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expose maximum applied impulse for btMultiBody, introduced to reduce/avoid 'exploding' simulations

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use btScalar instead of float, to enable double precision build, fix for Issue 744
This commit is contained in:
erwin.coumans@gmail.com
2013-10-06 17:13:08 +00:00
parent 488dd44835
commit 34d975143e
6 changed files with 44 additions and 33 deletions
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11
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
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@@ -323,11 +323,6 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
{
// btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,n_links-1,2,3);
if (0)
{
btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,1,500000);
world->addMultiBodyConstraint(con);
}
if (createConstraints)
{
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,i,-1,1);
@@ -338,6 +333,12 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
{
if (createConstraints)
{
if (1)
{
btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,0,500000);
world->addMultiBodyConstraint(con);
}
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,i,-1,1);
world->addMultiBodyConstraint(con);
}

2
Demos/OpenGL/DemoApplication.cpp
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@@ -597,7 +597,7 @@ void DemoApplication::shootBox(const btVector3& destination)
int gPickingConstraintId = 0;
btVector3 gOldPickingPos;
btVector3 gHitPos(-1,-1,-1);
float gOldPickingDist = 0.f;
btScalar gOldPickingDist = 0.f;
btRigidBody* pickedBody = 0;//for deactivation state

4
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -92,8 +92,8 @@ btMultiBody::btMultiBody(int n_links,
m_baseCollider(0),
m_linearDamping(0.04f),
m_angularDamping(0.04f),
m_useGyroTerm(true)
m_useGyroTerm(true),
m_maxAppliedImpulse(1000.f)
{
links.resize(n_links);

20
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -280,16 +280,18 @@ public:
sum += delta_vee[i]*multiplier*delta_vee[i]*multiplier;
}
btScalar l = btSqrt(sum);
/*
static btScalar maxl = -1e30f;
if (l>maxl)
{
maxl=l;
printf("maxl=%f\n",maxl);
// printf("maxl=%f\n",maxl);
}
if (l>100)
*/
if (l>m_maxAppliedImpulse)
{
printf("exceeds 100: l=%f\n",maxl);
multiplier *= 100.f/l;
// printf("exceeds 100: l=%f\n",maxl);
multiplier *= m_maxAppliedImpulse/l;
}
for (int i = 0; i < 6 + getNumLinks(); ++i)
@@ -373,6 +375,14 @@ public:
{
m_useGyroTerm = useGyro;
}
btScalar getMaxAppliedImpulse() const
{
return m_maxAppliedImpulse;
}
void setMaxAppliedImpulse(btScalar maxImp)
{
m_maxAppliedImpulse = maxImp;
}
private:
btMultiBody(const btMultiBody &); // not implemented
@@ -437,7 +447,7 @@ private:
btScalar m_linearDamping;
btScalar m_angularDamping;
bool m_useGyroTerm;
btScalar m_maxAppliedImpulse;
};
#endif

26
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -62,7 +62,7 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS
for (int i=0;i<ndofA;i++)
data.m_jacobians[constraintRow.m_jacAindex+i] = jacOrgA[i];
float* delta = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacAindex];
btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacAindex];
multiBodyA->calcAccelerationDeltas(&data.m_jacobians[constraintRow.m_jacAindex],delta,data.scratch_r, data.scratch_v);
}
@@ -105,8 +105,8 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS
lambdaA = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
{
float j = jacA[i] ;
float l =lambdaA[i];
btScalar j = jacA[i] ;
btScalar l =lambdaA[i];
denom0 += j*l;
}
}
@@ -117,8 +117,8 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS
lambdaB = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
{
float j = jacB[i] ;
float l =lambdaB[i];
btScalar j = jacB[i] ;
btScalar l =lambdaB[i];
denom1 += j*l;
}
@@ -134,7 +134,7 @@ btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodyS
}
}
float d = denom0+denom1;
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
{
@@ -275,9 +275,9 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr
data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
float* jac1=&data.m_jacobians[solverConstraint.m_jacAindex];
btScalar* jac1=&data.m_jacobians[solverConstraint.m_jacAindex];
multiBodyA->fillContactJacobian(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
float* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v);
} else
{
@@ -332,8 +332,8 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr
lambdaA = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
{
float j = jacA[i] ;
float l =lambdaA[i];
btScalar j = jacA[i] ;
btScalar l =lambdaA[i];
denom0 += j*l;
}
} else
@@ -351,8 +351,8 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr
lambdaB = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
{
float j = jacB[i] ;
float l =lambdaB[i];
btScalar j = jacB[i] ;
btScalar l =lambdaB[i];
denom1 += j*l;
}
@@ -375,7 +375,7 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr
}
}
float d = denom0+denom1;
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
{

14
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -276,9 +276,9 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
float* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex];
btScalar* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex];
multiBodyA->fillContactJacobian(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
float* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v);
} else
{
@@ -333,8 +333,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
{
float j = jacA[i] ;
float l =lambdaA[i];
btScalar j = jacA[i] ;
btScalar l =lambdaA[i];
denom0 += j*l;
}
} else
@@ -352,8 +352,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
{
float j = jacB[i] ;
float l =lambdaB[i];
btScalar j = jacB[i] ;
btScalar l =lambdaB[i];
denom1 += j*l;
}
@@ -376,7 +376,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
}
}
float d = denom0+denom1;
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
{