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remove world dependency from btDeformableBodySolver,btDeformableBackwardEulerObjective, and btCGProjection; reduce invasion into multibody world, all chnages are cosmetic now

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This commit is contained in:
Xuchen Han
2019-08-21 22:17:46 -07:00
parent f33532273a
commit 4e1c1a30a7
16 changed files with 98 additions and 80 deletions
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48
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -428,27 +428,41 @@ void btMultiBodyDynamicsWorld::forwardKinematics()
void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
solveExternalForces(solverInfo);
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
buildIslands();
solveInternalConstraints(solverInfo);
}
void btMultiBodyDynamicsWorld::buildIslands()
{
m_islandManager->buildIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld());
}
void btMultiBodyDynamicsWorld::processIslands()
{
m_islandManager->processIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
}
void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo)
{
/// solve all the constraints for this island
m_solverMultiBodyIslandCallback->processConstraints();
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
calculateJointForce(solverInfo);
processDeltaVee();
}
void btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld::processConstraintsAndDeltaVee()
{
m_solverMultiBodyIslandCallback->processConstraints();
processDeltaVee();
}
void btMultiBodyDynamicsWorld::processDeltaVee()
{
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bod->processDeltaVeeMultiDof2();
}
}
void btMultiBodyDynamicsWorld::calculateJointForce(btContactSolverInfo& solverInfo)
{
{
BT_PROFILE("btMultiBody stepVelocities");
for (int i = 0; i < this->m_multiBodies.size(); i++)
@@ -489,13 +503,7 @@ void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& sol
}
}
}
}
for (int i = 0; i < this->m_multiBodies.size(); i++)
{
btMultiBody* bod = m_multiBodies[i];
bod->processDeltaVeeMultiDof2();
}
}
}
void btMultiBodyDynamicsWorld::solveExternalForces(btContactSolverInfo& solverInfo)
@@ -1087,8 +1095,8 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
}
}
}
void btMultiBodyDynamicsWorld::setSplitIslands(bool split)
{
m_islandManager->setSplitIslands(split);
}
//
//void btMultiBodyDynamicsWorld::setSplitIslands(bool split)
//{
// m_islandManager->setSplitIslands(split);
//}

7
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -57,6 +57,7 @@ public:
virtual ~btMultiBodyDynamicsWorld();
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void addMultiBody(btMultiBody* body, int group = btBroadphaseProxy::DefaultFilter, int mask = btBroadphaseProxy::AllFilter);
virtual void removeMultiBody(btMultiBody* body);
@@ -118,8 +119,8 @@ public:
virtual void solveExternalForces(btContactSolverInfo& solverInfo);
virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
void buildIslands();
void processIslands();
void setSplitIslands(bool split);
void calculateJointForce(btContactSolverInfo& solverInfo);
void processDeltaVee();
void processConstraintsAndDeltaVee();
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H