderNonContactConstraintPool.resize(numNonContactPool); - m_orderTmpConstraintPool.resize(numConstraintPool); - m_orderFrictionConstraintPool.resize(numFrictionPool); + m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool); + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool*2); + else + m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool); + + m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool); { int i; for (i=0;i<numNonContactPool;i++) @@ -989,19 +1255,20 @@ 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*/) { int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); int numConstraintPool = m_tmpSolverContactConstraintPool.size(); int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); - - int j; - + if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) { - if ((iteration & 7) == 0) { - for (j=0; j<numNonContactPool; ++j) { + if (1) // uncomment this for a bit less random ((iteration & 7) == 0) + { + + for (int j=0; j<numNonContactPool; ++j) { int tmp = m_orderNonContactConstraintPool[j]; int swapi = btRandInt2(j+1); m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi]; @@ -1011,14 +1278,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration //contact/friction constraints are not solved more than if (iteration< infoGlobal.m_numIterations) { - for (j=0; j<numConstraintPool; ++j) { + for (int j=0; j<numConstraintPool; ++j) { int tmp = m_orderTmpConstraintPool[j]; int swapi = btRandInt2(j+1); m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi]; m_orderTmpConstraintPool[swapi] = tmp; } - for (j=0; j<numFrictionPool; ++j) { + for (int j=0; j<numFrictionPool; ++j) { int tmp = m_orderFrictionConstraintPool[j]; int swapi = btRandInt2(j+1); m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; @@ -1031,72 +1298,164 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration if (infoGlobal.m_solverMode & SOLVER_SIMD) { ///solve all joint constraints, using SIMD, if available - for (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) - resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint); + resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint); } if (iteration< infoGlobal.m_numIterations) { - for (j=0;j<numConstraints;j++) + for (int j=0;j<numConstraints;j++) { - constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); + 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); + } } ///solve all contact constraints using SIMD, if available - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - for (j=0;j<numPoolConstraints;j++) + if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) { - const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - resolveSingleConstraintRowLowerLimitSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1; + + for (int c=0;c<numPoolConstraints;c++) + { + btScalar totalImpulse =0; + + { + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]]; + resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + totalImpulse = solveManifold.m_appliedImpulse; + } + bool applyFriction = true; + if (applyFriction) + { + { + + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]]; + + if (totalImpulse>btScalar(0)) + { + 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); + } + } + + if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) + { + + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]]; + + if (totalImpulse>btScalar(0)) + { + 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); + } + } + } + } } - - ///solve all friction constraints, using SIMD, if available - int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); - for (j=0;j<numFrictionPoolConstraints;j++) + else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS { - btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; - btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + //solve the friction constraints after all contact constraints, don't interleave them + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + int j; - if (totalImpulse>btScalar(0)) + for (j=0;j<numPoolConstraints;j++) { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - resolveSingleConstraintRowGenericSIMD(*solveManifold.m_solverBodyA, *solveManifold.m_solverBodyB,solveManifold); } - } + + + + ///solve all friction constraints, using SIMD, if available + + int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); + 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)) + { + 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); + } + } + + + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); + for (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; + + resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); + } + } + + + } } } else { - + //non-SIMD version ///solve all joint constraints - for (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) - resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint); + resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint); } if (iteration< infoGlobal.m_numIterations) { - for (j=0;j<numConstraints;j++) + for (int j=0;j<numConstraints;j++) { - constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); + 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); + } } ///solve all contact constraints int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - for (j=0;j<numPoolConstraints;j++) + for (int j=0;j<numPoolConstraints;j++) { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - resolveSingleConstraintRowLowerLimit(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); + resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); } ///solve all friction constraints int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); - for (j=0;j<numFrictionPoolConstraints;j++) + for (int j=0;j<numFrictionPoolConstraints;j++) { btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]]; btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; @@ -1106,7 +1465,25 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; - resolveSingleConstraintRowGeneric(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); + resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); + } + } + + 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; + + resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); } } } @@ -1131,7 +1508,7 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - resolveSplitPenetrationSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); + resolveSplitPenetrationSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); } } } @@ -1147,7 +1524,7 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - resolveSplitPenetrationImpulseCacheFriendly(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); + resolveSplitPenetrationImpulseCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); } } } @@ -1175,25 +1552,29 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** /*constraints*/,int /* numConstraints*/,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/) +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal) { int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); int i,j; - for (j=0;j<numPoolConstraints;j++) + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) { - - const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j]; - btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint; - btAssert(pt); - pt->m_appliedImpulse = solveManifold.m_appliedImpulse; - if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING) + for (j=0;j<numPoolConstraints;j++) { + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j]; + btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint; + btAssert(pt); + pt->m_appliedImpulse = solveManifold.m_appliedImpulse; + // float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; + // printf("pt->m_appliedImpulseLateral1 = %f\n", f); pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; - pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse; + //printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1); + if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) + { + pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse; + } + //do a callback here? } - - //do a callback here? } numPoolConstraints = m_tmpSolverNonContactConstraintPool.size(); @@ -1201,6 +1582,16 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo { const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j]; btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint; + btJointFeedback* fb = constr->getJointFeedback(); + if (fb) + { + fb->m_appliedForceBodyA += solverConstr.m_contactNormal1*solverConstr.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep; + 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); if (btFabs(solverConstr.m_appliedImpulse)>=constr->getBreakingImpulseThreshold()) { @@ -1209,29 +1600,32 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo } - if (infoGlobal.m_splitImpulse) - { - for ( i=0;i<numBodies;i++) - { - btRigidBody* body = btRigidBody::upcast(bodies[i]); - if (body) - body->internalWritebackVelocity(infoGlobal.m_timeStep); - } - } else + + for ( i=0;i<m_tmpSolverBodyPool.size();i++) { - for ( i=0;i<numBodies;i++) + btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; + if (body) { - btRigidBody* body = btRigidBody::upcast(bodies[i]); - if (body) - body->internalWritebackVelocity(); + if (infoGlobal.m_splitImpulse) + 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_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity); + if (infoGlobal.m_splitImpulse) + m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform); + + m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); } } + m_tmpSolverContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); - m_tmpSolverContactConstraintPool.resize(0); - m_tmpSolverNonContactConstraintPool.resize(0); - m_tmpSolverContactFrictionConstraintPool.resize(0); - + m_tmpSolverBodyPool.resizeNoInitialize(0); return 0.f; } @@ -1243,14 +1637,12 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod BT_PROFILE("solveGroup"); //you need to provide at least some bodies - btAssert(bodies); - btAssert(numBodies); - + solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc); solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc); - solveGroupCacheFriendlyFinish(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc); + solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal); return 0.f; } @@ -1260,10 +1652,4 @@ void btSequentialImpulseConstraintSolver::reset() m_btSeed2 = 0; } -btRigidBody& btSequentialImpulseConstraintSolver::getFixedBody() -{ - static btRigidBody s_fixed(0, 0,0); - s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); - return s_fixed; -} |