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Fixes in raycast (against sphere), point 2 point constraint

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Picking test works, holding shift in App_BasicGpuDemo_*
This commit is contained in:
erwin coumans
2013-06-18 19:33:45 -07:00
parent a81d847c24
commit 481d54967f
8 changed files with 106 additions and 27 deletions
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2
src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
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@@ -1289,6 +1289,8 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies,
}
{
//it is ok to use solverConstraint.m_contactNormal instead of -solverConstraint.m_contactNormal
//because it gets multiplied iMJlB
b3Vector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass();
b3Vector3 iMJaA = invInertiaWorldA*solverConstraint.m_relpos1CrossNormal;
b3Vector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal?

2
src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
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@@ -77,7 +77,7 @@ void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBo
b3Transform trA;
trA.setIdentity();
trA.setOrigin(bodies[m_rbA].m_pos);
trA.setRotation(bodies[m_rbB].m_quat);
trA.setRotation(bodies[m_rbA].m_quat);
b3Transform trB;
trB.setIdentity();

2
src/Bullet3Dynamics/ConstraintSolver/b3SolverBody.h
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@@ -247,7 +247,7 @@ B3_ATTRIBUTE_ALIGNED64 (struct) b3SolverBody
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
B3_FORCE_INLINE void internalApplyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent,const b3Scalar impulseMagnitude)
{
if (m_originalBody)
//if (m_originalBody)
{
m_deltaLinearVelocity += linearComponent*impulseMagnitude*m_linearFactor;
m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);

31
src/Bullet3OpenCL/Raycast/b3GpuRaycast.cpp
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@@ -87,7 +87,7 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
b3Vector3 rayTo = rays[r].m_to;
float hitFraction = hitResults[r].m_hitFraction;
int sphereHit = -1;
int hitBodyIndex= -1;
for (int b=0;b<numBodies;b++)
{
@@ -95,20 +95,35 @@ void b3GpuRaycast::castRaysHost(const b3AlignedObjectArray<b3RayInfo>& rays, b3A
const b3Vector3& pos = bodies[b].m_pos;
const b3Quaternion& orn = bodies[b].m_quat;
b3Scalar radius = 1;
if (sphere_intersect(pos, radius, rayFrom, rayTo,hitFraction))
switch (collidables[bodies[b].m_collidableIdx].m_shapeType)
{
sphereHit = b;
case SHAPE_SPHERE:
{
b3Scalar radius = collidables[bodies[b].m_collidableIdx].m_radius;
if (sphere_intersect(pos, radius, rayFrom, rayTo,hitFraction))
{
hitBodyIndex = b;
}
}
default:
{
static bool once=true;
if (once)
{
once=false;
b3Warning("Raytest: unsupported shape type\n");
}
}
}
}
if (sphereHit>=0)
if (hitBodyIndex>=0)
{
hitResults[r].m_hitFraction = hitFraction;
hitResults[r].m_hitPoint.setInterpolate3(rays[r].m_from, rays[r].m_to,hitFraction);
hitResults[r].m_hitNormal = (hitResults[r].m_hitPoint-bodies[sphereHit].m_pos).normalize();
hitResults[r].m_hitResult0 = sphereHit;
hitResults[r].m_hitNormal = (hitResults[r].m_hitPoint-bodies[hitBodyIndex].m_pos).normalize();
hitResults[r].m_hitResult0 = hitBodyIndex;
}
}

4
src/Bullet3OpenCL/RigidBody/b3Solver.cpp
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@@ -791,7 +791,7 @@ void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf
int nContacts, const ConstraintCfg& cfg )
{
b3OpenCLArray<b3GpuConstraint4>* constraintNative =0;
contactCOut->resize(nContacts);
struct CB
{
int m_nContacts;
@@ -825,7 +825,7 @@ void b3Solver::convertToConstraints( const b3OpenCLArray<b3RigidBodyCL>* bodyBuf
}
contactCOut->resize(nContacts);
}
/*