diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics')
37 files changed, 633 insertions, 583 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Character/btCharacterControllerInterface.h b/extern/bullet2/src/BulletDynamics/Character/btCharacterControllerInterface.h index 19373daa241..c81813c92be 100644 --- a/extern/bullet2/src/BulletDynamics/Character/btCharacterControllerInterface.h +++ b/extern/bullet2/src/BulletDynamics/Character/btCharacterControllerInterface.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef CHARACTER_CONTROLLER_INTERFACE_H -#define CHARACTER_CONTROLLER_INTERFACE_H +#ifndef BT_CHARACTER_CONTROLLER_INTERFACE_H +#define BT_CHARACTER_CONTROLLER_INTERFACE_H #include "LinearMath/btVector3.h" #include "BulletDynamics/Dynamics/btActionInterface.h" @@ -42,4 +42,5 @@ public: virtual bool onGround () const = 0; }; -#endif +#endif //BT_CHARACTER_CONTROLLER_INTERFACE_H + diff --git a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h index 704355c0ae1..ef01f8a3e60 100644 --- a/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h +++ b/extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h @@ -14,8 +14,8 @@ subject to the following restrictions: */ -#ifndef KINEMATIC_CHARACTER_CONTROLLER_H -#define KINEMATIC_CHARACTER_CONTROLLER_H +#ifndef BT_KINEMATIC_CHARACTER_CONTROLLER_H +#define BT_KINEMATIC_CHARACTER_CONTROLLER_H #include "LinearMath/btVector3.h" @@ -25,6 +25,7 @@ subject to the following restrictions: class btCollisionShape; +class btConvexShape; class btRigidBody; class btCollisionWorld; class btCollisionDispatcher; @@ -159,4 +160,4 @@ public: bool onGround () const; }; -#endif // KINEMATIC_CHARACTER_CONTROLLER_H +#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp index bc371e4062d..755544f0dee 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp @@ -638,6 +638,11 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr btTransform trDeltaAB = trB * trPose * trA.inverse(); btQuaternion qDeltaAB = trDeltaAB.getRotation(); btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z()); + float swingAxisLen2 = swingAxis.length2(); + if(btFuzzyZero(swingAxisLen2)) + { + return; + } m_swingAxis = swingAxis; m_swingAxis.normalize(); m_swingCorrection = qDeltaAB.getAngle(); @@ -918,7 +923,7 @@ void btConeTwistConstraint::computeTwistLimitInfo(const btQuaternion& qTwist, if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate. { - qMinTwist = operator-(qTwist); + qMinTwist = -(qTwist); twistAngle = qMinTwist.getAngle(); } if (twistAngle < 0) diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h index c1c5aa851b6..868e62f063e 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @@ -33,8 +33,8 @@ and swing 1 and 2 are along the z and y axes respectively. -#ifndef CONETWISTCONSTRAINT_H -#define CONETWISTCONSTRAINT_H +#ifndef BT_CONETWISTCONSTRAINT_H +#define BT_CONETWISTCONSTRAINT_H #include "LinearMath/btVector3.h" #include "btJacobianEntry.h" @@ -343,4 +343,4 @@ SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, } -#endif //CONETWISTCONSTRAINT_H +#endif //BT_CONETWISTCONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h index 7a8e9c1953d..6f673102be2 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef CONSTRAINT_SOLVER_H -#define CONSTRAINT_SOLVER_H +#ifndef BT_CONSTRAINT_SOLVER_H +#define BT_CONSTRAINT_SOLVER_H #include "LinearMath/btScalar.h" @@ -49,4 +49,4 @@ public: -#endif //CONSTRAINT_SOLVER_H +#endif //BT_CONSTRAINT_SOLVER_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp index d97096d9f26..88859182925 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp @@ -68,9 +68,53 @@ void btContactConstraint::buildJacobian() #include "LinearMath/btMinMax.h" #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" -#define ASSERT2 btAssert -#define USE_INTERNAL_APPLY_IMPULSE 1 + +//response between two dynamic objects without friction, assuming 0 penetration depth +btScalar resolveSingleCollision( + btRigidBody* body1, + btCollisionObject* colObj2, + const btVector3& contactPositionWorld, + const btVector3& contactNormalOnB, + const btContactSolverInfo& solverInfo, + btScalar distance) +{ + btRigidBody* body2 = btRigidBody::upcast(colObj2); + + + const btVector3& normal = contactNormalOnB; + + btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin(); + btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin(); + + btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1); + btVector3 vel2 = body2? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); + btVector3 vel = vel1 - vel2; + btScalar rel_vel; + rel_vel = normal.dot(vel); + + btScalar combinedRestitution = body1->getRestitution() * colObj2->getRestitution(); + btScalar restitution = combinedRestitution* -rel_vel; + + btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ; + btScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping; + btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld,normal); + btScalar denom1 = body2? body2->computeImpulseDenominator(contactPositionWorld,normal) : 0.f; + btScalar relaxation = 1.f; + btScalar jacDiagABInv = relaxation/(denom0+denom1); + + btScalar penetrationImpulse = positionalError * jacDiagABInv; + btScalar velocityImpulse = velocityError * jacDiagABInv; + + btScalar normalImpulse = penetrationImpulse+velocityImpulse; + normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse; + + body1->applyImpulse(normal*(normalImpulse), rel_pos1); + if (body2) + body2->applyImpulse(-normal*(normalImpulse), rel_pos2); + + return normalImpulse; +} //bilateral constraint between two dynamic objects @@ -83,7 +127,7 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, btScalar normalLenSqr = normal.length2(); - ASSERT2(btFabs(normalLenSqr) < btScalar(1.1)); + btAssert(btFabs(normalLenSqr) < btScalar(1.1)); if (normalLenSqr > btScalar(1.1)) { impulse = btScalar(0.); diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h index 63c1a417bc1..477c79d1756 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactConstraint.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef CONTACT_CONSTRAINT_H -#define CONTACT_CONSTRAINT_H +#ifndef BT_CONTACT_CONSTRAINT_H +#define BT_CONTACT_CONSTRAINT_H #include "LinearMath/btVector3.h" #include "btJacobianEntry.h" @@ -57,6 +57,9 @@ public: }; +///very basic collision resolution without friction +btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance); + ///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, @@ -65,4 +68,4 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1, -#endif //CONTACT_CONSTRAINT_H +#endif //BT_CONTACT_CONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index db5bb5e4c51..6204cb3d16c 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef CONTACT_SOLVER_INFO -#define CONTACT_SOLVER_INFO +#ifndef BT_CONTACT_SOLVER_INFO +#define BT_CONTACT_SOLVER_INFO enum btSolverMode { @@ -84,4 +84,4 @@ struct btContactSolverInfo : public btContactSolverInfoData } }; -#endif //CONTACT_SOLVER_INFO +#endif //BT_CONTACT_SOLVER_INFO diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp index 7c5e4f6e7b2..8ff9940bba3 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp @@ -130,12 +130,20 @@ int btRotationalLimitMotor::testLimitValue(btScalar test_value) { m_currentLimit = 1;//low limit violation m_currentLimitError = test_value - m_loLimit; + if(m_currentLimitError>SIMD_PI) + m_currentLimitError-=SIMD_2_PI; + else if(m_currentLimitError<-SIMD_PI) + m_currentLimitError+=SIMD_2_PI; return 1; } else if (test_value> m_hiLimit) { m_currentLimit = 2;//High limit violation m_currentLimitError = test_value - m_hiLimit; + if(m_currentLimitError>SIMD_PI) + m_currentLimitError-=SIMD_2_PI; + else if(m_currentLimitError<-SIMD_PI) + m_currentLimitError+=SIMD_2_PI; return 2; }; @@ -1067,4 +1075,4 @@ void btGeneric6DofConstraint::setAxis(const btVector3& axis1,const btVector3& ax m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW; calculateTransforms(); -}
\ No newline at end of file +} diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h index ab745ca5ad6..a8e7bc22902 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h @@ -24,8 +24,8 @@ http://gimpact.sf.net */ -#ifndef GENERIC_6DOF_CONSTRAINT_H -#define GENERIC_6DOF_CONSTRAINT_H +#ifndef BT_GENERIC_6DOF_CONSTRAINT_H +#define BT_GENERIC_6DOF_CONSTRAINT_H #include "LinearMath/btVector3.h" #include "btJacobianEntry.h" @@ -611,4 +611,4 @@ SIMD_FORCE_INLINE const char* btGeneric6DofConstraint::serialize(void* dataBuffe -#endif //GENERIC_6DOF_CONSTRAINT_H +#endif //BT_GENERIC_6DOF_CONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp index d3503456625..2b38714987b 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp @@ -21,6 +21,19 @@ subject to the following restrictions: btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA) : btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA) { + init(); +} + + +btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB) + : btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB) +{ + init(); +} + + +void btGeneric6DofSpringConstraint::init() +{ m_objectType = D6_SPRING_CONSTRAINT_TYPE; for(int i = 0; i < 6; i++) diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h index 16ff973e427..31e0cd531ae 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef GENERIC_6DOF_SPRING_CONSTRAINT_H -#define GENERIC_6DOF_SPRING_CONSTRAINT_H +#ifndef BT_GENERIC_6DOF_SPRING_CONSTRAINT_H +#define BT_GENERIC_6DOF_SPRING_CONSTRAINT_H #include "LinearMath/btVector3.h" @@ -39,9 +39,11 @@ protected: btScalar m_equilibriumPoint[6]; btScalar m_springStiffness[6]; btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping) + void init(); void internalUpdateSprings(btConstraintInfo2* info); public: btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB); void enableSpring(int index, bool onOff); void setStiffness(int index, btScalar stiffness); void setDamping(int index, btScalar damping); @@ -93,5 +95,5 @@ SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dat return "btGeneric6DofConstraintData"; } -#endif // GENERIC_6DOF_SPRING_CONSTRAINT_H +#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h index 15fd4a014cc..a76452ddb64 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef HINGE2_CONSTRAINT_H -#define HINGE2_CONSTRAINT_H +#ifndef BT_HINGE2_CONSTRAINT_H +#define BT_HINGE2_CONSTRAINT_H @@ -54,5 +54,5 @@ public: -#endif // HINGE2_CONSTRAINT_H +#endif // BT_HINGE2_CONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp index 144beef1cd6..9e3a2baeed9 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp @@ -37,15 +37,15 @@ subject to the following restrictions: btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA) :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB), +#ifdef _BT_USE_CENTER_LIMIT_ + m_limit(), +#endif m_angularOnly(false), m_enableAngularMotor(false), m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER), m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET), m_useReferenceFrameA(useReferenceFrameA), m_flags(0) -#ifdef _BT_USE_CENTER_LIMIT_ - ,m_limit() -#endif { m_rbAFrame.getOrigin() = pivotInA; @@ -93,14 +93,15 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA) -:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false), +:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), +#ifdef _BT_USE_CENTER_LIMIT_ +m_limit(), +#endif +m_angularOnly(false), m_enableAngularMotor(false), m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER), m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET), m_useReferenceFrameA(useReferenceFrameA), m_flags(0) -#ifdef _BT_USE_CENTER_LIMIT_ -,m_limit() -#endif { // since no frame is given, assume this to be zero angle and just pick rb transform axis @@ -142,15 +143,15 @@ m_flags(0) btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA) :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame), +#ifdef _BT_USE_CENTER_LIMIT_ +m_limit(), +#endif m_angularOnly(false), m_enableAngularMotor(false), m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER), m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET), m_useReferenceFrameA(useReferenceFrameA), m_flags(0) -#ifdef _BT_USE_CENTER_LIMIT_ -,m_limit() -#endif { #ifndef _BT_USE_CENTER_LIMIT_ //start with free @@ -168,15 +169,15 @@ m_flags(0) btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA) :btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame), +#ifdef _BT_USE_CENTER_LIMIT_ +m_limit(), +#endif m_angularOnly(false), m_enableAngularMotor(false), m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER), m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET), m_useReferenceFrameA(useReferenceFrameA), m_flags(0) -#ifdef _BT_USE_CENTER_LIMIT_ -,m_limit() -#endif { ///not providing rigidbody B means implicitly using worldspace for body B @@ -663,7 +664,7 @@ void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt) btScalar targetAngle = qHinge.getAngle(); if (targetAngle > SIMD_PI) // long way around. flip quat and recalculate. { - qHinge = operator-(qHinge); + qHinge = -(qHinge); targetAngle = qHinge.getAngle(); } if (qHinge.getZ() < 0) diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index 50e3f73cb6d..cb2973e1d1d 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -15,8 +15,9 @@ subject to the following restrictions: /* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */ -#ifndef HINGECONSTRAINT_H -#define HINGECONSTRAINT_H +#ifndef BT_HINGECONSTRAINT_H +#define BT_HINGECONSTRAINT_H + #define _BT_USE_CENTER_LIMIT_ 1 @@ -377,4 +378,4 @@ SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btS return btHingeConstraintDataName; } -#endif //HINGECONSTRAINT_H +#endif //BT_HINGECONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h index 22a8af66b8e..f1994a2dfd8 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btJacobianEntry.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef JACOBIAN_ENTRY_H -#define JACOBIAN_ENTRY_H +#ifndef BT_JACOBIAN_ENTRY_H +#define BT_JACOBIAN_ENTRY_H #include "LinearMath/btVector3.h" #include "BulletDynamics/Dynamics/btRigidBody.h" @@ -153,4 +153,4 @@ public: }; -#endif //JACOBIAN_ENTRY_H +#endif //BT_JACOBIAN_ENTRY_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h index b589ee68254..b3bda03eec1 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef POINT2POINTCONSTRAINT_H -#define POINT2POINTCONSTRAINT_H +#ifndef BT_POINT2POINTCONSTRAINT_H +#define BT_POINT2POINTCONSTRAINT_H #include "LinearMath/btVector3.h" #include "btJacobianEntry.h" @@ -158,4 +158,4 @@ SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffe return btPoint2PointConstraintDataName; } -#endif //POINT2POINTCONSTRAINT_H +#endif //BT_POINT2POINTCONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index 0fc93cd3756..ab074224028 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -225,7 +225,7 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri 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) ); + 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 impulseMagnitude = deltaImpulse; @@ -740,13 +740,13 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m } } - btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc) { BT_PROFILE("solveGroupCacheFriendlySetup"); (void)stackAlloc; (void)debugDrawer; + m_maxOverrideNumSolverIterations = 0; if (!(numConstraints + numManifolds)) { @@ -788,6 +788,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol { btTypedConstraint* constraint = constraints[j]; constraint->buildJacobian(); + constraint->internalSetAppliedImpulse(0.0f); } } //btRigidBody* rb0=0,*rb1=0; @@ -804,7 +805,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol for (i=0;i<numConstraints;i++) { btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; - constraints[i]->getInfo1(&info1); + if (constraints[i]->isEnabled()) + { + constraints[i]->getInfo1(&info1); + } else + { + info1.m_numConstraintRows = 0; + info1.nub = 0; + } totalNumRows += info1.m_numConstraintRows; } m_tmpSolverNonContactConstraintPool.resize(totalNumRows); @@ -823,23 +831,26 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; btTypedConstraint* constraint = constraints[i]; + btRigidBody& rbA = constraint->getRigidBodyA(); + btRigidBody& rbB = constraint->getRigidBodyB(); + int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; + if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations) + m_maxOverrideNumSolverIterations = overrideNumSolverIterations; - btRigidBody& rbA = constraint->getRigidBodyA(); - btRigidBody& rbB = constraint->getRigidBodyB(); - int j; for ( j=0;j<info1.m_numConstraintRows;j++) { memset(¤tConstraintRow[j],0,sizeof(btSolverConstraint)); - currentConstraintRow[j].m_lowerLimit = -FLT_MAX; - currentConstraintRow[j].m_upperLimit = FLT_MAX; + currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY; + 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_overrideNumSolverIterations = overrideNumSolverIterations; } rbA.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); @@ -872,6 +883,17 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol for ( j=0;j<info1.m_numConstraintRows;j++) { btSolverConstraint& solverConstraint = currentConstraintRow[j]; + + if (solverConstraint.m_upperLimit>=constraints[i]->getBreakingImpulseThreshold()) + { + solverConstraint.m_upperLimit = constraints[i]->getBreakingImpulseThreshold(); + } + + if (solverConstraint.m_lowerLimit<=-constraints[i]->getBreakingImpulseThreshold()) + { + solverConstraint.m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold(); + } + solverConstraint.m_originalContactPoint = constraint; { @@ -939,15 +961,20 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol btContactSolverInfo info = infoGlobal; - + int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); int numConstraintPool = m_tmpSolverContactConstraintPool.size(); 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); { int i; + for (i=0;i<numNonContactPool;i++) + { + m_orderNonContactConstraintPool[i] = i; + } for (i=0;i<numConstraintPool;i++) { m_orderTmpConstraintPool[i] = i; @@ -965,6 +992,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/) { + int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); int numConstraintPool = m_tmpSolverContactConstraintPool.size(); int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); @@ -973,18 +1001,29 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) { if ((iteration & 7) == 0) { - for (j=0; j<numConstraintPool; ++j) { - int tmp = m_orderTmpConstraintPool[j]; + for (j=0; j<numNonContactPool; ++j) { + int tmp = m_orderNonContactConstraintPool[j]; int swapi = btRandInt2(j+1); - m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi]; - m_orderTmpConstraintPool[swapi] = tmp; + m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi]; + m_orderNonContactConstraintPool[swapi] = tmp; } - for (j=0; j<numFrictionPool; ++j) { - int tmp = m_orderFrictionConstraintPool[j]; - int swapi = btRandInt2(j+1); - m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; - m_orderFrictionConstraintPool[swapi] = tmp; + //contact/friction constraints are not solved more than + if (iteration< infoGlobal.m_numIterations) + { + for (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) { + int tmp = m_orderFrictionConstraintPool[j]; + int swapi = btRandInt2(j+1); + m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; + m_orderFrictionConstraintPool[swapi] = tmp; + } } } } @@ -994,36 +1033,41 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration ///solve all joint constraints, using SIMD, if available for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) { - btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j]; - resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint); + btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; + if (iteration < constraint.m_overrideNumSolverIterations) + resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint); } - for (j=0;j<numConstraints;j++) + if (iteration< infoGlobal.m_numIterations) { - constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); - } - - ///solve all contact constraints using SIMD, if available - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - for (j=0;j<numPoolConstraints;j++) - { - const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - resolveSingleConstraintRowLowerLimitSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); + for (j=0;j<numConstraints;j++) + { + constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); + } - } - ///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; + ///solve all contact constraints using SIMD, if available + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + for (j=0;j<numPoolConstraints;j++) + { + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + resolveSingleConstraintRowLowerLimitSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); - if (totalImpulse>btScalar(0)) + } + + ///solve all friction constraints, using SIMD, if available + int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); + for (j=0;j<numFrictionPoolConstraints;j++) { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + 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(*solveManifold.m_solverBodyA, *solveManifold.m_solverBodyB,solveManifold); + resolveSingleConstraintRowGenericSIMD(*solveManifold.m_solverBodyA, *solveManifold.m_solverBodyB,solveManifold); + } } } } else @@ -1032,34 +1076,38 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration ///solve all joint constraints for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) { - btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j]; - resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint); + btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]]; + if (iteration < constraint.m_overrideNumSolverIterations) + resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint); } - for (j=0;j<numConstraints;j++) - { - constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); - } - ///solve all contact constraints - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - for (j=0;j<numPoolConstraints;j++) + if (iteration< infoGlobal.m_numIterations) { - const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; - resolveSingleConstraintRowLowerLimit(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); - } - ///solve all friction constraints - 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)) + for (j=0;j<numConstraints;j++) { - solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); - solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep); + } + ///solve all contact constraints + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + for (j=0;j<numPoolConstraints;j++) + { + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; + resolveSingleConstraintRowLowerLimit(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); + } + ///solve all friction constraints + 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; - resolveSingleConstraintRowGeneric(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); + if (totalImpulse>btScalar(0)) + { + solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + resolveSingleConstraintRowGeneric(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold); + } } } } @@ -1111,16 +1159,18 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( { BT_PROFILE("solveGroupCacheFriendlyIterations"); - - //should traverse the contacts random order... - int iteration; { - for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++) + ///this is a special step to resolve penetrations (just for contacts) + solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc); + + int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations; + + for ( int iteration = 0 ; iteration< maxIterations ; iteration++) + //for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--) { solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc); } - solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc); } return 0.f; } @@ -1151,9 +1201,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo { const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j]; btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint; - btScalar sum = constr->internalGetAppliedImpulse(); - sum += solverConstr.m_appliedImpulse; - constr->internalSetAppliedImpulse(sum); + constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse); + if (btFabs(solverConstr.m_appliedImpulse)>=constr->getBreakingImpulseThreshold()) + { + constr->setEnabled(false); + } } diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index f268ec9ae74..bb377db8db9 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H -#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H +#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H +#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H #include "btConstraintSolver.h" class btIDebugDraw; @@ -33,8 +33,10 @@ protected: btConstraintArray m_tmpSolverNonContactConstraintPool; btConstraintArray m_tmpSolverContactFrictionConstraintPool; btAlignedObjectArray<int> m_orderTmpConstraintPool; + btAlignedObjectArray<int> m_orderNonContactConstraintPool; btAlignedObjectArray<int> m_orderFrictionConstraintPool; btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool; + int m_maxOverrideNumSolverIterations; void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB, btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, @@ -124,5 +126,5 @@ typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverP #endif -#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H +#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h index e9723a7bb40..2edc8d2b2e1 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h @@ -22,8 +22,8 @@ TODO: - add conversion for ODE constraint solver */ -#ifndef SLIDER_CONSTRAINT_H -#define SLIDER_CONSTRAINT_H +#ifndef BT_SLIDER_CONSTRAINT_H +#define BT_SLIDER_CONSTRAINT_H @@ -236,7 +236,10 @@ public: btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; } void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; } btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; } - btScalar getLinearPos() { return m_linPos; } + + btScalar getLinearPos() const { return m_linPos; } + btScalar getAngularPos() const { return m_angPos; } + // access for ODE solver @@ -326,5 +329,5 @@ SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, bt -#endif //SLIDER_CONSTRAINT_H +#endif //BT_SLIDER_CONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h index 057d3fac827..e8bfabf864e 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef SOLVE_2LINEAR_CONSTRAINT_H -#define SOLVE_2LINEAR_CONSTRAINT_H +#ifndef BT_SOLVE_2LINEAR_CONSTRAINT_H +#define BT_SOLVE_2LINEAR_CONSTRAINT_H #include "LinearMath/btMatrix3x3.h" #include "LinearMath/btVector3.h" @@ -104,4 +104,4 @@ public: }; -#endif //SOLVE_2LINEAR_CONSTRAINT_H +#endif //BT_SOLVE_2LINEAR_CONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h index 79e45a4383b..179e79d7911 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h @@ -51,6 +51,8 @@ ATTRIBUTE_ALIGNED64 (struct) btSolverConstraint btScalar m_unusedPadding0; }; + int m_overrideNumSolverIterations; + union { int m_frictionIndex; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp index 8212c36ff4e..06bde5e7eec 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp @@ -25,7 +25,10 @@ btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rb :btTypedObject(type), m_userConstraintType(-1), m_userConstraintId(-1), +m_breakingImpulseThreshold(SIMD_INFINITY), +m_isEnabled(true), m_needsFeedback(false), +m_overrideNumSolverIterations(-1), m_rbA(rbA), m_rbB(getFixedBody()), m_appliedImpulse(btScalar(0.)), @@ -38,7 +41,10 @@ btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rb :btTypedObject(type), m_userConstraintType(-1), m_userConstraintId(-1), +m_breakingImpulseThreshold(SIMD_INFINITY), +m_isEnabled(true), m_needsFeedback(false), +m_overrideNumSolverIterations(-1), m_rbA(rbA), m_rbB(rbB), m_appliedImpulse(btScalar(0.)), @@ -114,6 +120,10 @@ const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali tcd->m_objectType = m_objectType; tcd->m_needsFeedback = m_needsFeedback; + tcd->m_overrideNumSolverIterations = m_overrideNumSolverIterations; + tcd->m_breakingImpulseThreshold = float(m_breakingImpulseThreshold); + tcd->m_isEnabled = m_isEnabled? 1: 0; + tcd->m_userConstraintId =m_userConstraintId; tcd->m_userConstraintType =m_userConstraintType; diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h index 65e6d558300..a16e869a973 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef TYPED_CONSTRAINT_H -#define TYPED_CONSTRAINT_H +#ifndef BT_TYPED_CONSTRAINT_H +#define BT_TYPED_CONSTRAINT_H class btRigidBody; #include "LinearMath/btScalar.h" @@ -62,7 +62,11 @@ class btTypedConstraint : public btTypedObject void* m_userConstraintPtr; }; - bool m_needsFeedback; + btScalar m_breakingImpulseThreshold; + bool m_isEnabled; + bool m_needsFeedback; + int m_overrideNumSolverIterations; + btTypedConstraint& operator=(btTypedConstraint& other) { @@ -80,7 +84,6 @@ protected: ///internal method used by the constraint solver, don't use them directly btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact); - static btRigidBody& getFixedBody(); public: @@ -92,6 +95,8 @@ public: int m_numConstraintRows,nub; }; + static btRigidBody& getFixedBody(); + struct btConstraintInfo2 { // integrator parameters: frames per second (1/stepsize), default error // reduction parameter (0..1). @@ -126,6 +131,18 @@ public: btScalar m_damping; }; + int getOverrideNumSolverIterations() const + { + return m_overrideNumSolverIterations; + } + + ///override the number of constraint solver iterations used to solve this constraint + ///-1 will use the default number of iterations, as specified in SolverInfo.m_numIterations + void setOverrideNumSolverIterations(int overideNumIterations) + { + m_overrideNumSolverIterations = overideNumIterations; + } + ///internal method used by the constraint solver, don't use them directly virtual void buildJacobian() {}; @@ -155,6 +172,28 @@ public: return m_appliedImpulse; } + + btScalar getBreakingImpulseThreshold() const + { + return m_breakingImpulseThreshold; + } + + void setBreakingImpulseThreshold(btScalar threshold) + { + m_breakingImpulseThreshold = threshold; + } + + bool isEnabled() const + { + return m_isEnabled; + } + + void setEnabled(bool enabled) + { + m_isEnabled=enabled; + } + + ///internal method used by the constraint solver, don't use them directly virtual void solveConstraintObsolete(btRigidBody& /*bodyA*/,btRigidBody& /*bodyB*/,btScalar /*timeStep*/) {}; @@ -302,7 +341,10 @@ struct btTypedConstraintData float m_dbgDrawSize; int m_disableCollisionsBetweenLinkedBodies; - char m_pad4[4]; + int m_overrideNumSolverIterations; + + float m_breakingImpulseThreshold; + int m_isEnabled; }; @@ -407,4 +449,4 @@ public: -#endif //TYPED_CONSTRAINT_H +#endif //BT_TYPED_CONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp index 40c56e77954..b009f41aec8 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp @@ -27,7 +27,7 @@ subject to the following restrictions: // constructor // anchor, axis1 and axis2 are in world coordinate system // axis1 must be orthogonal to axis2 -btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2) +btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2) : btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true), m_anchor(anchor), m_axis1(axis1), @@ -42,8 +42,8 @@ btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, // new position of X, allowed limits are (-PI,PI); // So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs // Build the frame in world coordinate system first - btVector3 zAxis = axis1.normalize(); - btVector3 yAxis = axis2.normalize(); + btVector3 zAxis = m_axis1.normalize(); + btVector3 yAxis = m_axis2.normalize(); btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system btTransform frameInW; frameInW.setIdentity(); diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h index a8d404a591c..a86939164ec 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef UNIVERSAL_CONSTRAINT_H -#define UNIVERSAL_CONSTRAINT_H +#ifndef BT_UNIVERSAL_CONSTRAINT_H +#define BT_UNIVERSAL_CONSTRAINT_H @@ -41,7 +41,7 @@ public: // constructor // anchor, axis1 and axis2 are in world coordinate system // axis1 must be orthogonal to axis2 - btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2); + btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2); // access const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); } const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); } @@ -58,5 +58,5 @@ public: -#endif // UNIVERSAL_CONSTRAINT_H +#endif // BT_UNIVERSAL_CONSTRAINT_H diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp deleted file mode 100644 index 23501c4435e..00000000000 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp +++ /dev/null @@ -1,196 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2007 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, -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - - -#include "btContinuousDynamicsWorld.h" -#include "LinearMath/btQuickprof.h" - -//collision detection -#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" -#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" -#include "BulletCollision/CollisionShapes/btCollisionShape.h" -#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" - -//rigidbody & constraints -#include "BulletDynamics/Dynamics/btRigidBody.h" -#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" -#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" -#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" - - - -#include <stdio.h> - -btContinuousDynamicsWorld::btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration) -:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration) -{ -} - -btContinuousDynamicsWorld::~btContinuousDynamicsWorld() -{ -} - - -void btContinuousDynamicsWorld::internalSingleStepSimulation( btScalar timeStep) -{ - - startProfiling(timeStep); - - if(0 != m_internalPreTickCallback) { - (*m_internalPreTickCallback)(this, timeStep); - } - - - ///update aabbs information - updateAabbs(); - //static int frame=0; -// printf("frame %d\n",frame++); - - ///apply gravity, predict motion - predictUnconstraintMotion(timeStep); - - btDispatcherInfo& dispatchInfo = getDispatchInfo(); - - dispatchInfo.m_timeStep = timeStep; - dispatchInfo.m_stepCount = 0; - dispatchInfo.m_debugDraw = getDebugDrawer(); - - ///perform collision detection - performDiscreteCollisionDetection(); - - calculateSimulationIslands(); - - - getSolverInfo().m_timeStep = timeStep; - - - - ///solve contact and other joint constraints - solveConstraints(getSolverInfo()); - - ///CallbackTriggers(); - calculateTimeOfImpacts(timeStep); - - btScalar toi = dispatchInfo.m_timeOfImpact; -// if (toi < 1.f) -// printf("toi = %f\n",toi); - if (toi < 0.f) - printf("toi = %f\n",toi); - - - ///integrate transforms - integrateTransforms(timeStep * toi); - - ///update vehicle simulation - updateActions(timeStep); - - updateActivationState( timeStep ); - - if(0 != m_internalTickCallback) { - (*m_internalTickCallback)(this, timeStep); - } -} - -void btContinuousDynamicsWorld::calculateTimeOfImpacts(btScalar timeStep) -{ - ///these should be 'temporal' aabbs! - updateTemporalAabbs(timeStep); - - ///'toi' is the global smallest time of impact. However, we just calculate the time of impact for each object individually. - ///so we handle the case moving versus static properly, and we cheat for moving versus moving - btScalar toi = 1.f; - - - btDispatcherInfo& dispatchInfo = getDispatchInfo(); - dispatchInfo.m_timeStep = timeStep; - dispatchInfo.m_timeOfImpact = 1.f; - dispatchInfo.m_stepCount = 0; - dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_CONTINUOUS; - - ///calculate time of impact for overlapping pairs - - - btDispatcher* dispatcher = getDispatcher(); - if (dispatcher) - dispatcher->dispatchAllCollisionPairs(m_broadphasePairCache->getOverlappingPairCache(),dispatchInfo,m_dispatcher1); - - toi = dispatchInfo.m_timeOfImpact; - - dispatchInfo.m_dispatchFunc = btDispatcherInfo::DISPATCH_DISCRETE; - -} - -void btContinuousDynamicsWorld::updateTemporalAabbs(btScalar timeStep) -{ - - btVector3 temporalAabbMin,temporalAabbMax; - - for ( int i=0;i<m_collisionObjects.size();i++) - { - btCollisionObject* colObj = m_collisionObjects[i]; - - btRigidBody* body = btRigidBody::upcast(colObj); - if (body) - { - body->getCollisionShape()->getAabb(m_collisionObjects[i]->getWorldTransform(),temporalAabbMin,temporalAabbMax); - const btVector3& linvel = body->getLinearVelocity(); - - //make the AABB temporal - btScalar temporalAabbMaxx = temporalAabbMax.getX(); - btScalar temporalAabbMaxy = temporalAabbMax.getY(); - btScalar temporalAabbMaxz = temporalAabbMax.getZ(); - btScalar temporalAabbMinx = temporalAabbMin.getX(); - btScalar temporalAabbMiny = temporalAabbMin.getY(); - btScalar temporalAabbMinz = temporalAabbMin.getZ(); - - // add linear motion - btVector3 linMotion = linvel*timeStep; - - if (linMotion.x() > 0.f) - temporalAabbMaxx += linMotion.x(); - else - temporalAabbMinx += linMotion.x(); - if (linMotion.y() > 0.f) - temporalAabbMaxy += linMotion.y(); - else - temporalAabbMiny += linMotion.y(); - if (linMotion.z() > 0.f) - temporalAabbMaxz += linMotion.z(); - else - temporalAabbMinz += linMotion.z(); - - //add conservative angular motion - btScalar angularMotion(0);// = angvel.length() * GetAngularMotionDisc() * timeStep; - btVector3 angularMotion3d(angularMotion,angularMotion,angularMotion); - temporalAabbMin = btVector3(temporalAabbMinx,temporalAabbMiny,temporalAabbMinz); - temporalAabbMax = btVector3(temporalAabbMaxx,temporalAabbMaxy,temporalAabbMaxz); - - temporalAabbMin -= angularMotion3d; - temporalAabbMax += angularMotion3d; - - m_broadphasePairCache->setAabb(body->getBroadphaseHandle(),temporalAabbMin,temporalAabbMax,m_dispatcher1); - } - } - - //update aabb (of all moved objects) - - m_broadphasePairCache->calculateOverlappingPairs(m_dispatcher1); - - - -} - - - diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h deleted file mode 100644 index 61c8dea03eb..00000000000 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btContinuousDynamicsWorld.h +++ /dev/null @@ -1,46 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2007 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, -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef BT_CONTINUOUS_DYNAMICS_WORLD_H -#define BT_CONTINUOUS_DYNAMICS_WORLD_H - -#include "btDiscreteDynamicsWorld.h" - -///btContinuousDynamicsWorld adds optional (per object) continuous collision detection for fast moving objects to the btDiscreteDynamicsWorld. -///This copes with fast moving objects that otherwise would tunnel/miss collisions. -///Under construction, don't use yet! Please use btDiscreteDynamicsWorld instead. -class btContinuousDynamicsWorld : public btDiscreteDynamicsWorld -{ - - void updateTemporalAabbs(btScalar timeStep); - - public: - - btContinuousDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); - virtual ~btContinuousDynamicsWorld(); - - ///time stepping with calculation of time of impact for selected fast moving objects - virtual void internalSingleStepSimulation( btScalar timeStep); - - virtual void calculateTimeOfImpacts(btScalar timeStep); - - virtual btDynamicsWorldType getWorldType() const - { - return BT_CONTINUOUS_DYNAMICS_WORLD; - } - -}; - -#endif //BT_CONTINUOUS_DYNAMICS_WORLD_H diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index e1eada07c82..954ef241adc 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -35,6 +35,8 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" #include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" #include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" +#include "BulletDynamics/ConstraintSolver/btContactConstraint.h" + #include "LinearMath/btIDebugDraw.h" #include "BulletCollision/CollisionShapes/btSphereShape.h" @@ -46,6 +48,167 @@ subject to the following restrictions: #include "LinearMath/btSerializer.h" +#if 0 +btAlignedObjectArray<btVector3> debugContacts; +btAlignedObjectArray<btVector3> debugNormals; +int startHit=2; +int firstHit=startHit; +#endif + +SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs) +{ + int islandId; + + const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); + const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); + islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag(); + return islandId; + +} + + +class btSortConstraintOnIslandPredicate +{ + public: + + bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) const + { + int rIslandId0,lIslandId0; + rIslandId0 = btGetConstraintIslandId(rhs); + lIslandId0 = btGetConstraintIslandId(lhs); + return lIslandId0 < rIslandId0; + } +}; + +struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback +{ + btContactSolverInfo* m_solverInfo; + btConstraintSolver* m_solver; + btTypedConstraint** m_sortedConstraints; + int m_numConstraints; + btIDebugDraw* m_debugDrawer; + btStackAlloc* m_stackAlloc; + btDispatcher* m_dispatcher; + + btAlignedObjectArray<btCollisionObject*> m_bodies; + btAlignedObjectArray<btPersistentManifold*> m_manifolds; + btAlignedObjectArray<btTypedConstraint*> m_constraints; + + + InplaceSolverIslandCallback( + btConstraintSolver* solver, + btStackAlloc* stackAlloc, + btDispatcher* dispatcher) + :m_solverInfo(NULL), + m_solver(solver), + m_sortedConstraints(NULL), + m_numConstraints(0), + m_debugDrawer(NULL), + m_stackAlloc(stackAlloc), + m_dispatcher(dispatcher) + { + + } + + InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other) + { + btAssert(0); + (void)other; + return *this; + } + + SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btIDebugDraw* debugDrawer) + { + btAssert(solverInfo); + m_solverInfo = solverInfo; + m_sortedConstraints = sortedConstraints; + m_numConstraints = numConstraints; + m_debugDrawer = debugDrawer; + m_bodies.resize (0); + m_manifolds.resize (0); + m_constraints.resize (0); + } + + + virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) + { + if (islandId<0) + { + if (numManifolds + m_numConstraints) + { + ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id + m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); + } + } else + { + //also add all non-contact constraints/joints for this island + btTypedConstraint** startConstraint = 0; + int numCurConstraints = 0; + int i; + + //find the first constraint for this island + for (i=0;i<m_numConstraints;i++) + { + if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) + { + startConstraint = &m_sortedConstraints[i]; + break; + } + } + //count the number of constraints in this island + for (;i<m_numConstraints;i++) + { + if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) + { + numCurConstraints++; + } + } + + if (m_solverInfo->m_minimumSolverBatchSize<=1) + { + ///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive + if (numManifolds + numCurConstraints) + { + m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); + } + } else + { + + for (i=0;i<numBodies;i++) + m_bodies.push_back(bodies[i]); + for (i=0;i<numManifolds;i++) + m_manifolds.push_back(manifolds[i]); + for (i=0;i<numCurConstraints;i++) + m_constraints.push_back(startConstraint[i]); + if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize) + { + processConstraints(); + } else + { + //printf("deferred\n"); + } + } + } + } + void processConstraints() + { + if (m_manifolds.size() + m_constraints.size()>0) + { + + btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0; + btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0; + btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0; + + m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); + } + m_bodies.resize(0); + m_manifolds.resize(0); + m_constraints.resize(0); + + } + +}; + btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) @@ -54,7 +217,9 @@ m_constraintSolver(constraintSolver), m_gravity(0,-10,0), m_localTime(0), m_synchronizeAllMotionStates(false), -m_profileTimings(0) +m_profileTimings(0), +m_sortedConstraints (), +m_solverIslandCallback ( NULL ) { if (!m_constraintSolver) { @@ -72,6 +237,11 @@ m_profileTimings(0) } m_ownsIslandManager = true; + + { + void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16); + m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (constraintSolver, m_stackAlloc, dispatcher); + } } @@ -83,6 +253,11 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld() m_islandManager->~btSimulationIslandManager(); btAlignedFree( m_islandManager); } + if (m_solverIslandCallback) + { + m_solverIslandCallback->~InplaceSolverIslandCallback(); + btAlignedFree(m_solverIslandCallback); + } if (m_ownsConstraintSolver) { @@ -138,7 +313,7 @@ void btDiscreteDynamicsWorld::debugDrawWorld() - if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb)) + if (getDebugDrawer() && (getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe | btIDebugDraw::DBG_DrawAabb | btIDebugDraw::DBG_DrawNormals))) { int i; @@ -314,9 +489,11 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) dispatchInfo.m_stepCount = 0; dispatchInfo.m_debugDraw = getDebugDrawer(); + ///perform collision detection performDiscreteCollisionDetection(); + calculateSimulationIslands(); @@ -524,187 +701,39 @@ void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character) } -SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs) -{ - int islandId; - - const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); - const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); - islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag(); - return islandId; - -} - - -class btSortConstraintOnIslandPredicate -{ - public: - - bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) - { - int rIslandId0,lIslandId0; - rIslandId0 = btGetConstraintIslandId(rhs); - lIslandId0 = btGetConstraintIslandId(lhs); - return lIslandId0 < rIslandId0; - } -}; - void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { BT_PROFILE("solveConstraints"); - struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback - { - - btContactSolverInfo& m_solverInfo; - btConstraintSolver* m_solver; - btTypedConstraint** m_sortedConstraints; - int m_numConstraints; - btIDebugDraw* m_debugDrawer; - btStackAlloc* m_stackAlloc; - btDispatcher* m_dispatcher; - - btAlignedObjectArray<btCollisionObject*> m_bodies; - btAlignedObjectArray<btPersistentManifold*> m_manifolds; - btAlignedObjectArray<btTypedConstraint*> m_constraints; - - - InplaceSolverIslandCallback( - btContactSolverInfo& solverInfo, - btConstraintSolver* solver, - btTypedConstraint** sortedConstraints, - int numConstraints, - btIDebugDraw* debugDrawer, - btStackAlloc* stackAlloc, - btDispatcher* dispatcher) - :m_solverInfo(solverInfo), - m_solver(solver), - m_sortedConstraints(sortedConstraints), - m_numConstraints(numConstraints), - m_debugDrawer(debugDrawer), - m_stackAlloc(stackAlloc), - m_dispatcher(dispatcher) - { - - } - - - InplaceSolverIslandCallback& operator=(InplaceSolverIslandCallback& other) - { - btAssert(0); - (void)other; - return *this; - } - virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) - { - if (islandId<0) - { - if (numManifolds + m_numConstraints) - { - ///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id - m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); - } - } else - { - //also add all non-contact constraints/joints for this island - btTypedConstraint** startConstraint = 0; - int numCurConstraints = 0; - int i; - - //find the first constraint for this island - for (i=0;i<m_numConstraints;i++) - { - if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) - { - startConstraint = &m_sortedConstraints[i]; - break; - } - } - //count the number of constraints in this island - for (;i<m_numConstraints;i++) - { - if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId) - { - numCurConstraints++; - } - } - - if (m_solverInfo.m_minimumSolverBatchSize<=1) - { - ///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive - if (numManifolds + numCurConstraints) - { - m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); - } - } else - { - - for (i=0;i<numBodies;i++) - m_bodies.push_back(bodies[i]); - for (i=0;i<numManifolds;i++) - m_manifolds.push_back(manifolds[i]); - for (i=0;i<numCurConstraints;i++) - m_constraints.push_back(startConstraint[i]); - if ((m_constraints.size()+m_manifolds.size())>m_solverInfo.m_minimumSolverBatchSize) - { - processConstraints(); - } else - { - //printf("deferred\n"); - } - } - } - } - void processConstraints() - { - if (m_manifolds.size() + m_constraints.size()>0) - { - m_solver->solveGroup( &m_bodies[0],m_bodies.size(), &m_manifolds[0], m_manifolds.size(), &m_constraints[0], m_constraints.size() ,m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher); - } - m_bodies.resize(0); - m_manifolds.resize(0); - m_constraints.resize(0); - - } - - }; - - - - //sorted version of all btTypedConstraint, based on islandId - btAlignedObjectArray<btTypedConstraint*> sortedConstraints; - sortedConstraints.resize( m_constraints.size()); + m_sortedConstraints.resize( m_constraints.size()); int i; for (i=0;i<getNumConstraints();i++) { - sortedConstraints[i] = m_constraints[i]; + m_sortedConstraints[i] = m_constraints[i]; } // btAssert(0); - sortedConstraints.quickSort(btSortConstraintOnIslandPredicate()); + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate()); - btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0; - - InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer,m_stackAlloc,m_dispatcher1); + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; + m_solverIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),getDebugDrawer()); m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); /// solve all the constraints for this island - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),&solverCallback); + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverIslandCallback); - solverCallback.processConstraints(); + m_solverIslandCallback->processConstraints(); m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc); } - - void btDiscreteDynamicsWorld::calculateSimulationIslands() { BT_PROFILE("calculateSimulationIslands"); @@ -717,18 +746,20 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands() for (i=0;i< numConstraints ; i++ ) { btTypedConstraint* constraint = m_constraints[i]; - - const btRigidBody* colObj0 = &constraint->getRigidBodyA(); - const btRigidBody* colObj1 = &constraint->getRigidBodyB(); - - if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && - ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) + if (constraint->isEnabled()) { - if (colObj0->isActive() || colObj1->isActive()) + const btRigidBody* colObj0 = &constraint->getRigidBodyA(); + const btRigidBody* colObj1 = &constraint->getRigidBodyB(); + + if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && + ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) { + if (colObj0->isActive() || colObj1->isActive()) + { - getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), - (colObj1)->getIslandTag()); + getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(), + (colObj1)->getIslandTag()); + } } } } @@ -745,12 +776,13 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands() class btClosestNotMeConvexResultCallback : public btCollisionWorld::ClosestConvexResultCallback { +public: + btCollisionObject* m_me; btScalar m_allowedPenetration; btOverlappingPairCache* m_pairCache; btDispatcher* m_dispatcher; - public: btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : btCollisionWorld::ClosestConvexResultCallback(fromA,toA), @@ -797,6 +829,7 @@ public: //call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179 if (m_dispatcher->needsResponse(m_me,otherObj)) { +#if 0 ///don't do CCD when there are already contact points (touching contact/penetration) btAlignedObjectArray<btPersistentManifold*> manifoldArray; btBroadphasePair* collisionPair = m_pairCache->findPair(m_me->getBroadphaseHandle(),proxy0); @@ -814,8 +847,11 @@ public: } } } +#endif + return true; } - return true; + + return false; } @@ -824,7 +860,6 @@ public: ///internal debugging variable. this value shouldn't be too high int gNumClampedCcdMotions=0; -//#include "stdio.h" void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) { BT_PROFILE("integrateTransforms"); @@ -836,34 +871,93 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) if (body->isActive() && (!body->isStaticOrKinematicObject())) { + body->predictIntegratedTransform(timeStep, predictedTrans); + btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2(); - if (body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion) + + + if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion) { BT_PROFILE("CCD motion clamping"); if (body->getCollisionShape()->isConvex()) { gNumClampedCcdMotions++; - +#ifdef USE_STATIC_ONLY + class StaticOnlyCallback : public btClosestNotMeConvexResultCallback + { + public: + + StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : + btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher) + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject; + if (!otherObj->isStaticOrKinematicObject()) + return false; + return btClosestNotMeConvexResultCallback::needsCollision(proxy0); + } + }; + + StaticOnlyCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher()); +#else btClosestNotMeConvexResultCallback sweepResults(body,body->getWorldTransform().getOrigin(),predictedTrans.getOrigin(),getBroadphase()->getOverlappingPairCache(),getDispatcher()); +#endif //btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape()); btSphereShape tmpSphere(body->getCcdSweptSphereRadius());//btConvexShape* convexShape = static_cast<btConvexShape*>(body->getCollisionShape()); + sweepResults.m_allowedPenetration=getDispatchInfo().m_allowedCcdPenetration; sweepResults.m_collisionFilterGroup = body->getBroadphaseProxy()->m_collisionFilterGroup; sweepResults.m_collisionFilterMask = body->getBroadphaseProxy()->m_collisionFilterMask; + btTransform modifiedPredictedTrans = predictedTrans; + modifiedPredictedTrans.setBasis(body->getWorldTransform().getBasis()); - convexSweepTest(&tmpSphere,body->getWorldTransform(),predictedTrans,sweepResults); + convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults); if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f)) { + + //printf("clamped integration to hit fraction = %f\n",fraction); body->setHitFraction(sweepResults.m_closestHitFraction); body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans); body->setHitFraction(0.f); -// printf("clamped integration to hit fraction = %f\n",fraction); + body->proceedToTransform( predictedTrans); + +#if 0 + btVector3 linVel = body->getLinearVelocity(); + + btScalar maxSpeed = body->getCcdMotionThreshold()/getSolverInfo().m_timeStep; + btScalar maxSpeedSqr = maxSpeed*maxSpeed; + if (linVel.length2()>maxSpeedSqr) + { + linVel.normalize(); + linVel*= maxSpeed; + body->setLinearVelocity(linVel); + btScalar ms2 = body->getLinearVelocity().length2(); + body->predictIntegratedTransform(timeStep, predictedTrans); + + btScalar sm2 = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2(); + btScalar smt = body->getCcdSquareMotionThreshold(); + printf("sm2=%f\n",sm2); + } +#else + //response between two dynamic objects without friction, assuming 0 penetration depth + btScalar appliedImpulse = 0.f; + btScalar depth = 0.f; + appliedImpulse = resolveSingleCollision(body,sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth); + + +#endif + + continue; } } } + body->proceedToTransform( predictedTrans); } } @@ -873,6 +967,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) + void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { BT_PROFILE("predictUnconstraintMotion"); diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index df47c29044f..23a38dd2a12 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -27,6 +27,8 @@ class btTypedConstraint; class btActionInterface; class btIDebugDraw; +struct InplaceSolverIslandCallback; + #include "LinearMath/btAlignedObjectArray.h" @@ -35,6 +37,9 @@ class btIDebugDraw; class btDiscreteDynamicsWorld : public btDynamicsWorld { protected: + + btAlignedObjectArray<btTypedConstraint*> m_sortedConstraints; + InplaceSolverIslandCallback* m_solverIslandCallback; btConstraintSolver* m_constraintSolver; diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h index 105317920ae..6b0093371b8 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -32,7 +32,8 @@ enum btDynamicsWorldType { BT_SIMPLE_DYNAMICS_WORLD=1, BT_DISCRETE_DYNAMICS_WORLD=2, - BT_CONTINUOUS_DYNAMICS_WORLD=3 + BT_CONTINUOUS_DYNAMICS_WORLD=3, + BT_SOFT_RIGID_DYNAMICS_WORLD=4 }; ///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc. diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp index aefb26a1be2..911b5072394 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.cpp @@ -286,7 +286,7 @@ btQuaternion btRigidBody::getOrientation() const void btRigidBody::setCenterOfMassTransform(const btTransform& xform) { - if (isStaticOrKinematicObject()) + if (isKinematicObject()) { m_interpolationWorldTransform = m_worldTransform; } else @@ -309,8 +309,9 @@ bool btRigidBody::checkCollideWithOverride(btCollisionObject* co) for (int i = 0; i < m_constraintRefs.size(); ++i) { btTypedConstraint* c = m_constraintRefs[i]; - if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb) - return false; + if (c->isEnabled()) + if (&c->getRigidBodyA() == otherRb || &c->getRigidBodyB() == otherRb) + return false; } return true; diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h index 5a7ba97ccbc..7c121e6df13 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h @@ -13,8 +13,8 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#ifndef RIGIDBODY_H -#define RIGIDBODY_H +#ifndef BT_RIGIDBODY_H +#define BT_RIGIDBODY_H #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btTransform.h" @@ -687,5 +687,5 @@ struct btRigidBodyDoubleData -#endif +#endif //BT_RIGIDBODY_H diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h index 07a727e2efe..d48d2e39c4d 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h @@ -23,7 +23,7 @@ class btOverlappingPairCache; class btConstraintSolver; ///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds. -///Please use btDiscreteDynamicsWorld instead (or btContinuousDynamicsWorld once it is finished). +///Please use btDiscreteDynamicsWorld instead class btSimpleDynamicsWorld : public btDynamicsWorld { protected: diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h index ac42f1313be..f59555f94d2 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h @@ -8,8 +8,8 @@ * of this software for any purpose. * It is provided "as is" without express or implied warranty. */ -#ifndef RAYCASTVEHICLE_H -#define RAYCASTVEHICLE_H +#ifndef BT_RAYCASTVEHICLE_H +#define BT_RAYCASTVEHICLE_H #include "BulletDynamics/Dynamics/btRigidBody.h" #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" @@ -232,5 +232,5 @@ public: }; -#endif //RAYCASTVEHICLE_H +#endif //BT_RAYCASTVEHICLE_H diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btVehicleRaycaster.h b/extern/bullet2/src/BulletDynamics/Vehicle/btVehicleRaycaster.h index 5112ce6d420..3cc909c6530 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btVehicleRaycaster.h +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btVehicleRaycaster.h @@ -1,5 +1,5 @@ /* - * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ + * Copyright (c) 2005 Erwin Coumans http://bulletphysics.org * * Permission to use, copy, modify, distribute and sell this software * and its documentation for any purpose is hereby granted without fee, @@ -8,8 +8,8 @@ * of this software for any purpose. * It is provided "as is" without express or implied warranty. */ -#ifndef VEHICLE_RAYCASTER_H -#define VEHICLE_RAYCASTER_H +#ifndef BT_VEHICLE_RAYCASTER_H +#define BT_VEHICLE_RAYCASTER_H #include "LinearMath/btVector3.h" @@ -31,5 +31,5 @@ virtual ~btVehicleRaycaster() }; -#endif //VEHICLE_RAYCASTER_H +#endif //BT_VEHICLE_RAYCASTER_H diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btWheelInfo.h b/extern/bullet2/src/BulletDynamics/Vehicle/btWheelInfo.h index b74f8c80acb..f916053ecac 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btWheelInfo.h +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btWheelInfo.h @@ -8,8 +8,8 @@ * of this software for any purpose. * It is provided "as is" without express or implied warranty. */ -#ifndef WHEEL_INFO_H -#define WHEEL_INFO_H +#ifndef BT_WHEEL_INFO_H +#define BT_WHEEL_INFO_H #include "LinearMath/btVector3.h" #include "LinearMath/btTransform.h" @@ -115,5 +115,5 @@ struct btWheelInfo }; -#endif //WHEEL_INFO_H +#endif //BT_WHEEL_INFO_H |