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Only support btMultiBody multi-dof version (remove non-multi-dof path)

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Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
This commit is contained in:
erwincoumans
2015-11-05 21:17:46 -08:00
parent d6464ce40d
commit 2920d7e61f
16 changed files with 125 additions and 374 deletions
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42
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -23,18 +23,12 @@ void btMultiBodyConstraint::updateJacobianSizes()
{
if(m_bodyA)
{
if(m_bodyA->isMultiDof())
m_jacSizeA = (6 + m_bodyA->getNumDofs());
else
m_jacSizeA = (6 + m_bodyA->getNumLinks());
m_jacSizeA = (6 + m_bodyA->getNumDofs());
}
if(m_bodyB)
{
if(m_bodyB->isMultiDof())
m_jacSizeBoth = m_jacSizeA + 6 + m_bodyB->getNumDofs();
else
m_jacSizeBoth = m_jacSizeA + 6 + m_bodyB->getNumLinks();
m_jacSizeBoth = m_jacSizeA + 6 + m_bodyB->getNumDofs();
}
else
m_jacSizeBoth = m_jacSizeA;
@@ -101,7 +95,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
rel_pos1 = posAworld - multiBodyA->getLink(solverConstraint.m_linkA).m_cachedWorldTransform.getOrigin();
}
const int ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6;
const int ndofA = multiBodyA->getNumDofs() + 6;
solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
@@ -128,10 +122,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
else
{
btScalar* jac1=&data.m_jacobians[solverConstraint.m_jacAindex];
if(multiBodyA->isMultiDof())
multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
else
multiBodyA->fillContactJacobian(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
multiBodyA->fillContactJacobianMultiDof(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
}
//determine the velocity response of multibodyA to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
@@ -140,10 +131,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
//determine..
if(multiBodyA->isMultiDof())
multiBodyA->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v);
else
multiBodyA->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v);
multiBodyA->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v);
btVector3 torqueAxis0 = rel_pos1.cross(contactNormalOnB);
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
@@ -167,7 +155,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
rel_pos2 = posBworld - multiBodyB->getLink(solverConstraint.m_linkB).m_cachedWorldTransform.getOrigin();
}
const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6;
const int ndofB = multiBodyB->getNumDofs() + 6;
solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
if (solverConstraint.m_deltaVelBindex <0)
@@ -189,10 +177,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
}
else
{
if(multiBodyB->isMultiDof())
multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, posBworld, -contactNormalOnB, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
else
multiBodyB->fillContactJacobian(solverConstraint.m_linkB, posBworld, -contactNormalOnB, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
multiBodyB->fillContactJacobianMultiDof(solverConstraint.m_linkB, posBworld, -contactNormalOnB, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
}
//determine velocity response of multibodyB to reaction impulses of this constraint (i.e. A[i,i] for i=1,...n_con: multibody's inverse inertia with respect to this 1D constraint)
@@ -201,10 +186,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
//determine..
if(multiBodyB->isMultiDof())
multiBodyB->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacBindex],delta,data.scratch_r, data.scratch_v);
else
multiBodyB->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacBindex],delta,data.scratch_r, data.scratch_v);
multiBodyB->calcAccelerationDeltasMultiDof(&data.m_jacobians[solverConstraint.m_jacBindex],delta,data.scratch_r, data.scratch_v);
btVector3 torqueAxis1 = rel_pos2.cross(contactNormalOnB);
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
@@ -231,7 +213,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
//determine the "effective mass" of the constrained multibodyA with respect to this 1D constraint (i.e. 1/A[i,i])
if (multiBodyA)
{
ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6;
ndofA = multiBodyA->getNumDofs() + 6;
jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
deltaVelA = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
@@ -249,7 +231,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
//
if (multiBodyB)
{
const int ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6;
const int ndofB = multiBodyB->getNumDofs() + 6;
jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
deltaVelB = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
@@ -290,7 +272,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
btVector3 vel1,vel2;
if (multiBodyA)
{
ndofA = (multiBodyA->isMultiDof() ? multiBodyA->getNumDofs() : multiBodyA->getNumLinks()) + 6;
ndofA = multiBodyA->getNumDofs() + 6;
btScalar* jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA ; ++i)
rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
@@ -301,7 +283,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
}
if (multiBodyB)
{
ndofB = (multiBodyB->isMultiDof() ? multiBodyB->getNumDofs() : multiBodyB->getNumLinks()) + 6;
ndofB = multiBodyB->getNumDofs() + 6;
btScalar* jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB ; ++i)
rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];