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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2016-12-11 09:17:04 -08:00
parent 710ac09b56 27d38a1ba8
commit 032e0fb3ce
75 changed files with 23316 additions and 778 deletions
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2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -751,7 +751,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
// Kinematic bodies can be in multiple islands at once, so it is a
// race condition to write to them, so we use an alternate method
// to record the solverBodyId
int uniqueId = body.getUniqueId();
int uniqueId = body.getWorldArrayIndex();
const int INVALID_SOLVER_BODY_ID = -1;
if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size())
{

6
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
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@@ -149,7 +149,6 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo
{
BT_PROFILE("solveConstraints");
m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
@@ -161,8 +160,3 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo
}
void btDiscreteDynamicsWorldMt::addCollisionObject(btCollisionObject* collisionObject, short int collisionFilterGroup, short int collisionFilterMask)
{
collisionObject->setUniqueId(m_collisionObjects.size());
btDiscreteDynamicsWorld::addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask);
}

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
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@@ -35,8 +35,6 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btDiscreteDynamicsWorldMt();
};

14
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -378,7 +378,9 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
btScalar erp = infoGlobal.m_erp2;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
//split impulse is not implemented yet for btMultiBody*
//if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
erp = infoGlobal.m_erp;
}
@@ -388,19 +390,23 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
//split impulse is not implemented yet for btMultiBody*
// 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
}
/*else
{
//split position and velocity into rhs and m_rhsPenetration
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = penetrationImpulse;
}
*/
solverConstraint.m_cfm = 0.f;
solverConstraint.m_lowerLimit = lowerLimit;
solverConstraint.m_upperLimit = upperLimit;

7
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -528,19 +528,20 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
if(!isFriction)
{
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
// 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
}
/*else
{
//split position and velocity into rhs and m_rhsPenetration
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = penetrationImpulse;
}
*/
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}

2
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -384,7 +384,7 @@ btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBr
m_multiBodyConstraintSolver(constraintSolver)
{
//split impulse is not yet supported for Featherstone hierarchies
getSolverInfo().m_splitImpulse = false;
// getSolverInfo().m_splitImpulse = false;
getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS;
m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver,dispatcher);
}