remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
This commit is contained in:
erwincoumans
@@ -32,7 +32,6 @@ SET(BulletDynamics_SRCS
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Vehicle/btWheelInfo.cpp
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Featherstone/btMultiBody.cpp
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Featherstone/btMultiBodyConstraint.cpp
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Featherstone/btMultiBodyBlockConstraintSolver.cpp
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Featherstone/btMultiBodyConstraintSolver.cpp
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Featherstone/btMultiBodyDynamicsWorld.cpp
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Featherstone/btMultiBodyFixedConstraint.cpp
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@@ -649,15 +649,15 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c
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btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
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solverConstraint.m_frictionIndex = frictionIndex;
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setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2,
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colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip);
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colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip);
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return solverConstraint;
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}
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void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB,
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btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
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btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
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btScalar desiredVelocity, btScalar cfmSlip)
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btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
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btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
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btScalar desiredVelocity, btScalar cfmSlip)
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{
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btVector3 normalAxis(0, 0, 0);
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@@ -724,7 +724,7 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint(btSol
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btScalar desiredVelocity, btScalar cfmSlip)
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{
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setupTorsionalFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis1,solverBodyIdA, solverBodyIdB,
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setupTorsionalFrictionConstraintInternal(m_tmpSolverBodyPool, solverConstraint, normalAxis1, solverBodyIdA, solverBodyIdB,
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cp, combinedTorsionalFriction, rel_pos1, rel_pos2,
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colObj0, colObj1, relaxation,
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desiredVelocity, cfmSlip);
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@@ -746,7 +746,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionCon
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btSolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing();
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solverConstraint.m_frictionIndex = frictionIndex;
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setupTorsionalFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, combinedTorsionalFriction, rel_pos1, rel_pos2,
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colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
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colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
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return solverConstraint;
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}
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@@ -1067,11 +1067,11 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
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void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISolverSingleIterationData& siData,
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btSolverConstraint& solverConstraint,
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int solverBodyIdA, int solverBodyIdB,
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btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
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btScalar& relaxation,
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const btVector3& rel_pos1, const btVector3& rel_pos2)
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btSolverConstraint& solverConstraint,
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int solverBodyIdA, int solverBodyIdB,
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btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
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btScalar& relaxation,
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const btVector3& rel_pos1, const btVector3& rel_pos2)
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{
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// const btVector3& pos1 = cp.getPositionWorldOnA();
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// const btVector3& pos2 = cp.getPositionWorldOnB();
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@@ -1198,7 +1198,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraintInternal(btSISol
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if (rb0)
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bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
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if (rb1)
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bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() , -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
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bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
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}
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else
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{
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@@ -1274,7 +1274,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
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m_btSeed2,
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m_fixedBodyId,
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m_maxOverrideNumSolverIterations
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);
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);
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setupContactConstraintInternal(siData, solverConstraint,
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@@ -1285,10 +1285,10 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
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}
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void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool,
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btSolverConstraint& solverConstraint,
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int solverBodyIdA, int solverBodyIdB,
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btManifoldPoint& cp, const btContactSolverInfo& infoGlobal)
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void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool,
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btSolverConstraint& solverConstraint,
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int solverBodyIdA, int solverBodyIdB,
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btManifoldPoint& cp, const btContactSolverInfo& infoGlobal)
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{
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btSolverBody* bodyA = &tmpSolverBodyPool[solverBodyIdA];
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btSolverBody* bodyB = &tmpSolverBodyPool[solverBodyIdB];
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@@ -1302,9 +1302,9 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulseInternal(b
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{
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frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
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if (rb0)
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bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass() , frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
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bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1 * rb0->getInvMass(), frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
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if (rb1)
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bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass() , -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse);
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bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2 * rb1->getInvMass(), -frictionConstraint1.m_angularComponentB, -(btScalar)frictionConstraint1.m_appliedImpulse);
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}
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else
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{
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@@ -1419,13 +1419,13 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl
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if (axis0.length() > 0.001)
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{
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btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool,
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siData.m_tmpSolverContactRollingFrictionConstraintPool,axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp,
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siData.m_tmpSolverContactRollingFrictionConstraintPool, axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp,
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cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
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}
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if (axis1.length() > 0.001)
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{
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btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraintInternal(siData.m_tmpSolverBodyPool,
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siData.m_tmpSolverContactRollingFrictionConstraintPool,axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp,
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siData.m_tmpSolverContactRollingFrictionConstraintPool, axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp,
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cp.m_combinedRollingFriction, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
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}
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}
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@@ -1456,7 +1456,7 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl
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cp.m_lateralFrictionDir1 *= 1.f / btSqrt(lat_rel_vel);
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applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
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applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
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btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool,
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btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool,
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cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal);
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if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
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@@ -1494,7 +1494,7 @@ void btSequentialImpulseConstraintSolver::convertContactInternal(btSISolverSingl
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}
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else
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{
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btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool,
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btSequentialImpulseConstraintSolver::addFrictionConstraintInternal(siData.m_tmpSolverBodyPool, siData.m_tmpSolverContactFrictionConstraintPool,
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cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
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if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
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@@ -1545,14 +1545,14 @@ void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold**
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}
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}
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void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
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int& maxOverrideNumSolverIterations,
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btSolverConstraint* currentConstraintRow,
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btTypedConstraint* constraint,
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const btTypedConstraint::btConstraintInfo1& info1,
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int solverBodyIdA,
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int solverBodyIdB,
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const btContactSolverInfo& infoGlobal)
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void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
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int& maxOverrideNumSolverIterations,
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btSolverConstraint* currentConstraintRow,
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btTypedConstraint* constraint,
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const btTypedConstraint::btConstraintInfo1& info1,
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int solverBodyIdA,
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int solverBodyIdB,
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const btContactSolverInfo& infoGlobal)
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{
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const btRigidBody& rbA = constraint->getRigidBodyA();
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const btRigidBody& rbB = constraint->getRigidBodyB();
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@@ -1602,7 +1602,7 @@ void btSequentialImpulseConstraintSolver::convertJointInternal(btAlignedObjectAr
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info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2;
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info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
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info2.rowskip = sizeof(btSolverConstraint) / sizeof(btScalar); //check this
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///the size of btSolverConstraint needs be a multiple of btScalar
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///the size of btSolverConstraint needs be a multiple of btScalar
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btAssert(info2.rowskip * sizeof(btScalar) == sizeof(btSolverConstraint));
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info2.m_constraintError = ¤tConstraintRow->m_rhs;
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currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
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@@ -1747,7 +1747,7 @@ void btSequentialImpulseConstraintSolver::convertJointsInternal(btSISolverSingle
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int solverBodyIdB = siData.getOrInitSolverBody(rbB, infoGlobal.m_timeStep);
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convertJointInternal(siData.m_tmpSolverBodyPool, siData.m_maxOverrideNumSolverIterations,
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currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal);
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currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal);
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}
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currentRow += info1.m_numConstraintRows;
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}
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@@ -1844,16 +1844,7 @@ void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodi
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convertBodiesInternal(siData, bodies, numBodies, infoGlobal);
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}
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btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
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{
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solveGroupConvertConstraintPrestep(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
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solveGroupConvertConstraints(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
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solveGroupConvertConstraintPoststep(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
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return 0.;
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}
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btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraints(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
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{
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m_fixedBodyId = -1;
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BT_PROFILE("solveGroupCacheFriendlySetup");
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@@ -1943,17 +1934,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraints(btCol
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convertContacts(manifoldPtr, numManifolds, infoGlobal);
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return 0.f;
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}
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btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraintPrestep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& /*infoGlobal*/, btIDebugDraw* /*debugDrawer*/)
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{
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return 0;
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}
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btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraintPoststep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/)
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{
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// btContactSolverInfo info = infoGlobal;
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int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
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@@ -1984,8 +1964,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraintPostste
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}
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}
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return 0;
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return 0.f;
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}
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btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal)
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{
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BT_PROFILE("solveSingleIteration");
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@@ -2013,7 +1994,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS
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for (int j = 0; j < numConstraintPool; ++j)
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{
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int tmp = siData.m_orderTmpConstraintPool[j];
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int swapi = btRandInt2a(j + 1,siData.m_seed);
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int swapi = btRandInt2a(j + 1, siData.m_seed);
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siData.m_orderTmpConstraintPool[j] = siData.m_orderTmpConstraintPool[swapi];
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siData.m_orderTmpConstraintPool[swapi] = tmp;
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}
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@@ -2021,7 +2002,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS
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for (int j = 0; j < numFrictionPool; ++j)
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{
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int tmp = siData.m_orderFrictionConstraintPool[j];
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int swapi = btRandInt2a(j + 1,siData.m_seed);
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int swapi = btRandInt2a(j + 1, siData.m_seed);
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siData.m_orderFrictionConstraintPool[j] = siData.m_orderFrictionConstraintPool[swapi];
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siData.m_orderFrictionConstraintPool[swapi] = tmp;
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}
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@@ -2161,21 +2142,21 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSIS
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btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/)
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{
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btSISolverSingleIterationData siData(m_tmpSolverBodyPool,
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m_tmpSolverContactConstraintPool,
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m_tmpSolverNonContactConstraintPool,
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m_tmpSolverContactFrictionConstraintPool,
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m_tmpSolverContactRollingFrictionConstraintPool,
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m_orderTmpConstraintPool,
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m_orderNonContactConstraintPool,
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m_orderFrictionConstraintPool,
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m_tmpConstraintSizesPool,
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m_resolveSingleConstraintRowGeneric,
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m_resolveSingleConstraintRowLowerLimit,
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m_resolveSplitPenetrationImpulse,
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m_kinematicBodyUniqueIdToSolverBodyTable,
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m_btSeed2,
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m_fixedBodyId,
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m_maxOverrideNumSolverIterations);
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m_tmpSolverContactConstraintPool,
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m_tmpSolverNonContactConstraintPool,
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m_tmpSolverContactFrictionConstraintPool,
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m_tmpSolverContactRollingFrictionConstraintPool,
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m_orderTmpConstraintPool,
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m_orderNonContactConstraintPool,
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m_orderFrictionConstraintPool,
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m_tmpConstraintSizesPool,
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m_resolveSingleConstraintRowGeneric,
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m_resolveSingleConstraintRowLowerLimit,
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m_resolveSplitPenetrationImpulse,
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m_kinematicBodyUniqueIdToSolverBodyTable,
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m_btSeed2,
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m_fixedBodyId,
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m_maxOverrideNumSolverIterations);
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btScalar leastSquaresResidual = btSequentialImpulseConstraintSolver::solveSingleIterationInternal(siData,
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iteration, constraints, numConstraints, infoGlobal);
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@@ -2249,7 +2230,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
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int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
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for (int iteration = 0; iteration < maxIterations; iteration++)
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//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
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//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
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{
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m_leastSquaresResidual = solveSingleIteration(iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
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@@ -2321,7 +2302,7 @@ void btSequentialImpulseConstraintSolver::writeBackJointsInternal(btConstraintAr
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void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
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{
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writeBackBodiesInternal(m_tmpSolverBodyPool,iBegin, iEnd, infoGlobal);
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writeBackBodiesInternal(m_tmpSolverBodyPool, iBegin, iEnd, infoGlobal);
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}
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void btSequentialImpulseConstraintSolver::writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
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{
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@@ -2357,11 +2338,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInter
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if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
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{
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writeBackContactsInternal(siData.m_tmpSolverContactConstraintPool,siData.m_tmpSolverContactFrictionConstraintPool,0, siData.m_tmpSolverContactConstraintPool.size(), infoGlobal);
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writeBackContactsInternal(siData.m_tmpSolverContactConstraintPool, siData.m_tmpSolverContactFrictionConstraintPool, 0, siData.m_tmpSolverContactConstraintPool.size(), infoGlobal);
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}
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writeBackJointsInternal(siData.m_tmpSolverNonContactConstraintPool, 0, siData.m_tmpSolverNonContactConstraintPool.size(), infoGlobal);
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writeBackBodiesInternal(siData.m_tmpSolverBodyPool,0, siData.m_tmpSolverBodyPool.size(), infoGlobal);
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writeBackBodiesInternal(siData.m_tmpSolverBodyPool, 0, siData.m_tmpSolverBodyPool.size(), infoGlobal);
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siData.m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
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siData.m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
|
||||
@@ -2412,34 +2393,4 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
|
||||
void btSequentialImpulseConstraintSolver::reset()
|
||||
{
|
||||
m_btSeed2 = 0;
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertBackPrestep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
return btScalar(0);
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertBack(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
|
||||
{
|
||||
writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal);
|
||||
}
|
||||
|
||||
writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal);
|
||||
writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal);
|
||||
|
||||
return btScalar(0);
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertBackPoststep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
|
||||
m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
|
||||
m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
|
||||
m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
|
||||
|
||||
m_tmpSolverBodyPool.resizeNoInitialize(0);
|
||||
|
||||
return btScalar(0);
|
||||
}
|
||||
}
|
||||
@@ -52,25 +52,25 @@ struct btSISolverSingleIterationData
|
||||
int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep);
|
||||
static void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep);
|
||||
int getSolverBody(btCollisionObject& body) const;
|
||||
|
||||
|
||||
|
||||
btSISolverSingleIterationData(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
|
||||
btConstraintArray& tmpSolverContactConstraintPool,
|
||||
btConstraintArray& tmpSolverNonContactConstraintPool,
|
||||
btConstraintArray& tmpSolverContactFrictionConstraintPool,
|
||||
btConstraintArray& tmpSolverContactRollingFrictionConstraintPool,
|
||||
btAlignedObjectArray<int>& orderTmpConstraintPool,
|
||||
btAlignedObjectArray<int>& orderNonContactConstraintPool,
|
||||
btAlignedObjectArray<int>& orderFrictionConstraintPool,
|
||||
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& tmpConstraintSizesPool,
|
||||
btSingleConstraintRowSolver& resolveSingleConstraintRowGeneric,
|
||||
btSingleConstraintRowSolver& resolveSingleConstraintRowLowerLimit,
|
||||
btSingleConstraintRowSolver& resolveSplitPenetrationImpulse,
|
||||
btAlignedObjectArray<int>& kinematicBodyUniqueIdToSolverBodyTable,
|
||||
unsigned long& seed,
|
||||
int& fixedBodyId,
|
||||
int& maxOverrideNumSolverIterations
|
||||
)
|
||||
btConstraintArray& tmpSolverContactConstraintPool,
|
||||
btConstraintArray& tmpSolverNonContactConstraintPool,
|
||||
btConstraintArray& tmpSolverContactFrictionConstraintPool,
|
||||
btConstraintArray& tmpSolverContactRollingFrictionConstraintPool,
|
||||
btAlignedObjectArray<int>& orderTmpConstraintPool,
|
||||
btAlignedObjectArray<int>& orderNonContactConstraintPool,
|
||||
btAlignedObjectArray<int>& orderFrictionConstraintPool,
|
||||
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& tmpConstraintSizesPool,
|
||||
btSingleConstraintRowSolver& resolveSingleConstraintRowGeneric,
|
||||
btSingleConstraintRowSolver& resolveSingleConstraintRowLowerLimit,
|
||||
btSingleConstraintRowSolver& resolveSplitPenetrationImpulse,
|
||||
btAlignedObjectArray<int>& kinematicBodyUniqueIdToSolverBodyTable,
|
||||
unsigned long& seed,
|
||||
int& fixedBodyId,
|
||||
int& maxOverrideNumSolverIterations
|
||||
)
|
||||
:m_tmpSolverBodyPool(tmpSolverBodyPool),
|
||||
m_tmpSolverContactConstraintPool(tmpSolverContactConstraintPool),
|
||||
m_tmpSolverNonContactConstraintPool(tmpSolverNonContactConstraintPool),
|
||||
@@ -126,26 +126,26 @@ protected:
|
||||
btScalar m_leastSquaresResidual;
|
||||
|
||||
void setupFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
|
||||
btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2,
|
||||
btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
|
||||
const btContactSolverInfo& infoGlobal,
|
||||
btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
|
||||
btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2,
|
||||
btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
|
||||
const btContactSolverInfo& infoGlobal,
|
||||
btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
|
||||
|
||||
void setupTorsionalFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
|
||||
btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
|
||||
btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
|
||||
btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
|
||||
btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
|
||||
btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
|
||||
btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
|
||||
|
||||
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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
|
||||
btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar torsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.f);
|
||||
|
||||
void setupContactConstraint(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
|
||||
const btContactSolverInfo& infoGlobal, btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
|
||||
const btContactSolverInfo& infoGlobal, btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
|
||||
|
||||
static void applyAnisotropicFriction(btCollisionObject * colObj, btVector3 & frictionDirection, int frictionMode);
|
||||
|
||||
void setFrictionConstraintImpulse(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB,
|
||||
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
|
||||
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
|
||||
unsigned long m_btSeed2;
|
||||
@@ -159,7 +159,7 @@ protected:
|
||||
virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
|
||||
void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
|
||||
|
||||
virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint)
|
||||
@@ -186,15 +186,15 @@ protected:
|
||||
}
|
||||
|
||||
public:
|
||||
|
||||
|
||||
void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
|
||||
|
||||
|
||||
|
||||
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
|
||||
@@ -210,22 +210,22 @@ public:
|
||||
static void convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
static void convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
|
||||
static void convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
|
||||
static void setupContactConstraintInternal(btSISolverSingleIterationData& siData, btSolverConstraint& solverConstraint,int solverBodyIdA, int solverBodyIdB,btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,btScalar& relaxation,
|
||||
static void setupContactConstraintInternal(btSISolverSingleIterationData& siData, btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation,
|
||||
const btVector3& rel_pos1, const btVector3& rel_pos2);
|
||||
static btScalar restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
|
||||
static btSolverConstraint& addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.);
|
||||
static btSolverConstraint& addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.);
|
||||
static void setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB,
|
||||
btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
|
||||
btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
|
||||
btScalar desiredVelocity, btScalar cfmSlip);
|
||||
static void setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip);
|
||||
static btSolverConstraint& addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, 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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
|
||||
static void setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool,
|
||||
|
||||
static btSolverConstraint& addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, 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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
|
||||
static void setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool,
|
||||
|
||||
btSolverConstraint& solverConstraint,
|
||||
int solverBodyIdA, int solverBodyIdB,
|
||||
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
|
||||
static void convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
|
||||
static void convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
|
||||
int& maxOverrideNumSolverIterations,
|
||||
btSolverConstraint* currentConstraintRow,
|
||||
btTypedConstraint* constraint,
|
||||
@@ -242,7 +242,7 @@ public:
|
||||
static void writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
|
||||
static void solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
|
||||
|
||||
|
||||
///clear internal cached data and reset random seed
|
||||
virtual void reset();
|
||||
|
||||
@@ -296,14 +296,6 @@ public:
|
||||
static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric();
|
||||
static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric();
|
||||
|
||||
virtual btScalar solveGroupConvertConstraintPrestep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& /*infoGlobal*/, btIDebugDraw* /*debugDrawer*/);
|
||||
virtual btScalar solveGroupConvertConstraintPoststep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/);
|
||||
virtual btScalar solveGroupConvertConstraints(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
|
||||
virtual btScalar solveGroupConvertBackPrestep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
virtual btScalar solveGroupConvertBack(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
virtual btScalar solveGroupConvertBackPoststep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
|
||||
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
|
||||
@@ -1,760 +0,0 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2018 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.
|
||||
*/
|
||||
|
||||
#include "btMultiBodyBlockConstraintSolver.h"
|
||||
|
||||
#include <string.h>
|
||||
|
||||
#include "LinearMath/btQuickprof.h"
|
||||
#include "btMultiBodyMLCPConstraintSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
|
||||
|
||||
static void rigidBodyNotSupported()
|
||||
{
|
||||
printf("Attempts to use rigid body for block solver, which is not supported yet.\n");
|
||||
btAssert(false);
|
||||
}
|
||||
|
||||
btMultiBodyConstraintBlock::btMultiBodyConstraintBlock()
|
||||
: m_constraintConfigId(-1)
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
btMultiBodyConstraintBlock::btMultiBodyConstraintBlock(
|
||||
btTypedConstraint** m_constraints,
|
||||
int m_numConstraints,
|
||||
btAlignedObjectArray<btSolverBody>* m_solverBodyPool,
|
||||
btConstraintArray& m_nonContactConstraints,
|
||||
btConstraintArray& m_normalContactConstraints,
|
||||
btConstraintArray& m_frictionContactConstraints,
|
||||
btConstraintArray& m_rollingFrictionContactConstraints,
|
||||
btMultiBodyConstraint** m_multiBodyConstraints,
|
||||
int m_numMultiBodyConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyNonContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyNormalContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyFrictionContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyTorsionalFrictionContactConstraints,
|
||||
btMultiBodyJacobianData* m_data)
|
||||
: m_constraintConfigId(-1)
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
static void copyConstraintDynamicDataToBlock(btAlignedObjectArray<btMultiBodySolverConstraint*>& originalConstraints, const btAlignedObjectArray<btMultiBodySolverConstraint>& blockConstraints)
|
||||
{
|
||||
btAssert(originalConstraints.size() == blockConstraints.size());
|
||||
for (int i = 0; i < blockConstraints.size(); ++i)
|
||||
{
|
||||
btMultiBodySolverConstraint& originalConstraint = *originalConstraints[i];
|
||||
const btMultiBodySolverConstraint& blockConstraint = blockConstraints[i];
|
||||
|
||||
blockConstraint.m_appliedImpulse = originalConstraint.m_appliedImpulse;
|
||||
blockConstraint.m_appliedPushImpulse = originalConstraint.m_appliedPushImpulse;
|
||||
}
|
||||
}
|
||||
|
||||
void debugPrint(const btScalar* data, int size)
|
||||
{
|
||||
for (int i = 0; i < size; ++i)
|
||||
{
|
||||
printf("\t%.5f", data[i]);
|
||||
if (i != size - 1)
|
||||
printf(",");
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
void debugPrintDiff(const btScalar* dataA, const btScalar* dataB, int size, bool ignoreZero = false)
|
||||
{
|
||||
for (int i = 0; i < size; ++i)
|
||||
{
|
||||
if (ignoreZero)
|
||||
{
|
||||
if (btFabs(dataA[i] - dataB[i]) < 1e-9)
|
||||
continue;
|
||||
}
|
||||
printf("\t%f", dataA[i] - dataB[i]);
|
||||
if (i != size - 1)
|
||||
printf(",");
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
|
||||
void btMultiBodyConstraintBlock::copyDynamicDataFromOriginalToBlock()
|
||||
{
|
||||
copyConstraintDynamicDataToBlock(m_originalMultiBodyNormalContactConstraintPtrs, m_internalData.m_multiBodyNormalContactConstraints);
|
||||
copyConstraintDynamicDataToBlock(m_originalMultiBodyFrictionContactConstraintPtrs, m_internalData.m_multiBodyFrictionContactConstraints);
|
||||
copyConstraintDynamicDataToBlock(m_originalMultiBodyTorsionalFrictionContactConstraintPtrs, m_internalData.m_multiBodyTorsionalFrictionContactConstraints);
|
||||
|
||||
btAssert(m_multiBodies.size() == m_originalDeltaVelIndices.size());
|
||||
btAssert(m_multiBodies.size() == m_deltaVelIndices.size());
|
||||
for (int i = 0; i < m_multiBodies.size(); ++i)
|
||||
{
|
||||
btMultiBody* multiBody = m_multiBodies[i];
|
||||
const int ndof = multiBody->getNumDofs() + 6;
|
||||
|
||||
btMultiBodyJacobianData& originalData = m_internalData.m_data; // TODO(JS): WRONG !!
|
||||
btAlignedObjectArray<btScalar>& originaDeltaVelocities = originalData.m_deltaVelocities;
|
||||
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocities = m_internalData.m_data.m_deltaVelocities;
|
||||
|
||||
const int originalIndex = m_originalDeltaVelIndices[i];
|
||||
const int blockIndex = m_deltaVelIndices[i];
|
||||
|
||||
const btScalar* originalDeltaVelocitiesPtr = &originaDeltaVelocities[originalIndex];
|
||||
btScalar* blockDeltaVelocitiesPtr = &blockDeltaVelocities[blockIndex];
|
||||
|
||||
// printf("[ original --> block ]\n");
|
||||
// printf("original: ");
|
||||
// debugPrint(originalDeltaVelocitiesPtr, ndof);
|
||||
// printf("block: ");
|
||||
// debugPrint(blockDeltaVelocitiesPtr, ndof);
|
||||
// printf("diff: ");
|
||||
// debugPrintDiff(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof, true);
|
||||
// printf("\n");
|
||||
|
||||
memcpy(blockDeltaVelocitiesPtr, originalDeltaVelocitiesPtr, ndof * sizeof(btScalar));
|
||||
}
|
||||
}
|
||||
|
||||
static void copyConstraintDynamicDataFromToOriginal(btAlignedObjectArray<btMultiBodySolverConstraint*>& originalConstraints, const btAlignedObjectArray<btMultiBodySolverConstraint>& blockConstraints)
|
||||
{
|
||||
btAssert(originalConstraints.size() == blockConstraints.size());
|
||||
for (int i = 0; i < blockConstraints.size(); ++i)
|
||||
{
|
||||
btMultiBodySolverConstraint& originalConstraint = *originalConstraints[i];
|
||||
const btMultiBodySolverConstraint& blockConstraint = blockConstraints[i];
|
||||
|
||||
originalConstraint.m_appliedImpulse = blockConstraint.m_appliedImpulse;
|
||||
originalConstraint.m_appliedPushImpulse = blockConstraint.m_appliedPushImpulse;
|
||||
}
|
||||
}
|
||||
|
||||
void btMultiBodyConstraintBlock::copyDynamicDataFromBlockToOriginal()
|
||||
{
|
||||
copyConstraintDynamicDataFromToOriginal(m_originalMultiBodyNormalContactConstraintPtrs, m_internalData.m_multiBodyNormalContactConstraints);
|
||||
copyConstraintDynamicDataFromToOriginal(m_originalMultiBodyFrictionContactConstraintPtrs, m_internalData.m_multiBodyFrictionContactConstraints);
|
||||
copyConstraintDynamicDataFromToOriginal(m_originalMultiBodyTorsionalFrictionContactConstraintPtrs, m_internalData.m_multiBodyTorsionalFrictionContactConstraints);
|
||||
|
||||
btAssert(m_multiBodies.size() == m_originalDeltaVelIndices.size());
|
||||
btAssert(m_multiBodies.size() == m_deltaVelIndices.size());
|
||||
for (int i = 0; i < m_multiBodies.size(); ++i)
|
||||
{
|
||||
btMultiBody* multiBody = m_multiBodies[i];
|
||||
const int ndof = multiBody->getNumDofs() + 6;
|
||||
|
||||
btMultiBodyJacobianData& originalData = m_internalData.m_data;
|
||||
btAlignedObjectArray<btScalar>& originaDeltaVelocities = originalData.m_deltaVelocities;
|
||||
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocities = m_internalData.m_data.m_deltaVelocities;
|
||||
|
||||
const int originalIndex = m_originalDeltaVelIndices[i];
|
||||
const int blockIndex = m_deltaVelIndices[i];
|
||||
|
||||
btScalar* originalDeltaVelocitiesPtr = &originaDeltaVelocities[originalIndex];
|
||||
const btScalar* blockDeltaVelocitiesPtr = &blockDeltaVelocities[blockIndex];
|
||||
|
||||
// printf("[ block --> original ]\n");
|
||||
// printf("original: ");
|
||||
// debugPrint(originalDeltaVelocitiesPtr, ndof);
|
||||
// printf("block: ");
|
||||
// debugPrint(blockDeltaVelocitiesPtr, ndof);
|
||||
// printf("diff: ");
|
||||
// debugPrintDiff(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof, true);
|
||||
// printf("\n");
|
||||
|
||||
memcpy(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof * sizeof(btScalar));
|
||||
}
|
||||
}
|
||||
|
||||
btSingleBlockSplittingPolicy::btSingleBlockSplittingPolicy(btMultiBodyConstraintSolver* solver)
|
||||
: m_solver(solver)
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
btSingleBlockSplittingPolicy::~btSingleBlockSplittingPolicy()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void btSingleBlockSplittingPolicy::split(btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInput, const btAlignedObjectArray<btBlockConstraintSolverConfig>& availableConfigs, btAlignedObjectArray<btMultiBodyConstraintBlock>& blocksOutput)
|
||||
{
|
||||
btMultiBodyConstraintBlock newBlock;
|
||||
// newBlock.m_originalInternalDataBlock = blockInput;
|
||||
// m_solver->setMultiBodyInternalConstraintData(newBlock.m_originalInternalDataBlock);
|
||||
newBlock.m_solver = m_solver;
|
||||
// newBlock.m_constraints = blockInput.m_constraints;
|
||||
// newBlock.m_numConstraints = blockInput.m_numConstraints;
|
||||
// newBlock.m_multiBodyConstraints = blockInput.m_multiBodyConstraints;
|
||||
// newBlock.m_numMultiBodyConstraints = blockInput.m_numMultiBodyConstraints;
|
||||
|
||||
blocksOutput.push_back(newBlock);
|
||||
}
|
||||
|
||||
btDoubleBlockSplittingPolicy::btDoubleBlockSplittingPolicy(btMultiBodyConstraintSolver* solver)
|
||||
: m_solver(solver)
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
btDoubleBlockSplittingPolicy::~btDoubleBlockSplittingPolicy()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
template <typename ArrayT>
|
||||
void splitContactConstraints(const ArrayT& input, ArrayT& output1, ArrayT& output2)
|
||||
{
|
||||
const int totalSize = input.size();
|
||||
const int halfSize = totalSize / 2;
|
||||
|
||||
output1.resize(halfSize);
|
||||
output2.resize(totalSize - halfSize);
|
||||
|
||||
for (int i = 0; i < halfSize; ++i)
|
||||
{
|
||||
output1[i] = input[i];
|
||||
}
|
||||
|
||||
for (int i = halfSize; i < totalSize; ++i)
|
||||
{
|
||||
output2[i - halfSize] = input[i];
|
||||
}
|
||||
}
|
||||
|
||||
btMultiBodyConstraintBlock initializeConstraintBlock(btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& input)
|
||||
{
|
||||
btMultiBodyConstraintBlock output;
|
||||
|
||||
// MultiBody
|
||||
|
||||
output.m_internalData.m_multiBodyConstraints = input.m_multiBodyConstraints;
|
||||
output.m_internalData.m_numMultiBodyConstraints = input.m_numMultiBodyConstraints;
|
||||
//output.m_multiBodyConstraintSet.m_data = input.m_multiBodyConstraintSet.m_data;
|
||||
|
||||
btAssert(output.m_internalData.m_multiBodyNormalContactConstraints.size() == 0);
|
||||
btAssert(output.m_internalData.m_multiBodyFrictionContactConstraints.size() == 0);
|
||||
|
||||
return output;
|
||||
}
|
||||
|
||||
static void setupBlockMultiBodyJacobianData(
|
||||
btMultiBody* multiBody,
|
||||
btAlignedObjectArray<btMultiBody*>& multiBodySet,
|
||||
btAlignedObjectArray<int>& blockDeltaVelIndices,
|
||||
int& blockDeltaVelIndex,
|
||||
int& blockJacobianIndex,
|
||||
btMultiBodyJacobianData& blockJacobianData,
|
||||
btAlignedObjectArray<int>& originalDeltaVelIndices,
|
||||
const int originalDeltaVelIndex,
|
||||
const int originalJacobianIndex,
|
||||
const btMultiBodyJacobianData& originalJacobianData)
|
||||
{
|
||||
const int ndof = multiBody->getNumDofs() + 6;
|
||||
|
||||
btAlignedObjectArray<btScalar>& blockJacobians = blockJacobianData.m_jacobians;
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocities = blockJacobianData.m_deltaVelocities;
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocitiesUnitImpulse = blockJacobianData.m_deltaVelocitiesUnitImpulse;
|
||||
|
||||
const btAlignedObjectArray<btScalar>& originalJacobians = originalJacobianData.m_jacobians;
|
||||
const btAlignedObjectArray<btScalar>& originalDeltaVelocitiesUnitImpulse = originalJacobianData.m_deltaVelocitiesUnitImpulse;
|
||||
|
||||
int indexInBlock = -1;
|
||||
for (int i = 0; i < multiBodySet.size(); ++i)
|
||||
{
|
||||
if (multiBody == multiBodySet[i])
|
||||
{
|
||||
indexInBlock = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (indexInBlock == -1)
|
||||
{
|
||||
blockDeltaVelIndex = blockDeltaVelocities.size();
|
||||
blockDeltaVelocities.resize(blockDeltaVelocities.size() + ndof);
|
||||
multiBodySet.push_back(multiBody);
|
||||
originalDeltaVelIndices.push_back(originalDeltaVelIndex);
|
||||
blockDeltaVelIndices.push_back(blockDeltaVelIndex);
|
||||
}
|
||||
else
|
||||
{
|
||||
blockDeltaVelIndex = blockDeltaVelIndices[indexInBlock];
|
||||
}
|
||||
|
||||
blockJacobianIndex = blockJacobians.size();
|
||||
blockJacobians.resize(blockJacobians.size() + ndof);
|
||||
blockDeltaVelocitiesUnitImpulse.resize(blockDeltaVelocitiesUnitImpulse.size() + ndof);
|
||||
btAssert(blockJacobians.size() == blockDeltaVelocitiesUnitImpulse.size());
|
||||
|
||||
btScalar* blockJacobiansRawPtr = &blockJacobians[blockJacobianIndex];
|
||||
const btScalar* originalJacobiansRawPtr = &originalJacobians[originalJacobianIndex];
|
||||
memcpy(blockJacobiansRawPtr, originalJacobiansRawPtr, ndof * sizeof(btScalar));
|
||||
|
||||
btScalar* blockDeltaVelUnitImp = &blockDeltaVelocitiesUnitImpulse[blockJacobianIndex];
|
||||
const btScalar* originalDeltaVelUnitImp = &originalDeltaVelocitiesUnitImpulse[originalJacobianIndex];
|
||||
memcpy(blockDeltaVelUnitImp, originalDeltaVelUnitImp, ndof * sizeof(btScalar));
|
||||
|
||||
btAssert(blockJacobians.size() >= blockDeltaVelocities.size());
|
||||
}
|
||||
|
||||
static void setupMultiBodyBlockConstraintData(
|
||||
btMultiBodyConstraintBlock& block,
|
||||
btAlignedObjectArray<btMultiBody*>& blockMultiBodySet,
|
||||
btAlignedObjectArray<int>& blockDeltaVelIndices,
|
||||
btMultiBodySolverConstraint& blockContactConstraint,
|
||||
btMultiBodyJacobianData& blockJacobianData,
|
||||
int blockFrictionIndex,
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData,
|
||||
btAlignedObjectArray<int>& originalDeltaVelIndices,
|
||||
const btMultiBodySolverConstraint& originalContactConstraint,
|
||||
const btMultiBodyJacobianData& originalJacobianData)
|
||||
{
|
||||
// Copy all the values. Some values will be updated below if necessary.
|
||||
blockContactConstraint = originalContactConstraint;
|
||||
blockContactConstraint.m_frictionIndex = blockFrictionIndex;
|
||||
|
||||
btMultiBody* multiBodyA = blockContactConstraint.m_multiBodyA;
|
||||
if (multiBodyA)
|
||||
{
|
||||
setupBlockMultiBodyJacobianData(
|
||||
multiBodyA,
|
||||
blockMultiBodySet,
|
||||
blockDeltaVelIndices,
|
||||
blockContactConstraint.m_deltaVelAindex,
|
||||
blockContactConstraint.m_jacAindex,
|
||||
blockJacobianData,
|
||||
originalDeltaVelIndices,
|
||||
originalContactConstraint.m_deltaVelAindex,
|
||||
originalContactConstraint.m_jacAindex,
|
||||
originalJacobianData);
|
||||
}
|
||||
else
|
||||
{
|
||||
rigidBodyNotSupported();
|
||||
}
|
||||
|
||||
btMultiBody* multiBodyB = blockContactConstraint.m_multiBodyB;
|
||||
if (multiBodyB)
|
||||
{
|
||||
setupBlockMultiBodyJacobianData(
|
||||
multiBodyB,
|
||||
blockMultiBodySet,
|
||||
blockDeltaVelIndices,
|
||||
blockContactConstraint.m_deltaVelBindex,
|
||||
blockContactConstraint.m_jacBindex,
|
||||
blockJacobianData,
|
||||
originalDeltaVelIndices,
|
||||
originalContactConstraint.m_deltaVelBindex,
|
||||
originalContactConstraint.m_jacBindex,
|
||||
originalJacobianData);
|
||||
}
|
||||
else
|
||||
{
|
||||
rigidBodyNotSupported();
|
||||
}
|
||||
}
|
||||
|
||||
void btDoubleBlockSplittingPolicy::split(
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData,
|
||||
const btAlignedObjectArray<btBlockConstraintSolverConfig>& availableConfigs,
|
||||
btAlignedObjectArray<btMultiBodyConstraintBlock>& subBlocks)
|
||||
{
|
||||
btMultiBodyConstraintBlock constraintBlock1 = initializeConstraintBlock(originalInternalData);
|
||||
btMultiBodyConstraintBlock constraintBlock2 = initializeConstraintBlock(originalInternalData);
|
||||
btMultiBodyConstraintBlock constraintBlock3 = initializeConstraintBlock(originalInternalData);
|
||||
|
||||
constraintBlock1.m_solver = m_solver;
|
||||
constraintBlock2.m_solver = m_solver;
|
||||
constraintBlock3.m_solver = m_solver;
|
||||
|
||||
btDantzigSolver* mlcp = new btDantzigSolver();
|
||||
btMultiBodyMLCPConstraintSolver* sol = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
// constraintBlock2.m_solver = sol;
|
||||
|
||||
const int totalMultiBodyContactConstraintSize = originalInternalData.m_multiBodyNormalContactConstraints.size();
|
||||
const int halfMultiBodyContactConstraintSize = totalMultiBodyContactConstraintSize / 2;
|
||||
|
||||
for (int i = 0; i < halfMultiBodyContactConstraintSize; ++i)
|
||||
{
|
||||
copyMultiBodyContactConstraint(constraintBlock1, originalInternalData, i);
|
||||
}
|
||||
|
||||
for (int i = halfMultiBodyContactConstraintSize; i < totalMultiBodyContactConstraintSize; ++i)
|
||||
{
|
||||
copyMultiBodyContactConstraint(constraintBlock2, originalInternalData, i);
|
||||
}
|
||||
|
||||
const int totalMultiBodyNonContactConstraintSize = originalInternalData.m_multiBodyNonContactConstraints.size();
|
||||
|
||||
for (int i = 0; i < totalMultiBodyNonContactConstraintSize; ++i)
|
||||
{
|
||||
// copyMultiBodyNonContactConstraint(constraintBlock3, originalInternalData, i);
|
||||
}
|
||||
|
||||
|
||||
// for (int i = 0; i < totalMultiBodyContactConstraintSize; ++i)
|
||||
// {
|
||||
// if (strcmp(originalInternalData.m_multiBodyNormalContactConstraints[i].m_multiBodyA->getBaseName(), "group1") == 0)
|
||||
// copyMultiBodyContactConstraint(constraintBlock1, originalInternalData, i);
|
||||
// else
|
||||
// copyMultiBodyContactConstraint(constraintBlock2, originalInternalData, i);
|
||||
// }
|
||||
|
||||
subBlocks.push_back(constraintBlock1);
|
||||
subBlocks.push_back(constraintBlock2);
|
||||
subBlocks.push_back(constraintBlock3);
|
||||
}
|
||||
|
||||
btMultiBodyBlockSplittingPolicy::~btMultiBodyBlockSplittingPolicy()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
void btMultiBodyBlockSplittingPolicy::copyMultiBodyNonContactConstraint(btMultiBodyConstraintBlock& block, btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData, int originalNonContactConstraintIndex)
|
||||
{
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& originalNonContactConstraints = originalInternalData.m_multiBodyNonContactConstraints;
|
||||
const btMultiBodyJacobianData& originalJacobianData = originalInternalData.m_data;
|
||||
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInternalData = block.m_internalData;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& blockNonContactConstraints = blockInternalData.m_multiBodyNonContactConstraints;
|
||||
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*>& blockOriginalNonContactConstraintPtrs = block.m_originalMultiBodyNonContactConstraintPtrs;
|
||||
|
||||
btMultiBodyJacobianData& blockJacobianData = block.m_internalData.m_data;
|
||||
|
||||
btAlignedObjectArray<btMultiBody*>& blockMultiBodySet = block.m_multiBodies;
|
||||
|
||||
const int blockFrictionIndex = blockNonContactConstraints.size();
|
||||
|
||||
btMultiBodySolverConstraint& originalNonContactConstraint = originalNonContactConstraints[originalNonContactConstraintIndex];
|
||||
|
||||
btMultiBodySolverConstraint& blockNonContactConstraint = blockNonContactConstraints.expandNonInitializing();
|
||||
blockOriginalNonContactConstraintPtrs.push_back(&originalNonContactConstraint);
|
||||
|
||||
setupMultiBodyBlockConstraintData(
|
||||
block,
|
||||
blockMultiBodySet,
|
||||
block.m_deltaVelIndices,
|
||||
blockNonContactConstraint,
|
||||
blockJacobianData,
|
||||
blockFrictionIndex,
|
||||
originalInternalData,
|
||||
block.m_originalDeltaVelIndices,
|
||||
originalNonContactConstraint,
|
||||
originalJacobianData);
|
||||
}
|
||||
|
||||
void btMultiBodyBlockSplittingPolicy::copyMultiBodyContactConstraint(btMultiBodyConstraintBlock& block, btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData, int originalNormalContactConstraintIndex)
|
||||
{
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& originalNormalContactConstraints = originalInternalData.m_multiBodyNormalContactConstraints;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& originalFrictionContactConstraints = originalInternalData.m_multiBodyFrictionContactConstraints;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& originalTortionalFrictionContactConstraints = originalInternalData.m_multiBodyTorsionalFrictionContactConstraints;
|
||||
const btMultiBodyJacobianData& originalJacobianData = originalInternalData.m_data;
|
||||
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInternalData = block.m_internalData;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& blockNormalContactConstraints = blockInternalData.m_multiBodyNormalContactConstraints;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& blockFrictionContactConstraints = blockInternalData.m_multiBodyFrictionContactConstraints;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& blockTortionalFrictionContactConstraints = blockInternalData.m_multiBodyTorsionalFrictionContactConstraints;
|
||||
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*>& blockOriginalNormalContactConstraintPtrs = block.m_originalMultiBodyNormalContactConstraintPtrs;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*>& blockOriginalFrictionContactConstraintPtrs = block.m_originalMultiBodyFrictionContactConstraintPtrs;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*>& blockOriginalTorsionalFrictionContactConstraintPtrs = block.m_originalMultiBodyTorsionalFrictionContactConstraintPtrs;
|
||||
|
||||
btMultiBodyJacobianData& blockJacobianData = block.m_internalData.m_data;
|
||||
|
||||
const int numFrictionPerContact = originalNormalContactConstraints.size() == originalFrictionContactConstraints.size() ? 1 : 2;
|
||||
|
||||
btAlignedObjectArray<btMultiBody*>& blockMultiBodySet = block.m_multiBodies;
|
||||
|
||||
const int blockFrictionIndex = blockNormalContactConstraints.size();
|
||||
|
||||
//-- 1. Normal contact
|
||||
|
||||
btMultiBodySolverConstraint& originalNormalContactConstraint = originalNormalContactConstraints[originalNormalContactConstraintIndex];
|
||||
|
||||
btMultiBodySolverConstraint& blockNormalContactConstraint = blockNormalContactConstraints.expandNonInitializing();
|
||||
blockOriginalNormalContactConstraintPtrs.push_back(&originalNormalContactConstraint);
|
||||
|
||||
setupMultiBodyBlockConstraintData(
|
||||
block,
|
||||
blockMultiBodySet,
|
||||
block.m_deltaVelIndices,
|
||||
blockNormalContactConstraint,
|
||||
blockJacobianData,
|
||||
blockFrictionIndex,
|
||||
originalInternalData,
|
||||
block.m_originalDeltaVelIndices,
|
||||
originalNormalContactConstraint,
|
||||
originalJacobianData);
|
||||
|
||||
//-- 2. Friction contacts
|
||||
|
||||
btAssert(originalFrictionContactConstraints.size() != 0);
|
||||
const int originalFrictionContactConstraintIndex1 = originalNormalContactConstraintIndex * numFrictionPerContact;
|
||||
btMultiBodySolverConstraint& originalFrictionContactConstraint = originalFrictionContactConstraints[originalFrictionContactConstraintIndex1];
|
||||
|
||||
blockOriginalFrictionContactConstraintPtrs.push_back(&originalFrictionContactConstraint);
|
||||
btMultiBodySolverConstraint& blockFrictionContactConstraint1 = blockFrictionContactConstraints.expandNonInitializing();
|
||||
setupMultiBodyBlockConstraintData(
|
||||
block,
|
||||
blockMultiBodySet,
|
||||
block.m_deltaVelIndices,
|
||||
blockFrictionContactConstraint1,
|
||||
blockJacobianData,
|
||||
blockFrictionIndex,
|
||||
originalInternalData,
|
||||
block.m_originalDeltaVelIndices,
|
||||
originalFrictionContactConstraint,
|
||||
originalJacobianData);
|
||||
|
||||
if (numFrictionPerContact == 2)
|
||||
{
|
||||
const int originalFrictionContactConstraintIndex2 = originalFrictionContactConstraintIndex1 + 1;
|
||||
btMultiBodySolverConstraint& originalFrictionContactConstraint = originalFrictionContactConstraints[originalFrictionContactConstraintIndex2];
|
||||
|
||||
blockOriginalFrictionContactConstraintPtrs.push_back(&originalFrictionContactConstraint);
|
||||
btMultiBodySolverConstraint& blockFrictionContactConstraint2 = blockFrictionContactConstraints.expandNonInitializing();
|
||||
setupMultiBodyBlockConstraintData(
|
||||
block,
|
||||
blockMultiBodySet,
|
||||
block.m_deltaVelIndices,
|
||||
blockFrictionContactConstraint2,
|
||||
blockJacobianData,
|
||||
blockFrictionIndex,
|
||||
originalInternalData,
|
||||
block.m_originalDeltaVelIndices,
|
||||
originalFrictionContactConstraint,
|
||||
originalJacobianData);
|
||||
}
|
||||
|
||||
// TODO(JS): Torsional friction contact constraints
|
||||
}
|
||||
|
||||
btMultiBodyBlockConstraintSolver::btMultiBodyBlockConstraintSolver()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
btMultiBodyBlockConstraintSolver::~btMultiBodyBlockConstraintSolver()
|
||||
{
|
||||
// Do nothing
|
||||
}
|
||||
|
||||
btScalar btMultiBodyBlockConstraintSolver::solveGroupConvertConstraintPoststep(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
|
||||
{
|
||||
return btMultiBodyConstraintSolver::solveGroupConvertConstraintPoststep(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
|
||||
}
|
||||
|
||||
void btMultiBodyBlockConstraintSolver::solveMultiBodyGroup(
|
||||
btCollisionObject** bodies,
|
||||
int numBodies,
|
||||
btPersistentManifold** manifold,
|
||||
int numManifolds,
|
||||
btTypedConstraint** constraints,
|
||||
int numConstraints,
|
||||
btMultiBodyConstraint** multiBodyConstraints,
|
||||
int numMultiBodyConstraints,
|
||||
const btContactSolverInfo& info,
|
||||
btIDebugDraw* debugDrawer,
|
||||
btDispatcher* /*dispatcher*/)
|
||||
{
|
||||
m_tmpMultiBodyConstraints = multiBodyConstraints;
|
||||
m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
|
||||
|
||||
// 1. Convert rigid bodies/multibodies, joints, contacts into constraints.
|
||||
solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
|
||||
// 2. Split constraints into constraint blocks
|
||||
btMultiBodyInternalConstraintData originalInternalDataCopy;
|
||||
getMultiBodyInternalConstraintData(originalInternalDataCopy);
|
||||
|
||||
btAlignedObjectArray<btBlockConstraintSolverConfig> configs;
|
||||
// TODO(JS): This is just for test
|
||||
//m_splittingPolicy = new btSingleBlockSplittingPolicy(new btMultiBodyConstraintSolver());
|
||||
|
||||
// btDantzigSolver* mlcp = new btDantzigSolver();
|
||||
// btMultiBodyMLCPConstraintSolver* sol = new btMultiBodyMLCPConstraintSolver(mlcp);
|
||||
// m_splittingPolicy = new btDoubleBlockSplittingPolicy(sol);
|
||||
|
||||
m_splittingPolicy = new btDoubleBlockSplittingPolicy(new btMultiBodyConstraintSolver());
|
||||
|
||||
btAssert(m_splittingPolicy);
|
||||
m_blocks.resize(0);
|
||||
m_splittingPolicy->split(originalInternalDataCopy, configs, m_blocks);
|
||||
|
||||
// for (int i = 0; i < m_blocks.size(); ++i)
|
||||
// {
|
||||
// btMultiBodyConstraintBlock& block = m_blocks[i];
|
||||
// btMultiBodyConstraintSolver* solver = block.m_solver;
|
||||
// btAssert(solver);
|
||||
|
||||
// solver->solveGroupConvertConstraintPrestep(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
// copyDynamicDataFromOriginalToBlock(block);
|
||||
//// block.copyDynamicDataFromOriginalToBlock();
|
||||
// solver->setMultiBodyInternalConstraintData(block.m_internalData, false);
|
||||
// solver->solveGroupConvertConstraintPoststep(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
// }
|
||||
|
||||
// 3. Gauss-Seidel iterations
|
||||
|
||||
const int maxIterations = m_maxOverrideNumSolverIterations > info.m_numIterations ? m_maxOverrideNumSolverIterations : info.m_numIterations;
|
||||
|
||||
m_leastSquaresResidual = 0;
|
||||
|
||||
for (int iteration = 0; iteration < maxIterations; ++iteration)
|
||||
{
|
||||
for (int i = 0; i < m_blocks.size(); ++i)
|
||||
{
|
||||
// Change the sweep direction every iteration
|
||||
const int index = iteration & 1 ? m_blocks.size() - 1 - i : i;
|
||||
|
||||
btMultiBodyConstraintBlock& block = m_blocks[index];
|
||||
btMultiBodyConstraintSolver* solver = block.m_solver;
|
||||
btAssert(solver);
|
||||
|
||||
solver->solveGroupConvertConstraintPrestep(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
copyDynamicDataFromOriginalToBlock(block);
|
||||
solver->setMultiBodyInternalConstraintData(block.m_internalData, false);
|
||||
solver->solveGroupConvertConstraintPoststep(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
|
||||
// TODO(JS): Add split impulse
|
||||
btScalar newSquaredResidual = solver->solveGroupCacheFriendlyIterations(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
|
||||
m_leastSquaresResidual = btMax(m_leastSquaresResidual, newSquaredResidual);
|
||||
|
||||
solver->solveGroupConvertBackPrestep(bodies, numBodies, info);
|
||||
solver->solveGroupConvertBack(bodies, numBodies, info);
|
||||
solver->getMultiBodyInternalConstraintData(block.m_internalData, false);
|
||||
copyDynamicDataFromBlockToOriginal(block);
|
||||
solver->solveGroupConvertBackPoststep(bodies, numBodies, info);
|
||||
}
|
||||
|
||||
if (m_leastSquaresResidual <= info.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
|
||||
{
|
||||
#ifdef VERBOSE_RESIDUAL_PRINTF
|
||||
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// solveGroupConvertBackPrestep(bodies, numBodies, info);
|
||||
// solveGroupConvertBack(bodies, numBodies, info);
|
||||
// getMultiBodyInternalConstraintData(block.m_internalData, false);
|
||||
// copyDynamicDataFromBlockToOriginal(block);
|
||||
// solveGroupConvertBackPoststep(bodies, numBodies, info);
|
||||
|
||||
solveGroupCacheFriendlyFinish(bodies, numBodies, info);
|
||||
|
||||
m_tmpMultiBodyConstraints = 0;
|
||||
m_tmpNumMultiBodyConstraints = 0;
|
||||
}
|
||||
|
||||
void btMultiBodyBlockConstraintSolver::setSplittingPolicy(btMultiBodyBlockSplittingPolicy* policy)
|
||||
{
|
||||
m_splittingPolicy = policy;
|
||||
}
|
||||
|
||||
void btMultiBodyBlockConstraintSolver::copyDynamicDataFromOriginalToBlock(btMultiBodyConstraintBlock& block)
|
||||
{
|
||||
copyConstraintDynamicDataToBlock(block.m_originalMultiBodyNormalContactConstraintPtrs, block.m_internalData.m_multiBodyNormalContactConstraints);
|
||||
copyConstraintDynamicDataToBlock(block.m_originalMultiBodyFrictionContactConstraintPtrs, block.m_internalData.m_multiBodyFrictionContactConstraints);
|
||||
copyConstraintDynamicDataToBlock(block.m_originalMultiBodyTorsionalFrictionContactConstraintPtrs, block.m_internalData.m_multiBodyTorsionalFrictionContactConstraints);
|
||||
|
||||
btAssert(block.m_multiBodies.size() == block.m_originalDeltaVelIndices.size());
|
||||
btAssert(block.m_multiBodies.size() == block.m_deltaVelIndices.size());
|
||||
for (int i = 0; i < block.m_multiBodies.size(); ++i)
|
||||
{
|
||||
btMultiBody* multiBody = block.m_multiBodies[i];
|
||||
const int ndof = multiBody->getNumDofs() + 6;
|
||||
|
||||
btMultiBodyJacobianData& originalData = m_data; // TODO(JS): WRONG !!
|
||||
btAlignedObjectArray<btScalar>& originaDeltaVelocities = originalData.m_deltaVelocities;
|
||||
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocities = block.m_internalData.m_data.m_deltaVelocities;
|
||||
|
||||
const int originalIndex = block.m_originalDeltaVelIndices[i];
|
||||
const int blockIndex = block.m_deltaVelIndices[i];
|
||||
|
||||
const btScalar* originalDeltaVelocitiesPtr = &originaDeltaVelocities[originalIndex];
|
||||
btScalar* blockDeltaVelocitiesPtr = &blockDeltaVelocities[blockIndex];
|
||||
|
||||
// printf("[ original --> block ]\n");
|
||||
// printf("original: ");
|
||||
// debugPrint(originalDeltaVelocitiesPtr, ndof);
|
||||
// printf("block: ");
|
||||
// debugPrint(blockDeltaVelocitiesPtr, ndof);
|
||||
// printf("diff: ");
|
||||
// debugPrintDiff(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof, true);
|
||||
// printf("\n");
|
||||
|
||||
memcpy(blockDeltaVelocitiesPtr, originalDeltaVelocitiesPtr, ndof * sizeof(btScalar));
|
||||
}
|
||||
}
|
||||
|
||||
void btMultiBodyBlockConstraintSolver::copyDynamicDataFromBlockToOriginal(btMultiBodyConstraintBlock& block)
|
||||
{
|
||||
copyConstraintDynamicDataFromToOriginal(block.m_originalMultiBodyNormalContactConstraintPtrs, block.m_internalData.m_multiBodyNormalContactConstraints);
|
||||
copyConstraintDynamicDataFromToOriginal(block.m_originalMultiBodyFrictionContactConstraintPtrs, block.m_internalData.m_multiBodyFrictionContactConstraints);
|
||||
copyConstraintDynamicDataFromToOriginal(block.m_originalMultiBodyTorsionalFrictionContactConstraintPtrs, block.m_internalData.m_multiBodyTorsionalFrictionContactConstraints);
|
||||
|
||||
btAssert(block.m_multiBodies.size() == block.m_originalDeltaVelIndices.size());
|
||||
btAssert(block.m_multiBodies.size() == block.m_deltaVelIndices.size());
|
||||
for (int i = 0; i < block.m_multiBodies.size(); ++i)
|
||||
{
|
||||
btMultiBody* multiBody = block.m_multiBodies[i];
|
||||
const int ndof = multiBody->getNumDofs() + 6;
|
||||
|
||||
btMultiBodyJacobianData& originalData = m_data;
|
||||
btAlignedObjectArray<btScalar>& originaDeltaVelocities = originalData.m_deltaVelocities;
|
||||
|
||||
btAlignedObjectArray<btScalar>& blockDeltaVelocities = block.m_internalData.m_data.m_deltaVelocities;
|
||||
|
||||
const int originalIndex = block.m_originalDeltaVelIndices[i];
|
||||
const int blockIndex = block.m_deltaVelIndices[i];
|
||||
|
||||
btScalar* originalDeltaVelocitiesPtr = &originaDeltaVelocities[originalIndex];
|
||||
const btScalar* blockDeltaVelocitiesPtr = &blockDeltaVelocities[blockIndex];
|
||||
|
||||
// printf("[ block --> original ]\n");
|
||||
// printf("original: ");
|
||||
// debugPrint(originalDeltaVelocitiesPtr, ndof);
|
||||
// printf("block: ");
|
||||
// debugPrint(blockDeltaVelocitiesPtr, ndof);
|
||||
// printf("diff: ");
|
||||
// debugPrintDiff(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof, true);
|
||||
// printf("\n");
|
||||
|
||||
memcpy(originalDeltaVelocitiesPtr, blockDeltaVelocitiesPtr, ndof * sizeof(btScalar));
|
||||
}
|
||||
}
|
||||
|
||||
int btMultiBodyBlockConstraintSolver::addConfig(btBlockConstraintSolverConfig& config)
|
||||
{
|
||||
m_configs.push_back(config);
|
||||
return m_configs.size();
|
||||
}
|
||||
|
||||
int btMultiBodyBlockConstraintSolver::getNumConfigs() const
|
||||
{
|
||||
return m_configs.size();
|
||||
}
|
||||
|
||||
void btMultiBodyBlockConstraintSolver::removeConfig(int configIndex)
|
||||
{
|
||||
m_configs.removeAtIndex(configIndex);
|
||||
}
|
||||
@@ -1,186 +0,0 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2018 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_BLOCK_CONSTRAINT_SOLVER_H
|
||||
#define BT_MULTIBODY_BLOCK_CONSTRAINT_SOLVER_H
|
||||
|
||||
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
|
||||
|
||||
struct btBlockConstraintSolverConfig
|
||||
{
|
||||
int m_solverType; //SI or MLCP Dantzig
|
||||
//to be decided: full or subset of
|
||||
|
||||
btContactSolverInfo m_info;
|
||||
};
|
||||
|
||||
struct btMultiBodyConstraintBlock
|
||||
{
|
||||
/// \{ \name Multi-body Data
|
||||
|
||||
btAlignedObjectArray<btMultiBody*> m_multiBodies;
|
||||
btAlignedObjectArray<int> m_originalDeltaVelIndices;
|
||||
btAlignedObjectArray<int> m_deltaVelIndices;
|
||||
|
||||
// btMultiBodyJacobianData* m_originalDataPtr;
|
||||
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*> m_originalMultiBodyNonContactConstraintPtrs;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*> m_originalMultiBodyNormalContactConstraintPtrs;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*> m_originalMultiBodyFrictionContactConstraintPtrs;
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint*> m_originalMultiBodyTorsionalFrictionContactConstraintPtrs;
|
||||
|
||||
/// \}
|
||||
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData m_internalData;
|
||||
|
||||
/// Constraint solver
|
||||
btMultiBodyConstraintSolver* m_solver;
|
||||
|
||||
bool m_ownSolver = false;
|
||||
// TODO(JS): If this is true, then don't copy all the constraint data, but
|
||||
// only dynamic data
|
||||
// TODO(JS): not utilized yet
|
||||
|
||||
/// Index to constraint solver configuration
|
||||
int m_constraintConfigId;
|
||||
|
||||
/// Default constructor
|
||||
btMultiBodyConstraintBlock();
|
||||
|
||||
/// Constructor
|
||||
btMultiBodyConstraintBlock(
|
||||
btTypedConstraint** m_constraints,
|
||||
int m_numConstraints,
|
||||
btAlignedObjectArray<btSolverBody>* m_solverBodyPool,
|
||||
btConstraintArray& m_originalNonContactConstraints,
|
||||
btConstraintArray& m_originalNormalContactConstraints,
|
||||
btConstraintArray& m_originalFrictionContactConstraints,
|
||||
btConstraintArray& m_orginalRollingFrictionContactConstraints,
|
||||
btMultiBodyConstraint** m_multiBodyConstraints,
|
||||
int m_numMultiBodyConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyNonContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyNormalContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyFrictionContactConstraints,
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint>& m_multiBodyTorsionalFrictionContactConstraints,
|
||||
btMultiBodyJacobianData* m_data);
|
||||
|
||||
void copyDynamicDataFromOriginalToBlock();
|
||||
void copyDynamicDataFromBlockToOriginal();
|
||||
};
|
||||
|
||||
class btMultiBodyBlockSplittingPolicy
|
||||
{
|
||||
public:
|
||||
/// Destructor
|
||||
virtual ~btMultiBodyBlockSplittingPolicy();
|
||||
|
||||
/// Splits a set of constraints into multiple subsets.
|
||||
///
|
||||
/// \param[in] blockInput
|
||||
/// \param[in] availableConfigs
|
||||
/// \param[in,out] blocksOutput The splitted blocks. This function adds blocks without clearning the array
|
||||
/// beforehand. Clearning the array is the caller's responsibility.
|
||||
virtual void split(btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInput, const btAlignedObjectArray<btBlockConstraintSolverConfig>& availableConfigs, btAlignedObjectArray<btMultiBodyConstraintBlock>& blocksOutput) = 0;
|
||||
|
||||
protected:
|
||||
void copyMultiBodyNonContactConstraint(
|
||||
btMultiBodyConstraintBlock& block,
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData,
|
||||
int originalNonContactConstraintIndex);
|
||||
|
||||
void copyMultiBodyContactConstraint(
|
||||
btMultiBodyConstraintBlock& block,
|
||||
btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& originalInternalData,
|
||||
int originalNormalContactConstraintIndex);
|
||||
};
|
||||
|
||||
class btSingleBlockSplittingPolicy : public btMultiBodyBlockSplittingPolicy
|
||||
{
|
||||
protected:
|
||||
btMultiBodyConstraintSolver* m_solver;
|
||||
|
||||
public:
|
||||
/// Constructor
|
||||
btSingleBlockSplittingPolicy(btMultiBodyConstraintSolver* solver);
|
||||
|
||||
/// Destructor
|
||||
virtual ~btSingleBlockSplittingPolicy();
|
||||
|
||||
// Documentation inherited
|
||||
virtual void split(btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInput, const btAlignedObjectArray<btBlockConstraintSolverConfig>& availableConfigs, btAlignedObjectArray<btMultiBodyConstraintBlock>& blocksOutput);
|
||||
};
|
||||
|
||||
class btDoubleBlockSplittingPolicy : public btMultiBodyBlockSplittingPolicy
|
||||
{
|
||||
protected:
|
||||
btMultiBodyConstraintSolver* m_solver;
|
||||
|
||||
public:
|
||||
/// Constructor
|
||||
btDoubleBlockSplittingPolicy(btMultiBodyConstraintSolver* solver);
|
||||
|
||||
/// Destructor
|
||||
virtual ~btDoubleBlockSplittingPolicy();
|
||||
|
||||
// Documentation inherited
|
||||
virtual void split(btMultiBodyConstraintSolver::btMultiBodyInternalConstraintData& blockInput, const btAlignedObjectArray<btBlockConstraintSolverConfig>& availableConfigs, btAlignedObjectArray<btMultiBodyConstraintBlock>& blocksOutput);
|
||||
};
|
||||
|
||||
class btMultiBodyBlockConstraintSolver : public btMultiBodyConstraintSolver
|
||||
{
|
||||
protected:
|
||||
/// Splitting policy. Assumed not a null.
|
||||
btMultiBodyBlockSplittingPolicy* m_splittingPolicy;
|
||||
|
||||
/// Array of constraint configurations for constraint blocks.
|
||||
btAlignedObjectArray<btBlockConstraintSolverConfig> m_configs;
|
||||
|
||||
/// Array of constraint blocks.
|
||||
btAlignedObjectArray<btMultiBodyConstraintBlock> m_blocks;
|
||||
|
||||
public:
|
||||
/// Constructor
|
||||
btMultiBodyBlockConstraintSolver();
|
||||
|
||||
/// Destructor
|
||||
virtual ~btMultiBodyBlockConstraintSolver();
|
||||
|
||||
virtual btScalar solveGroupConvertConstraintPoststep(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
|
||||
|
||||
protected:
|
||||
// Documentation inherited.
|
||||
virtual void solveMultiBodyGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
|
||||
|
||||
/// Sets the splitting policy.
|
||||
virtual void setSplittingPolicy(btMultiBodyBlockSplittingPolicy* policy);
|
||||
|
||||
void copyDynamicDataFromOriginalToBlock(btMultiBodyConstraintBlock& block);
|
||||
void copyDynamicDataFromBlockToOriginal(btMultiBodyConstraintBlock& block);
|
||||
|
||||
/// Adds a constraint block configuration and returns the total number of configurations added to this solver.
|
||||
virtual int addConfig(btBlockConstraintSolverConfig& config);
|
||||
|
||||
/// Returns the number of configurations added to this solver.
|
||||
virtual int getNumConfigs() const;
|
||||
|
||||
/// Removes an configuration at \c configIndex
|
||||
///
|
||||
/// \param[in] configIndex The configuration indext in the range of [0, numConfigs). Passing out of the range is an
|
||||
/// undefined behavior.
|
||||
virtual void removeConfig(int configIndex);
|
||||
};
|
||||
|
||||
#endif // BT_MULTIBODY_BLOCK_CONSTRAINT_SOLVER_H
|
||||
File diff suppressed because it is too large
Load Diff
@@ -28,111 +28,68 @@ class btMultiBody;
|
||||
ATTRIBUTE_ALIGNED16(class)
|
||||
btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
|
||||
{
|
||||
|
||||
protected:
|
||||
btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
|
||||
|
||||
btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
|
||||
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
|
||||
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
|
||||
btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints;
|
||||
|
||||
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
|
||||
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
|
||||
btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints;
|
||||
btMultiBodyJacobianData m_data;
|
||||
|
||||
btMultiBodyJacobianData m_data;
|
||||
|
||||
//temp storage for multi body constraints for a specific island/group called by 'solveGroup'
|
||||
btMultiBodyConstraint** m_tmpMultiBodyConstraints;
|
||||
int m_tmpNumMultiBodyConstraints;
|
||||
btMultiBodyConstraint** m_tmpMultiBodyConstraints;
|
||||
int m_tmpNumMultiBodyConstraints;
|
||||
|
||||
btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
|
||||
|
||||
|
||||
//solve 2 friction directions and clamp against the implicit friction cone
|
||||
btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB);
|
||||
|
||||
|
||||
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
|
||||
void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,
|
||||
btScalar combinedTorsionalFriction,
|
||||
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
|
||||
btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
|
||||
|
||||
void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint& constraintRow,
|
||||
btScalar* jacA,btScalar* jacB,
|
||||
btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
|
||||
const btContactSolverInfo& infoGlobal);
|
||||
btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
|
||||
btScalar combinedTorsionalFriction,
|
||||
btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
|
||||
|
||||
void setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
|
||||
const btVector3& contactNormal,
|
||||
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
|
||||
btScalar& relaxation,
|
||||
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
|
||||
|
||||
//either rolling or spinning friction
|
||||
void setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint,
|
||||
const btVector3& contactNormal,
|
||||
btManifoldPoint& cp,
|
||||
btScalar combinedTorsionalFriction,
|
||||
const btContactSolverInfo& infoGlobal,
|
||||
btScalar& relaxation,
|
||||
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
|
||||
void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint & constraintRow,
|
||||
btScalar * jacA, btScalar * jacB,
|
||||
btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
|
||||
const btContactSolverInfo& infoGlobal);
|
||||
|
||||
void convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
|
||||
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint,
|
||||
const btVector3& contactNormal,
|
||||
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
|
||||
btScalar& relaxation,
|
||||
bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
|
||||
|
||||
//either rolling or spinning friction
|
||||
void setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint & solverConstraint,
|
||||
const btVector3& contactNormal,
|
||||
btManifoldPoint& cp,
|
||||
btScalar combinedTorsionalFriction,
|
||||
const btContactSolverInfo& infoGlobal,
|
||||
btScalar& relaxation,
|
||||
bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
|
||||
|
||||
void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
|
||||
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
|
||||
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
|
||||
void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof);
|
||||
void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime);
|
||||
|
||||
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
void applyDeltaVee(btScalar* deltaV, btScalar impulse, int velocityIndex, int ndof);
|
||||
void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& constraint, btScalar deltaTime);
|
||||
public:
|
||||
|
||||
struct btMultiBodyInternalConstraintData
|
||||
{
|
||||
/// Multibody (joint) constraints. This is shared by all the blocks.
|
||||
btMultiBodyConstraint** m_multiBodyConstraints;
|
||||
|
||||
/// Number of multibody (joint) constraints. This is shared by all the
|
||||
/// blocks.
|
||||
int m_numMultiBodyConstraints;
|
||||
|
||||
/// Array of multibody non-contact constraints
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint> m_multiBodyNonContactConstraints;
|
||||
|
||||
/// Array of multibody normal contact constraints
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint> m_multiBodyNormalContactConstraints;
|
||||
|
||||
/// Array of multibody friction contact constraints
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint> m_multiBodyFrictionContactConstraints;
|
||||
|
||||
/// Array of multibody rolling friction contact constraints
|
||||
btAlignedObjectArray<btMultiBodySolverConstraint> m_multiBodyTorsionalFrictionContactConstraints;
|
||||
|
||||
/// Pointer to the block constraint solver's multi body Jacobian data, which
|
||||
/// is shared by all the constraint blocks.
|
||||
btMultiBodyJacobianData m_data;
|
||||
};
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
/// Copies internal constraint data from \p proxy
|
||||
virtual void setMultiBodyInternalConstraintData(const btMultiBodyInternalConstraintData& proxy, bool onlyDynamicData = false);
|
||||
|
||||
/// Copies internal constraint data to \p proxy
|
||||
virtual void getMultiBodyInternalConstraintData(btMultiBodyInternalConstraintData& data, bool onlyDynamicData = false);
|
||||
|
||||
///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
|
||||
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
|
||||
virtual btScalar solveGroupConvertConstraintPrestep(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
virtual btScalar solveGroupConvertConstraintPoststep(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
virtual btScalar solveSingleIterationNew(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
|
||||
|
||||
virtual void solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
|
||||
virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
|
||||
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H
|
||||
|
||||
#endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H
|
||||
|
||||
Reference in New Issue
Block a user