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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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18
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -421,8 +421,6 @@ class btSortConstraintOnIslandPredicate
void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
BEGIN_PROFILE("solveConstraints");
struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
{
@@ -431,7 +429,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
btTypedConstraint** m_sortedConstraints;
int m_numConstraints;
btIDebugDraw* m_debugDrawer;
btStackAlloc* m_stackAlloc;
InplaceSolverIslandCallback(
@@ -439,17 +437,19 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
btConstraintSolver* solver,
btTypedConstraint** sortedConstraints,
int numConstraints,
btIDebugDraw* debugDrawer)
btIDebugDraw* debugDrawer,
btStackAlloc* stackAlloc)
:m_solverInfo(solverInfo),
m_solver(solver),
m_sortedConstraints(sortedConstraints),
m_numConstraints(numConstraints),
m_debugDrawer(debugDrawer)
m_debugDrawer(debugDrawer),
m_stackAlloc(stackAlloc)
{
}
virtual void ProcessIsland(btPersistentManifold** manifolds,int numManifolds, int islandId)
virtual void ProcessIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId)
{
//also add all non-contact constraints/joints for this island
btTypedConstraint** startConstraint = 0;
@@ -474,12 +474,11 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
}
}
m_solver->solveGroup( manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer);
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer,m_stackAlloc);
}
};
//sorted version of all btTypedConstraint, based on islandId
btAlignedObjectArray<btTypedConstraint*> sortedConstraints;
sortedConstraints.resize( m_constraints.size());
@@ -497,14 +496,13 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0;
InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer);
InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer,m_stackAlloc);
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld()->getCollisionObjectArray(),&solverCallback);
END_PROFILE("solveConstraints");
}

4
src/BulletDynamics/Dynamics/btRigidBody.cpp
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@@ -110,6 +110,8 @@ btRigidBody::btRigidBody( btScalar mass,const btTransform& worldTransform,btColl
#endif //OBSOLETE_MOTIONSTATE_LESS
//#define EXPERIMENTAL_JITTER_REMOVAL 1
#ifdef EXPERIMENTAL_JITTER_REMOVAL
//Bullet 2.20b has experimental damping code to reduce jitter just before objects fall asleep/deactivate
@@ -119,7 +121,7 @@ btScalar gClippedAngvelThresholdSqr = btScalar(0.01);
btScalar gClippedLinearThresholdSqr = btScalar(0.01);
#endif //EXPERIMENTAL_JITTER_REMOVAL
btScalar gJitterVelocityDampingFactor = btScalar(1.);
btScalar gJitterVelocityDampingFactor = btScalar(0.9);
void btRigidBody::predictIntegratedTransform(btScalar timeStep,btTransform& predictedTransform)
{

12
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
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@@ -71,7 +71,7 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
m_constraintSolver->solveGroup(manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer);
m_constraintSolver->solveGroup(0,0,manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc);
}
///integrate transforms
@@ -89,7 +89,7 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
void btSimpleDynamicsWorld::setGravity(const btVector3& gravity)
{
m_gravity = gravity;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -118,7 +118,7 @@ void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
void btSimpleDynamicsWorld::updateAabbs()
{
btTransform predictedTrans;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -138,7 +138,7 @@ void btSimpleDynamicsWorld::updateAabbs()
void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
{
btTransform predictedTrans;
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -157,7 +157,7 @@ void btSimpleDynamicsWorld::integrateTransforms(btScalar timeStep)
void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -180,7 +180,7 @@ void btSimpleDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
void btSimpleDynamicsWorld::synchronizeMotionStates()
{
//todo: iterate over awake simulation islands!
for (unsigned int i=0;i<m_collisionObjects.size();i++)
for ( int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
btRigidBody* body = btRigidBody::upcast(colObj);