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prepare and added constraint solver optimizations, not activated yet.

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This commit is contained in:
ejcoumans
2007-03-17 00:09:12 +00:00
parent ea97ed3e30
commit 151cd4b9da
21 changed files with 897 additions and 56 deletions
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8
Extras/quickstep/OdeConstraintSolver.cpp
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@@ -26,6 +26,7 @@ subject to the following restrictions:
#include "OdeContactJoint.h"
#include "OdeSolverBody.h"
#include <new.h>
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
@@ -71,8 +72,10 @@ m_erp(0.4f)
//iterative lcp and penalty method
btScalar OdeConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
btScalar OdeConstraintSolver::solveGroup(btCollisionObject** bodies,int numBulletBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
BEGIN_PROFILE("prepareConstraints");
m_CurBody = 0;
m_CurJoint = 0;
@@ -95,6 +98,8 @@ btScalar OdeConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int
}
}
END_PROFILE("prepareConstraints");
BEGIN_PROFILE("solveConstraints");
SolveInternal1(m_cfm,m_erp,odeBodies,numBodies,joints,numJoints,infoGlobal);
//write back resulting velocities
@@ -106,6 +111,7 @@ btScalar OdeConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int
odeBodies[i]->m_originalBody->setAngularVelocity(odeBodies[i]->m_angularVelocity);
}
}
END_PROFILE("solveConstraints");
return 0.f;
}

2
Extras/quickstep/OdeConstraintSolver.h
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@@ -45,7 +45,7 @@ public:
virtual ~OdeConstraintSolver() {}
virtual btScalar solveGroup(btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer = 0);
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
///setConstraintForceMixing, the cfm adds some positive value to the main diagonal
///This can improve convergence (make matrix positive semidefinite), but it can make the simulation look more 'springy'