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Merge pull request #2373 from xhan0619/DeformableImprovement

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Deformable improvement
This commit is contained in:
erwincoumans
2019-08-24 18:09:47 -07:00
committed by GitHub
parent ceee3e075b 908cf69f06
commit 25cc1fa386
56 changed files with 68011 additions and 1125 deletions
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10
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -1707,9 +1707,9 @@ void btMultiBody::predictPositionsMultiDof(btScalar dt)
{
//reset to current pos
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 4; ++j)
{
pJointPos[i] = m_links[i].m_jointPos[i];
pJointPos[j] = m_links[i].m_jointPos[j];
}
btVector3 jointVel;
@@ -1725,9 +1725,9 @@ void btMultiBody::predictPositionsMultiDof(btScalar dt)
}
case btMultibodyLink::ePlanar:
{
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 3; ++j)
{
pJointPos[i] = m_links[i].m_jointPos[i];
pJointPos[j] = m_links[i].m_jointPos[j];
}
pJointPos[0] += dt * getJointVelMultiDof(i)[0];
@@ -2142,6 +2142,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
getBaseCollider()->setWorldTransform(tr);
getBaseCollider()->setInterpolationWorldTransform(tr);
}
for (int k = 0; k < getNumLinks(); k++)
@@ -2170,6 +2171,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
col->setWorldTransform(tr);
col->setInterpolationWorldTransform(tr);
}
}
}

5
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -273,6 +273,11 @@ public:
{
return &m_realBuf[0];
}
const btScalar *getDeltaVelocityVector() const
{
return &m_deltaV[0];
}
/* btScalar * getVelocityVector()
{
return &real_buf[0];

317
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -169,218 +169,6 @@ void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
btDiscreteDynamicsWorld::updateActivationState(timeStep);
}
SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs)
{
int islandId;
const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
return islandId;
}
class btSortConstraintOnIslandPredicate2
{
public:
bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const
{
int rIslandId0, lIslandId0;
rIslandId0 = btGetConstraintIslandId2(rhs);
lIslandId0 = btGetConstraintIslandId2(lhs);
return lIslandId0 < rIslandId0;
}
};
SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs)
{
int islandId;
int islandTagA = lhs->getIslandIdA();
int islandTagB = lhs->getIslandIdB();
islandId = islandTagA >= 0 ? islandTagA : islandTagB;
return islandId;
}
class btSortMultiBodyConstraintOnIslandPredicate
{
public:
bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const
{
int rIslandId0, lIslandId0;
rIslandId0 = btGetMultiBodyConstraintIslandId(rhs);
lIslandId0 = btGetMultiBodyConstraintIslandId(lhs);
return lIslandId0 < rIslandId0;
}
};
struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
{
btContactSolverInfo* m_solverInfo;
btMultiBodyConstraintSolver* m_solver;
btMultiBodyConstraint** m_multiBodySortedConstraints;
int m_numMultiBodyConstraints;
btTypedConstraint** m_sortedConstraints;
int m_numConstraints;
btIDebugDraw* m_debugDrawer;
btDispatcher* m_dispatcher;
btAlignedObjectArray<btCollisionObject*> m_bodies;
btAlignedObjectArray<btPersistentManifold*> m_manifolds;
btAlignedObjectArray<btTypedConstraint*> m_constraints;
btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData;
MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver,
btDispatcher* dispatcher)
: m_solverInfo(NULL),
m_solver(solver),
m_multiBodySortedConstraints(NULL),
m_numConstraints(0),
m_debugDrawer(NULL),
m_dispatcher(dispatcher)
{
}
MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other)
{
btAssert(0);
(void)other;
return *this;
}
SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer)
{
m_islandAnalyticsData.clear();
btAssert(solverInfo);
m_solverInfo = solverInfo;
m_multiBodySortedConstraints = sortedMultiBodyConstraints;
m_numMultiBodyConstraints = numMultiBodyConstraints;
m_sortedConstraints = sortedConstraints;
m_numConstraints = numConstraints;
m_debugDrawer = debugDrawer;
m_bodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
m_multiBodyConstraints.resize(0);
}
void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
{
m_solver = solver;
}
virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId)
{
if (islandId < 0)
{
///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
if (m_solverInfo->m_reportSolverAnalytics&1)
{
m_solver->m_analyticsData.m_islandId = islandId;
m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
}
}
else
{
//also add all non-contact constraints/joints for this island
btTypedConstraint** startConstraint = 0;
btMultiBodyConstraint** startMultiBodyConstraint = 0;
int numCurConstraints = 0;
int numCurMultiBodyConstraints = 0;
int i;
//find the first constraint for this island
for (i = 0; i < m_numConstraints; i++)
{
if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
{
startConstraint = &m_sortedConstraints[i];
break;
}
}
//count the number of constraints in this island
for (; i < m_numConstraints; i++)
{
if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
{
numCurConstraints++;
}
}
for (i = 0; i < m_numMultiBodyConstraints; i++)
{
if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
{
startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
break;
}
}
//count the number of multi body constraints in this island
for (; i < m_numMultiBodyConstraints; i++)
{
if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
{
numCurMultiBodyConstraints++;
}
}
//if (m_solverInfo->m_minimumSolverBatchSize<=1)
//{
// m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
//} else
{
for (i = 0; i < numBodies; i++)
m_bodies.push_back(bodies[i]);
for (i = 0; i < numManifolds; i++)
m_manifolds.push_back(manifolds[i]);
for (i = 0; i < numCurConstraints; i++)
m_constraints.push_back(startConstraint[i]);
for (i = 0; i < numCurMultiBodyConstraints; i++)
m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize)
{
processConstraints(islandId);
}
else
{
//printf("deferred\n");
}
}
}
}
void processConstraints(int islandId=-1)
{
btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
//printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1))
{
m_solver->m_analyticsData.m_islandId = islandId;
m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
}
m_bodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
m_multiBodyConstraints.resize(0);
}
};
void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const
{
islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData;
@@ -441,56 +229,53 @@ void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& sol
{
/// solve all the constraints for this island
m_solverMultiBodyIslandCallback->processConstraints();
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
{
BT_PROFILE("btMultiBody stepVelocities");
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bool isSleeping = false;
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
{
isSleeping = true;
}
for (int b = 0; b < bod->getNumLinks(); b++)
{
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
isSleeping = true;
}
if (!isSleeping)
{
//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd)
m_scratch_v.resize(bod->getNumLinks() + 1);
m_scratch_m.resize(bod->getNumLinks() + 1);
if (bod->internalNeedsJointFeedback())
{
if (!bod->isUsingRK4Integration())
{
if (bod->internalNeedsJointFeedback())
{
bool isConstraintPass = true;
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
}
}
}
}
}
}
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bod->processDeltaVeeMultiDof2();
}
{
BT_PROFILE("btMultiBody stepVelocities");
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bool isSleeping = false;
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
{
isSleeping = true;
}
for (int b = 0; b < bod->getNumLinks(); b++)
{
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState() == ISLAND_SLEEPING)
isSleeping = true;
}
if (!isSleeping)
{
//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
m_scratch_r.resize(bod->getNumLinks() + 1); //multidof? ("Y"s use it and it is used to store qdd)
m_scratch_v.resize(bod->getNumLinks() + 1);
m_scratch_m.resize(bod->getNumLinks() + 1);
if (bod->internalNeedsJointFeedback())
{
if (!bod->isUsingRK4Integration())
{
if (bod->internalNeedsJointFeedback())
{
bool isConstraintPass = true;
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
}
}
}
}
}
}
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bod->processDeltaVeeMultiDof2();
}
}
void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo)
@@ -588,15 +373,10 @@ void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverIn
{
if (!bod->isUsingRK4Integration())
{
const btScalar linearDamp = bod->getLinearDamping();
// const btScalar angularDamp = bod->getAngularDamping();
bod->setLinearDamping(0);
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep,
m_scratch_r, m_scratch_v, m_scratch_m,isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
bod->setLinearDamping(linearDamp);
// bod->setAngularDamping(angularDamp);
}
else
{
@@ -1087,3 +867,8 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
}
}
}
//
//void btMultiBodyDynamicsWorld::setSplitIslands(bool split)
//{
// m_islandManager->setSplitIslands(split);
//}

3
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
View File

@@ -17,6 +17,7 @@ subject to the following restrictions:
#define BT_MULTIBODY_DYNAMICS_WORLD_H
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h"
#define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
@@ -57,6 +58,7 @@ public:
virtual ~btMultiBodyDynamicsWorld();
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter);
virtual void removeMultiBody(btMultiBody* body);
@@ -118,6 +120,5 @@ public:
virtual void solveExternalForces(btContactSolverInfo& solverInfo);
virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
void buildIslands();
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H

235
src/BulletDynamics/Featherstone/btMultiBodyInplaceSolverIslandCallback.h Normal file
View File

@@ -0,0 +1,235 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2019 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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.
*/
#ifndef BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H
#define BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "btMultiBodyConstraintSolver.h"
SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs)
{
int islandId;
const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
return islandId;
}
class btSortConstraintOnIslandPredicate2
{
public:
bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const
{
int rIslandId0, lIslandId0;
rIslandId0 = btGetConstraintIslandId2(rhs);
lIslandId0 = btGetConstraintIslandId2(lhs);
return lIslandId0 < rIslandId0;
}
};
SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs)
{
int islandId;
int islandTagA = lhs->getIslandIdA();
int islandTagB = lhs->getIslandIdB();
islandId = islandTagA >= 0 ? islandTagA : islandTagB;
return islandId;
}
class btSortMultiBodyConstraintOnIslandPredicate
{
public:
bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const
{
int rIslandId0, lIslandId0;
rIslandId0 = btGetMultiBodyConstraintIslandId(rhs);
lIslandId0 = btGetMultiBodyConstraintIslandId(lhs);
return lIslandId0 < rIslandId0;
}
};
struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
{
btContactSolverInfo* m_solverInfo;
btMultiBodyConstraintSolver* m_solver;
btMultiBodyConstraint** m_multiBodySortedConstraints;
int m_numMultiBodyConstraints;
btTypedConstraint** m_sortedConstraints;
int m_numConstraints;
btIDebugDraw* m_debugDrawer;
btDispatcher* m_dispatcher;
btAlignedObjectArray<btCollisionObject*> m_bodies;
btAlignedObjectArray<btPersistentManifold*> m_manifolds;
btAlignedObjectArray<btTypedConstraint*> m_constraints;
btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData;
MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver,
btDispatcher* dispatcher)
: m_solverInfo(NULL),
m_solver(solver),
m_multiBodySortedConstraints(NULL),
m_numConstraints(0),
m_debugDrawer(NULL),
m_dispatcher(dispatcher)
{
}
MultiBodyInplaceSolverIslandCallback& operator=(const MultiBodyInplaceSolverIslandCallback& other)
{
btAssert(0);
(void)other;
return *this;
}
SIMD_FORCE_INLINE virtual void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer)
{
m_islandAnalyticsData.clear();
btAssert(solverInfo);
m_solverInfo = solverInfo;
m_multiBodySortedConstraints = sortedMultiBodyConstraints;
m_numMultiBodyConstraints = numMultiBodyConstraints;
m_sortedConstraints = sortedConstraints;
m_numConstraints = numConstraints;
m_debugDrawer = debugDrawer;
m_bodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
m_multiBodyConstraints.resize(0);
}
void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
{
m_solver = solver;
}
virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId)
{
if (islandId < 0)
{
///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
if (m_solverInfo->m_reportSolverAnalytics&1)
{
m_solver->m_analyticsData.m_islandId = islandId;
m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
}
}
else
{
//also add all non-contact constraints/joints for this island
btTypedConstraint** startConstraint = 0;
btMultiBodyConstraint** startMultiBodyConstraint = 0;
int numCurConstraints = 0;
int numCurMultiBodyConstraints = 0;
int i;
//find the first constraint for this island
for (i = 0; i < m_numConstraints; i++)
{
if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
{
startConstraint = &m_sortedConstraints[i];
break;
}
}
//count the number of constraints in this island
for (; i < m_numConstraints; i++)
{
if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
{
numCurConstraints++;
}
}
for (i = 0; i < m_numMultiBodyConstraints; i++)
{
if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
{
startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
break;
}
}
//count the number of multi body constraints in this island
for (; i < m_numMultiBodyConstraints; i++)
{
if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
{
numCurMultiBodyConstraints++;
}
}
//if (m_solverInfo->m_minimumSolverBatchSize<=1)
//{
// m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
//} else
{
for (i = 0; i < numBodies; i++)
m_bodies.push_back(bodies[i]);
for (i = 0; i < numManifolds; i++)
m_manifolds.push_back(manifolds[i]);
for (i = 0; i < numCurConstraints; i++)
m_constraints.push_back(startConstraint[i]);
for (i = 0; i < numCurMultiBodyConstraints; i++)
m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize)
{
processConstraints(islandId);
}
else
{
//printf("deferred\n");
}
}
}
}
virtual void processConstraints(int islandId=-1)
{
btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
//printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1))
{
m_solver->m_analyticsData.m_islandId = islandId;
m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
}
m_bodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
m_multiBodyConstraints.resize(0);
}
};
#endif /*BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H */

6
src/BulletDynamics/Featherstone/btMultiBodyLink.h
View File

@@ -157,6 +157,7 @@ struct btMultibodyLink
m_parent(-1),
m_zeroRotParentToThis(0, 0, 0, 1),
m_cachedRotParentToThis(0, 0, 0, 1),
m_cachedRotParentToThis_interpolate(0, 0, 0, 1),
m_collider(0),
m_flags(0),
m_dofCount(0),
@@ -179,6 +180,7 @@ struct btMultibodyLink
m_dVector.setValue(0, 0, 0);
m_eVector.setValue(0, 0, 0);
m_cachedRVector.setValue(0, 0, 0);
m_cachedRVector_interpolate.setValue(0, 0, 0);
m_appliedForce.setValue(0, 0, 0);
m_appliedTorque.setValue(0, 0, 0);
m_appliedConstraintForce.setValue(0, 0, 0);
@@ -195,7 +197,7 @@ struct btMultibodyLink
{
btScalar *pJointPos = (pq ? pq : &m_jointPos[0]);
btQuaternion& cachedRot = m_cachedRotParentToThis;
btVector3& cachedVector =m_cachedRVector;
btVector3& cachedVector = m_cachedRVector;
switch (m_jointType)
{
case eRevolute:
@@ -239,6 +241,8 @@ struct btMultibodyLink
btAssert(0);
}
}
m_cachedRotParentToThis_interpolate = m_cachedRotParentToThis;
m_cachedRVector_interpolate = m_cachedRVector;
}
void updateInterpolationCacheMultiDof()