Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Some more minor improvements for PS3 SPU version

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

94
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
View File

@@ -373,12 +373,15 @@ void btGeneric6DofConstraint::calculateAngleInfo()
} }
void btGeneric6DofConstraint::calculateTransforms() void btGeneric6DofConstraint::calculateTransforms()
{ {
m_calculatedTransformA = m_rbA.getCenterOfMassTransform() * m_frameInA; calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
m_calculatedTransformB = m_rbB.getCenterOfMassTransform() * m_frameInB; }
void btGeneric6DofConstraint::calculateTransforms(const btTransform& transA,const btTransform& transB)
{
m_calculatedTransformA = transA * m_frameInA;
m_calculatedTransformB = transB * m_frameInB;
calculateLinearInfo(); calculateLinearInfo();
calculateAngleInfo(); calculateAngleInfo();
} }
@@ -430,6 +433,7 @@ bool btGeneric6DofConstraint::testAngularLimitMotor(int axis_index)
void btGeneric6DofConstraint::buildJacobian() void btGeneric6DofConstraint::buildJacobian()
{ {
#ifndef __SPU__
if (m_useSolveConstraintObsolete) if (m_useSolveConstraintObsolete)
{ {
@@ -441,7 +445,7 @@ void btGeneric6DofConstraint::buildJacobian()
m_angularLimits[i].m_accumulatedImpulse = btScalar(0.); m_angularLimits[i].m_accumulatedImpulse = btScalar(0.);
} }
//calculates transform //calculates transform
calculateTransforms(); calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
// const btVector3& pivotAInW = m_calculatedTransformA.getOrigin(); // const btVector3& pivotAInW = m_calculatedTransformA.getOrigin();
// const btVector3& pivotBInW = m_calculatedTransformB.getOrigin(); // const btVector3& pivotBInW = m_calculatedTransformB.getOrigin();
@@ -484,8 +488,9 @@ void btGeneric6DofConstraint::buildJacobian()
} }
} }
} #endif //__SPU__
}
void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info) void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
@@ -497,7 +502,7 @@ void btGeneric6DofConstraint::getInfo1 (btConstraintInfo1* info)
} else } else
{ {
//prepare constraint //prepare constraint
calculateTransforms(); calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
info->m_numConstraintRows = 0; info->m_numConstraintRows = 0;
info->nub = 6; info->nub = 6;
int i; 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) 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); 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; btGeneric6DofConstraint * d6constraint = this;
int row = 0; int row = 0;
@@ -557,7 +602,9 @@ int btGeneric6DofConstraint::setLinearLimits(btConstraintInfo2* info)
limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i]; limot.m_maxMotorForce = m_linearLimits.m_maxMotorForce[i];
limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i]; limot.m_targetVelocity = m_linearLimits.m_targetVelocity[i];
btVector3 axis = m_calculatedTransformA.getBasis().getColumn(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; 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; btGeneric6DofConstraint * d6constraint = this;
int row = row_offset; int row = row_offset;
@@ -577,8 +624,7 @@ int btGeneric6DofConstraint::setAngularLimits(btConstraintInfo2 *info, int row_o
btVector3 axis = d6constraint->getAxis(i); btVector3 axis = d6constraint->getAxis(i);
row += get_limit_motor_info2( row += get_limit_motor_info2(
d6constraint->getRotationalLimitMotor(i), d6constraint->getRotationalLimitMotor(i),
&m_rbA, transA,transB,linVelA,linVelB,angVelA,angVelB,
&m_rbB,
info,row,axis,1); info,row,axis,1);
} }
} }
@@ -712,7 +758,7 @@ void btGeneric6DofConstraint::calculateLinearInfo()
int btGeneric6DofConstraint::get_limit_motor_info2( int btGeneric6DofConstraint::get_limit_motor_info2(
btRotationalLimitMotor * limot, 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) btConstraintInfo2 *info, int row, btVector3& ax1, int rotational)
{ {
int srow = row * info->rowskip; int srow = row * info->rowskip;
@@ -734,13 +780,13 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
if((!rotational)) if((!rotational))
{ {
btVector3 ltd; // Linear Torque Decoupling vector btVector3 ltd; // Linear Torque Decoupling vector
btVector3 c = m_calculatedTransformB.getOrigin() - body0->getCenterOfMassPosition(); btVector3 c = m_calculatedTransformB.getOrigin() - transA.getOrigin();
ltd = c.cross(ax1); ltd = c.cross(ax1);
info->m_J1angularAxis[srow+0] = ltd[0]; info->m_J1angularAxis[srow+0] = ltd[0];
info->m_J1angularAxis[srow+1] = ltd[1]; info->m_J1angularAxis[srow+1] = ltd[1];
info->m_J1angularAxis[srow+2] = ltd[2]; info->m_J1angularAxis[srow+2] = ltd[2];
c = m_calculatedTransformB.getOrigin() - body1->getCenterOfMassPosition(); c = m_calculatedTransformB.getOrigin() - transB.getOrigin();
ltd = -c.cross(ax1); ltd = -c.cross(ax1);
info->m_J2angularAxis[srow+0] = ltd[0]; info->m_J2angularAxis[srow+0] = ltd[0];
info->m_J2angularAxis[srow+1] = ltd[1]; info->m_J2angularAxis[srow+1] = ltd[1];
@@ -803,15 +849,17 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
btScalar vel; btScalar vel;
if (rotational) if (rotational)
{ {
vel = body0->getAngularVelocity().dot(ax1); vel = angVelA.dot(ax1);
if (body1) //make sure that if no body -> angVelB == zero vec
vel -= body1->getAngularVelocity().dot(ax1); // if (body1)
vel -= angVelB.dot(ax1);
} }
else else
{ {
vel = body0->getLinearVelocity().dot(ax1); vel = linVelA.dot(ax1);
if (body1) //make sure that if no body -> angVelB == zero vec
vel -= body1->getLinearVelocity().dot(ax1); // if (body1)
vel -= linVelB.dot(ax1);
} }
// only apply bounce if the velocity is incoming, and if the // only apply bounce if the velocity is incoming, and if the
// resulting c[] exceeds what we already have. // resulting c[] exceeds what we already have.

17
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
View File

@@ -12,6 +12,10 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
/// 2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev
/// Added support for generic constraint solver through getInfo1/getInfo2 methods
/* /*
2007-09-09 2007-09-09
btGeneric6DofConstraint Refactored by Francisco Le?n btGeneric6DofConstraint Refactored by Francisco Le?n
@@ -289,9 +293,9 @@ protected:
} }
int setAngularLimits(btConstraintInfo2 *info, int row_offset); int setAngularLimits(btConstraintInfo2 *info, int row_offset,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
int setLinearLimits(btConstraintInfo2 *info); int setLinearLimits(btConstraintInfo2 *info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
void buildLinearJacobian( void buildLinearJacobian(
btJacobianEntry & jacLinear,const btVector3 & normalWorld, btJacobianEntry & jacLinear,const btVector3 & normalWorld,
@@ -321,6 +325,8 @@ public:
Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies. Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
\sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo \sa btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo
*/ */
void calculateTransforms(const btTransform& transA,const btTransform& transB);
void calculateTransforms(); void calculateTransforms();
//! Gets the global transform of the offset for body A //! Gets the global transform of the offset for body A
@@ -368,8 +374,13 @@ public:
virtual void getInfo1 (btConstraintInfo1* info); virtual void getInfo1 (btConstraintInfo1* info);
void getInfo1NonVirtual (btConstraintInfo1* info);
virtual void getInfo2 (btConstraintInfo2* info); virtual void getInfo2 (btConstraintInfo2* info);
void getInfo2NonVirtual (btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB,const btVector3& angVelA,const btVector3& angVelB);
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep); virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
void updateRHS(btScalar timeStep); void updateRHS(btScalar timeStep);
@@ -480,7 +491,7 @@ public:
virtual void calcAnchorPos(void); // overridable virtual void calcAnchorPos(void); // overridable
int get_limit_motor_info2( btRotationalLimitMotor * limot, int 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); btConstraintInfo2 *info, int row, btVector3& ax1, int rotational);