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more solver experiments, randomize the order of contact points, not just manifolds

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use #defines for constants, rather then const btScalar
This commit is contained in:
ejcoumans
2006-11-04 05:22:36 +00:00
parent c4c4523a4e
commit 23c64fb0db
11 changed files with 71 additions and 51 deletions
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66
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -32,8 +32,14 @@ int totalCpd = 0;
int gTotalContactPoints = 0;
#define SEQUENTIAL_IMPULSE_MAX_SOLVER_BODIES 16384
static int gOrder[SEQUENTIAL_IMPULSE_MAX_SOLVER_BODIES];
struct btOrderIndex
{
short int m_manifoldIndex;
short int m_pointIndex;
};
#define SEQUENTIAL_IMPULSE_MAX_SOLVER_POINTS 16384
static btOrderIndex gOrder[SEQUENTIAL_IMPULSE_MAX_SOLVER_POINTS];
static unsigned long btSeed2 = 0;
unsigned long btRand2()
{
@@ -84,14 +90,28 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
btProfiler::beginBlock("solve");
#endif //USE_PROFILE
int totalPoints = 0;
{
int j;
for (j=0;j<numManifolds;j++)
{
gOrder[j] = j;
prepareConstraints(manifoldPtr[j],info,debugDrawer);
}
}
{
int j;
for (j=0;j<numManifolds;j++)
{
for (int p=0;p<manifoldPtr[j]->getNumContacts();p++)
{
gOrder[totalPoints].m_manifoldIndex = j;
gOrder[totalPoints].m_pointIndex = p;
totalPoints++;
}
}
}
//should traverse the contacts random order...
@@ -100,23 +120,27 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
{
int j;
if ((iteration & 7) == 0) {
for (j=0; j<numManifolds; ++j) {
int tmp = gOrder[j];
for (j=0; j<totalPoints; ++j) {
btOrderIndex tmp = gOrder[j];
int swapi = btRandInt2(j+1);
gOrder[j] = gOrder[swapi];
gOrder[swapi] = tmp;
}
}
for (j=0;j<numManifolds;j++)
for (j=0;j<totalPoints;j++)
{
solve(manifoldPtr[gOrder[j]],info,iteration,debugDrawer);
btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
solve( (btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1()
,manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
}
for (j=0;j<numManifolds;j++)
for (j=0;j<totalPoints;j++)
{
solveFriction(manifoldPtr[gOrder[j]],info,iteration,debugDrawer);
btPersistentManifold* manifold = manifoldPtr[gOrder[j].m_manifoldIndex];
solveFriction((btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1(),manifold->getContactPoint(gOrder[j].m_pointIndex),info,iteration,debugDrawer);
}
}
@@ -311,25 +335,16 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
}
}
float btSequentialImpulseConstraintSolver::solve(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver::solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
{
btRigidBody* body0 = (btRigidBody*)manifoldPtr->getBody0();
btRigidBody* body1 = (btRigidBody*)manifoldPtr->getBody1();
float maxImpulse = 0.f;
{
const int numpoints = manifoldPtr->getNumContacts();
btVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
{
int j=i;//(i&1)? i : numpoints-1-i;
btManifoldPoint& cp = manifoldPtr->getContactPoint(j);
if (cp.getDistance() <= 0.f)
if (cp.getDistance() <= 0.f)
{
if (iter == 0)
@@ -356,22 +371,15 @@ float btSequentialImpulseConstraintSolver::solve(btPersistentManifold* manifoldP
return maxImpulse;
}
float btSequentialImpulseConstraintSolver::solveFriction(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver::solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer)
{
btRigidBody* body0 = (btRigidBody*)manifoldPtr->getBody0();
btRigidBody* body1 = (btRigidBody*)manifoldPtr->getBody1();
{
const int numpoints = manifoldPtr->getNumContacts();
btVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
{
int j=i;//(i&1)? i : numpoints-1-i;
btManifoldPoint& cp = manifoldPtr->getContactPoint(j);
if (cp.getDistance() <= 0.f)
{