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enable randomization of non-contact constraints (disabled by default)

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Thanks to Peter Kyme, http://code.google.com/p/bullet/issues/detail?id=576
This commit is contained in:
erwin.coumans
2011-12-14 09:06:14 +00:00
parent aa6f352ddc
commit 22915b2344
3 changed files with 19 additions and 4 deletions
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19
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -957,15 +957,20 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btContactSolverInfo info = infoGlobal; btContactSolverInfo info = infoGlobal;
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
int numConstraintPool = m_tmpSolverContactConstraintPool.size(); int numConstraintPool = m_tmpSolverContactConstraintPool.size();
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints ///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
m_orderNonContactConstraintPool.resize(numNonContactPool);
m_orderTmpConstraintPool.resize(numConstraintPool); m_orderTmpConstraintPool.resize(numConstraintPool);
m_orderFrictionConstraintPool.resize(numFrictionPool); m_orderFrictionConstraintPool.resize(numFrictionPool);
{ {
int i; int i;
for (i=0;i<numNonContactPool;i++)
{
m_orderNonContactConstraintPool[i] = i;
}
for (i=0;i<numConstraintPool;i++) for (i=0;i<numConstraintPool;i++)
{ {
m_orderTmpConstraintPool[i] = i; m_orderTmpConstraintPool[i] = i;
@@ -983,6 +988,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/) btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
{ {
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
int numConstraintPool = m_tmpSolverContactConstraintPool.size(); int numConstraintPool = m_tmpSolverContactConstraintPool.size();
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
@@ -991,6 +997,13 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
{ {
if ((iteration & 7) == 0) { if ((iteration & 7) == 0) {
for (j=0; j<numNonContactPool; ++j) {
int tmp = m_orderNonContactConstraintPool[j];
int swapi = btRandInt2(j+1);
m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
m_orderNonContactConstraintPool[swapi] = tmp;
}
for (j=0; j<numConstraintPool; ++j) { for (j=0; j<numConstraintPool; ++j) {
int tmp = m_orderTmpConstraintPool[j]; int tmp = m_orderTmpConstraintPool[j];
int swapi = btRandInt2(j+1); int swapi = btRandInt2(j+1);
@@ -1012,7 +1025,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
///solve all joint constraints, using SIMD, if available ///solve all joint constraints, using SIMD, if available
for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
{ {
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j]; btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint); resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
} }
@@ -1050,7 +1063,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
///solve all joint constraints ///solve all joint constraints
for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
{ {
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j]; btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint); resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
} }

1
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -33,6 +33,7 @@ protected:
btConstraintArray m_tmpSolverNonContactConstraintPool; btConstraintArray m_tmpSolverNonContactConstraintPool;
btConstraintArray m_tmpSolverContactFrictionConstraintPool; btConstraintArray m_tmpSolverContactFrictionConstraintPool;
btAlignedObjectArray<int> m_orderTmpConstraintPool; btAlignedObjectArray<int> m_orderTmpConstraintPool;
btAlignedObjectArray<int> m_orderNonContactConstraintPool;
btAlignedObjectArray<int> m_orderFrictionConstraintPool; btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool; btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;

3
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
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@@ -84,7 +84,6 @@ protected:
///internal method used by the constraint solver, don't use them directly ///internal method used by the constraint solver, don't use them directly
btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact); btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
static btRigidBody& getFixedBody();
public: public:
@@ -96,6 +95,8 @@ public:
int m_numConstraintRows,nub; int m_numConstraintRows,nub;
}; };
static btRigidBody& getFixedBody();
struct btConstraintInfo2 { struct btConstraintInfo2 {
// integrator parameters: frames per second (1/stepsize), default error // integrator parameters: frames per second (1/stepsize), default error
// reduction parameter (0..1). // reduction parameter (0..1).