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Disable friction warmstarting by default, removing second friction direction. This gives a large performance increase.

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friction warmstarting can be turned on using:
dynamicsWorld ->getSolverInfo().m_solverMode |= SOLVER_USE_FRICTION_WARMSTARTING;
This commit is contained in:
erwin.coumans
2008-11-15 22:20:55 +00:00
parent a5c18db854
commit 29bfd06af7
3 changed files with 40 additions and 32 deletions
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5
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -21,7 +21,8 @@ enum btSolverMode
SOLVER_RANDMIZE_ORDER = 1, SOLVER_RANDMIZE_ORDER = 1,
SOLVER_FRICTION_SEPARATE = 2, SOLVER_FRICTION_SEPARATE = 2,
SOLVER_USE_WARMSTARTING = 4, SOLVER_USE_WARMSTARTING = 4,
SOLVER_CACHE_FRIENDLY = 8 SOLVER_USE_FRICTION_WARMSTARTING = 8,
SOLVER_CACHE_FRIENDLY = 16
}; };
struct btContactSolverInfoData struct btContactSolverInfoData
@@ -69,7 +70,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_splitImpulsePenetrationThreshold = -0.02f; m_splitImpulsePenetrationThreshold = -0.02f;
m_linearSlop = btScalar(0.0); m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85); m_warmstartingFactor=btScalar(0.85);
m_solverMode = SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING; m_solverMode = SOLVER_CACHE_FRIENDLY | SOLVER_RANDMIZE_ORDER | SOLVER_USE_WARMSTARTING;
m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
} }
}; };

65
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -437,7 +437,7 @@ btScalar resolveSingleFrictionCacheFriendly(
void btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation) btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation)
{ {
btRigidBody* body0=btRigidBody::upcast(colObj0); btRigidBody* body0=btRigidBody::upcast(colObj0);
@@ -491,7 +491,7 @@ void btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3&
btScalar denom = relaxation/(denom0+denom1); btScalar denom = relaxation/(denom0+denom1);
solverConstraint.m_jacDiagABInv = denom; solverConstraint.m_jacDiagABInv = denom;
return solverConstraint;
} }
@@ -760,7 +760,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_appliedPushImpulse = 0.f; solverConstraint.m_appliedPushImpulse = 0.f;
solverConstraint.m_frictionIndex = m_tmpSolverFrictionConstraintPool.size(); solverConstraint.m_frictionIndex = m_tmpSolverFrictionConstraintPool.size();
if (!cp.m_lateralFrictionInitialized) if ((!infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING) || !cp.m_lateralFrictionInitialized)
{ {
cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2(); btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
@@ -768,9 +768,12 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
{ {
cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel); cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB); if(infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
cp.m_lateralFrictionDir2.normalize();//?? {
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
cp.m_lateralFrictionDir2.normalize();//??
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
} else } else
{ {
//re-calculate friction direction every frame, todo: check if this is really needed //re-calculate friction direction every frame, todo: check if this is really needed
@@ -784,35 +787,39 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
} else } else
{ {
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
} }
if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
{ {
btSolverConstraint& frictionConstraint1 = m_tmpSolverFrictionConstraintPool[solverConstraint.m_frictionIndex];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{ {
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; btSolverConstraint& frictionConstraint1 = m_tmpSolverFrictionConstraintPool[solverConstraint.m_frictionIndex];
if (rb0) if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse); {
if (rb1) frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass(),frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse); if (rb0)
} else m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
{ if (rb1)
frictionConstraint1.m_appliedImpulse = 0.f; m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass(),frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
} else
{
frictionConstraint1.m_appliedImpulse = 0.f;
}
} }
}
{
btSolverConstraint& frictionConstraint2 = m_tmpSolverFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{ {
frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; btSolverConstraint& frictionConstraint2 = m_tmpSolverFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
if (rb0) if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse); {
if (rb1) frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse); if (rb0)
} else m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
{ if (rb1)
frictionConstraint2.m_appliedImpulse = 0.f; m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse);
} else
{
frictionConstraint2.m_appliedImpulse = 0.f;
}
} }
} }
} }

2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -41,7 +41,7 @@ protected:
btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer); btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer); btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
void prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer); void prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
void addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation); btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation);
ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES]; ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES]; ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];