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use size_t instead of int, for allocator

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added hashtable based PairManager, thanks Pierre Terdiman and Erin Catto
improved friction in 'cachefriendly' solver
moved 'refreshcontactpoints' into collision detection, instead of solver
avoid linear search for contact manifolds, by storing an index
ignore margin for sphere shape (its entire radius is already margin)
avoid alignment checks in BVH serialization, they don't compile on 64-bit architectures
made 'bomb' box more heavy
This commit is contained in:
ejcoumans
2007-10-11 03:17:54 +00:00
parent bb89cbcf08
commit 0405ce278a
36 changed files with 1485 additions and 460 deletions
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56
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -14,6 +14,8 @@ subject to the following restrictions:
*/
//#define COMPUTE_IMPULSE_DENOM 1
//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
//#define FORCE_REFESH_CONTACT_MANIFOLDS 1
#include "btSequentialImpulseConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -397,21 +399,30 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
// printf("empty\n");
return 0.f;
}
btPersistentManifold* manifold = 0;
btRigidBody* rb0=0,*rb1=0;
#ifdef FORCE_REFESH_CONTACT_MANIFOLDS
BEGIN_PROFILE("refreshManifolds");
int i;
for (i=0;i<numManifolds;i++)
{
btPersistentManifold* manifold = manifoldPtr[i];
btRigidBody* rb0 = (btRigidBody*)manifold->getBody0();
btRigidBody* rb1 = (btRigidBody*)manifold->getBody1();
manifold = manifoldPtr[i];
rb1 = (btRigidBody*)manifold->getBody1();
rb0 = (btRigidBody*)manifold->getBody0();
manifold->refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
}
END_PROFILE("refreshManifolds");
#endif //FORCE_REFESH_CONTACT_MANIFOLDS
BEGIN_PROFILE("gatherSolverData");
@@ -458,10 +469,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
for (i=0;i<numManifolds;i++)
{
btPersistentManifold* manifold = manifoldPtr[i];
btRigidBody* rb0 = (btRigidBody*)manifold->getBody0();
btRigidBody* rb1 = (btRigidBody*)manifold->getBody1();
manifold = manifoldPtr[i];
rb1 = (btRigidBody*)manifold->getBody1();
rb0 = (btRigidBody*)manifold->getBody0();
int solverBodyIdA=-1;
int solverBodyIdB=-1;
@@ -503,8 +515,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btManifoldPoint& cp = manifold->getContactPoint(j);
int frictionIndex = tmpSolverConstraintPool.size();
if (cp.getDistance() <= btScalar(0.))
{
@@ -519,6 +530,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btScalar rel_vel;
btVector3 vel;
int frictionIndex = tmpSolverConstraintPool.size();
{
btSolverConstraint& solverConstraint = tmpSolverConstraintPool.expand();
@@ -586,18 +599,22 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
{
btVector3 lat_vel = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = lat_vel.length2();
btVector3 frictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = frictionDir1.length2();
if (lat_rel_vel > SIMD_EPSILON)//0.0f)
{
lat_vel /= btSqrt(lat_rel_vel);
addFrictionConstraint(lat_vel,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
btVector3 frictionDir2 = lat_vel.cross(cp.m_normalWorldOnB);
frictionDir1 /= btSqrt(lat_rel_vel);
addFrictionConstraint(frictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
btVector3 frictionDir2 = frictionDir1.cross(cp.m_normalWorldOnB);
frictionDir2.normalize();//??
addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
} else
{
//re-calculate friction direction every frame, todo: check if this is really needed
btVector3 frictionDir1,frictionDir2;
btPlaneSpace1(cp.m_normalWorldOnB,frictionDir1,frictionDir2);
addFrictionConstraint(frictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
}
}
@@ -907,8 +924,9 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
//only necessary to refresh the manifold once (first iteration). The integration is done outside the loop
{
#ifdef FORCE_REFESH_CONTACT_MANIFOLDS
manifoldPtr->refreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
#endif //FORCE_REFESH_CONTACT_MANIFOLDS
int numpoints = manifoldPtr->getNumContacts();
gTotalContactPoints += numpoints;