Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

remove src/BulletDynamics/Featherstone/btMultiBodyBlockConstraintSolver.cpp and examples/ConstraintSolvers/* code

Browse Source 
revert changes to btMultiBodyConstraintSolver/btSequentialImpulseConstraintSolver related to btMultiBodyBlockConstraintSolver
This commit is contained in:
erwincoumans
2019-02-27 17:10:17 -08:00
parent 48d84e7899
commit 36a9dcf368
21 changed files with 1006 additions and 3224 deletions
Download Patch File Download Diff File Expand all files Collapse all files

84
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -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