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Some more minor improvements for PS3 SPU version

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This commit is contained in:
erwin.coumans
2009-08-05 23:25:44 +00:00
parent 3e2529fcb5
commit 1808ec6a0e
2 changed files with 86 additions and 27 deletions
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94
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -373,12 +373,15 @@ void btGeneric6DofConstraint::calculateAngleInfo()
}
void btGeneric6DofConstraint::calculateTransforms()
{
m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA;
m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB;
calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
}
void btGeneric6DofConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
{
m_calculatedTransformA = transA * m_frameInA;
m_calculatedTransformB = transB * m_frameInB;
calculateLinearInfo();
calculateAngleInfo();
}
@@ -430,6 +433,7 @@ bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
void btGeneric6DofConstraint::buildJacobian()
{
#ifndef __SPU__
if (m_useSolveConstraintObsolete)
{
@@ -441,7 +445,7 @@ void btGeneric6DofConstraint::buildJacobian()
m_angularLimits[i].m_accumulatedImpulse = btScalar(0.);
}
//calculates transform
calculateTransforms();
calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
// const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
// const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
@@ -484,8 +488,9 @@ void btGeneric6DofConstraint::buildJacobian()
}
}
}
#endif //__SPU__
}
void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
@@ -497,7 +502,7 @@ void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
} else
{
//prepare constraint
calculateTransforms();
calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
info->m_numConstraintRows = 0;
info->nub = 6;
int i;
@@ -522,18 +527,58 @@ void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
}
}
void btGeneric6DofConstraint::getInfo1NonVirtual (btConstraintInfo1* info)
{
if (m_useSolveConstraintObsolete)
{
info->m_numConstraintRows = 0;
info->nub = 0;
} else
{
//pre-allocate all 6
info->m_numConstraintRows = 6;
info->nub = 0;
}
}
void btGeneric6DofConstraint::getInfo2 (btConstraintInfo2* info)
{
getInfo2NonVirtual(info,m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform(), m_rbA.getLinearVelocity(),m_rbB.getLinearVelocity(),m_rbA.getAngularVelocity(), m_rbB.getAngularVelocity());
}
void btGeneric6DofConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
{
btAssert(!m_useSolveConstraintObsolete);
int row = setLinearLimits(info);
setAngularLimits(info, row);
//prepare constraint
calculateTransforms(transA,transB);
int i;
//test linear limits
for(i = 0; i < 3; i++)
{
if(m_linearLimits.needApplyForce(i))
{
}
}
//test angular limits
for (i=0;i<3 ;i++ )
{
if(testAngularLimitMotor(i))
{
}
}
int row = setLinearLimits(info,transA,transB,linVelA,linVelB,angVelA,angVelB);
setAngularLimits(info, row,transA,transB,linVelA,linVelB,angVelA,angVelB);
}
int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
{
btGeneric6DofConstraint * d6constraint = this;
int row = 0;
@@ -557,7 +602,9 @@ int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
btVector3 axis = m_calculatedTransformA.getBasis().getColumn(i);
row += get_limit_motor_info2(&limot, &m_rbA, &m_rbB, info, row, axis, 0);
row += get_limit_motor_info2(&limot,
transA,transB,linVelA,linVelB,angVelA,angVelB
, info, row, axis, 0);
}
}
return row;
@@ -565,7 +612,7 @@ int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset)
int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_offset, const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB)
{
btGeneric6DofConstraint * d6constraint = this;
int row = row_offset;
@@ -577,8 +624,7 @@ int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_o
btVector3 axis = d6constraint->getAxis(i);
row += get_limit_motor_info2(
d6constraint->getRotationalLimitMotor(i),
&m_rbA,
&m_rbB,
transA,transB,linVelA,linVelB,angVelA,angVelB,
info,row,axis,1);
}
}
@@ -712,7 +758,7 @@ void btGeneric6DofConstraint::calculateLinearInfo()
int btGeneric6DofConstraint::get_limit_motor_info2(
btRotationalLimitMotor * limot,
btRigidBody * body0, btRigidBody * body1,
const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB,
btConstraintInfo2 *info, int row, btVector3& ax1, int rotational)
{
int srow = row * info->rowskip;
@@ -734,13 +780,13 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
if((!rotational))
{
btVector3 ltd; // Linear Torque Decoupling vector
btVector3 c = m_calculatedTransformB.getOrigin() - body0->getCenterOfMassPosition();
btVector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
ltd = c.cross(ax1);
info->m_J1angularAxis[srow+0] = ltd[0];
info->m_J1angularAxis[srow+1] = ltd[1];
info->m_J1angularAxis[srow+2] = ltd[2];
c = m_calculatedTransformB.getOrigin() - body1->getCenterOfMassPosition();
c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
ltd = -c.cross(ax1);
info->m_J2angularAxis[srow+0] = ltd[0];
info->m_J2angularAxis[srow+1] = ltd[1];
@@ -803,15 +849,17 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
btScalar vel;
if (rotational)
{
vel = body0->getAngularVelocity().dot(ax1);
if (body1)
vel -= body1->getAngularVelocity().dot(ax1);
vel = angVelA.dot(ax1);
//make sure that if no body -> angVelB == zero vec
// if (body1)
vel -= angVelB.dot(ax1);
}
else
{
vel = body0->getLinearVelocity().dot(ax1);
if (body1)
vel -= body1->getLinearVelocity().dot(ax1);
vel = linVelA.dot(ax1);
//make sure that if no body -> angVelB == zero vec
// if (body1)
vel -= linVelB.dot(ax1);
}
// only apply bounce if the velocity is incoming, and if the
// resulting c[] exceeds what we already have.