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

Synchronized changes of Bullet, from Blender.

Browse Source 
Added optional flag btSoftBody::appendAnchor(	int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false), to disable collision between soft body and rigid body, when pinned
Added btCollisionObject::setAnisotropicFriction, to scale friction in x,y,z direction.
Added btCollisionObject::setContactProcessingThreshold(float threshold), to avoid collision resolution of contact above a certain distance.
Avoid collisions between static objects (causes the CharacterDemo to assert, when a dynamic object hits character)
This commit is contained in:
erwin.coumans
2009-03-03 06:47:52 +00:00
parent 5be9f8f301
commit 459c22e7cb
11 changed files with 336 additions and 245 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
View File

@@ -83,6 +83,8 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
//btScalar contactBreakingThreshold = btMin(gContactBreakingThreshold,btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold()));
btScalar contactBreakingThreshold = btMin(body0->getCollisionShape()->getContactBreakingThreshold(),body1->getCollisionShape()->getContactBreakingThreshold());
btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold());
void* mem = 0;
if (m_persistentManifoldPoolAllocator->getFreeCount())
@@ -93,7 +95,7 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(void* b0,void* b1)
mem = btAlignedAlloc(sizeof(btPersistentManifold),16);
}
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold);
btPersistentManifold* manifold = new(mem) btPersistentManifold (body0,body1,0,contactBreakingThreshold,contactProcessingThreshold);
manifold->m_index1a = m_manifoldsPtr.size();
m_manifoldsPtr.push_back(manifold);

5
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View File

@@ -17,7 +17,10 @@ subject to the following restrictions:
#include "btCollisionObject.h"
btCollisionObject::btCollisionObject()
: m_broadphaseHandle(0),
: m_anisotropicFriction(1.f,1.f,1.f),
m_hasAnisotropicFriction(false),
m_contactProcessingThreshold(1e30f),
m_broadphaseHandle(0),
m_collisionShape(0),
m_rootCollisionShape(0),
m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),

29
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -52,6 +52,11 @@ protected:
//without destroying the continuous interpolated motion (which uses this interpolation velocities)
btVector3 m_interpolationLinearVelocity;
btVector3 m_interpolationAngularVelocity;
btVector3 m_anisotropicFriction;
bool m_hasAnisotropicFriction;
btScalar m_contactProcessingThreshold;
btBroadphaseProxy* m_broadphaseHandle;
btCollisionShape* m_collisionShape;
@@ -127,6 +132,30 @@ public:
return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
}
const btVector3& getAnisotropicFriction() const
{
return m_anisotropicFriction;
}
void setAnisotropicFriction(const btVector3& anisotropicFriction)
{
m_anisotropicFriction = anisotropicFriction;
m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
}
bool hasAnisotropicFriction() const
{
return m_hasAnisotropicFriction;
}
///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
void setContactProcessingThreshold( btScalar contactProcessingThreshold)
{
m_contactProcessingThreshold = contactProcessingThreshold;
}
btScalar getContactProcessingThreshold() const
{
return m_contactProcessingThreshold;
}
SIMD_FORCE_INLINE bool isStaticObject() const {
return (m_collisionFlags & CF_STATIC_OBJECT) != 0;

6
src/BulletCollision/CollisionShapes/btSphereShape.h
View File

@@ -47,6 +47,12 @@ public:
btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
void setUnscaledRadius(btScalar radius)
{
m_implicitShapeDimensions.setX(radius);
btConvexInternalShape::setMargin(radius);
}
//debugging
virtual const char* getName()const {return "SPHERE";}

11
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
View File

@@ -55,6 +55,7 @@ ATTRIBUTE_ALIGNED16( class) btPersistentManifold
int m_cachedPoints;
btScalar m_contactBreakingThreshold;
btScalar m_contactProcessingThreshold;
/// sort cached points so most isolated points come first
@@ -70,9 +71,10 @@ public:
btPersistentManifold();
btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold)
btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
: m_body0(body0),m_body1(body1),m_cachedPoints(0),
m_contactBreakingThreshold(contactBreakingThreshold)
m_contactBreakingThreshold(contactBreakingThreshold),
m_contactProcessingThreshold(contactProcessingThreshold)
{
}
@@ -112,6 +114,11 @@ public:
///@todo: get this margin from the current physics / collision environment
btScalar getContactBreakingThreshold() const;
btScalar getContactProcessingThreshold() const
{
return m_contactProcessingThreshold;
}
int getCacheEntry(const btManifoldPoint& newPoint) const;
int addManifoldPoint( const btManifoldPoint& newPoint);

32
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -246,6 +246,21 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel,
void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection);
void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection)
{
if (colObj && colObj->hasAnisotropicFriction())
{
// transform to local coordinates
btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis();
const btVector3& friction_scaling = colObj->getAnisotropicFriction();
//apply anisotropic friction
loc_lateral *= friction_scaling;
// ... and transform it back to global coordinates
frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral;
}
}
btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation)
@@ -379,6 +394,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
solverBodyIdB = getOrInitSolverBody(*colObj1);
}
///avoid collision response between two static objects
if (!solverBodyIdA && !solverBodyIdB)
return;
btVector3 rel_pos1;
btVector3 rel_pos2;
btScalar relaxation;
@@ -388,9 +407,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
btManifoldPoint& cp = manifold->getContactPoint(j);
///this is a bad test and results in jitter -> always solve for those zero-distanc contacts!
///-> if (cp.getDistance() <= btScalar(0.))
//if (cp.getDistance() <= manifold->getContactBreakingThreshold())
if (cp.getDistance() <= manifold->getContactProcessingThreshold())
{
const btVector3& pos1 = cp.getPositionWorldOnA();
@@ -526,11 +543,15 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
{
cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
cp.m_lateralFrictionDir2.normalize();//??
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
cp.m_lateralFrictionInitialized = true;
@@ -538,9 +559,14 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
{
//re-calculate friction direction every frame, todo: check if this is really needed
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
cp.m_lateralFrictionInitialized = true;

5
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -24,10 +24,7 @@ class btIDebugDraw;
///The btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
///The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
///Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
///Applies impulses for combined restitution and penetration recovery and to simulate friction
///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:

17
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -87,7 +87,7 @@ btSoftBody::btSoftBody(btSoftBodyWorldInfo* worldInfo,int node_count, const btV
}
updateBounds();
m_initialWorldTransform.setIdentity();
}
//
@@ -306,8 +306,16 @@ void btSoftBody::appendFace(int node0,int node1,int node2,Material* mat)
}
//
void btSoftBody::appendAnchor(int node,btRigidBody* body)
void btSoftBody::appendAnchor(int node,btRigidBody* body, bool disableCollisionBetweenLinkedBodies)
{
if (disableCollisionBetweenLinkedBodies)
{
if (m_collisionDisabledObjects.findLinearSearch(body)==m_collisionDisabledObjects.size())
{
m_collisionDisabledObjects.push_back(body);
}
}
Anchor a;
a.m_node = &m_nodes[node];
a.m_body = body;
@@ -501,6 +509,7 @@ void btSoftBody::transform(const btTransform& trs)
updateNormals();
updateBounds();
updateConstants();
m_initialWorldTransform = trs;
}
//
@@ -2661,6 +2670,9 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
}
break;
case fCollision::VF_SS:
{
//only self-collision for Cluster, not Vertex-Face yet
if (this!=psb)
{
btSoftColliders::CollideVF_SS docollide;
/* common */
@@ -2679,6 +2691,7 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
docollide.psb[1]->m_fdbvt.m_root,
docollide);
}
}
break;
}
}

7
src/BulletSoftBody/btSoftBody.h
View File

@@ -49,6 +49,8 @@ struct btSoftBodyWorldInfo
class btSoftBody : public btCollisionObject
{
public:
btAlignedObjectArray<class btCollisionObject*> m_collisionDisabledObjects;
//
// Enumerations
//
@@ -604,8 +606,11 @@ public:
btDbvt m_fdbvt; // Faces tree
btDbvt m_cdbvt; // Clusters tree
tClusterArray m_clusters; // Clusters
btAlignedObjectArray<bool>m_clusterConnectivity;//cluster connectivity, for self-collision
btTransform m_initialWorldTransform;
//
// Api
//
@@ -678,7 +683,7 @@ public:
Material* mat=0);
/* Append anchor */
void appendAnchor( int node,
btRigidBody* body);
btRigidBody* body, bool disableCollisionBetweenLinkedBodies=false);
/* Append linear joint */
void appendLinearJoint(const LJoint::Specs& specs,Cluster* body0,Body body1);
void appendLinearJoint(const LJoint::Specs& specs,Body body=Body());

3
src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp
View File

@@ -59,7 +59,10 @@ void btSoftRigidCollisionAlgorithm::processCollision (btCollisionObject* body0,b
btSoftBody* softBody = m_isSwapped? (btSoftBody*)body1 : (btSoftBody*)body0;
btCollisionObject* rigidCollisionObject = m_isSwapped? body0 : body1;
if (softBody->m_collisionDisabledObjects.findLinearSearch(rigidCollisionObject)==softBody->m_collisionDisabledObjects.size())
{
softBody->defaultCollisionHandler(rigidCollisionObject);
}
}