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

+ make compound versus soft body work (soft body uses interpolated transform)

Browse Source 
+ fixed issue with persistent manifold, warmstarting values were not initialized properly
+ don't clear manifold in sphere-sphere collision (need warmstarting)
+ added support for 'split impulse', decouple positional error correction from velocity correction
This avoids adding momentum due to penetration correction, it can be tuned using following variables:
solverInfo.m_splitImpulse = true/false (disable/enable)
solverInfo.m_splitImpulsePenetrationThreshold (below this value, baumgarte/mixed velocity/penetration is used (cheaper, looks more plausible)
solverInfo.m_linearSlop (less jitter, when small amound of penetration is allowed)
This commit is contained in:
erwin.coumans
2008-05-23 09:05:37 +00:00
parent ea86559480
commit 561066af75
13 changed files with 1611 additions and 1394 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
src/BulletDynamics/ConstraintSolver/btSolverBody.h
View File

@@ -21,6 +21,7 @@ class btRigidBody;
#include "LinearMath/btMatrix3x3.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btTransformUtil.h"
///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
@@ -36,6 +37,10 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
btVector3 m_linearVelocity;
btVector3 m_centerOfMassPosition;
btVector3 m_pushVelocity;
btVector3 m_turnVelocity;
SIMD_FORCE_INLINE void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
{
velocity = m_linearVelocity + m_angularVelocity.cross(rel_pos);
@@ -44,9 +49,22 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
{
m_linearVelocity += linearComponent*impulseMagnitude;
m_angularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
if (m_invMass)
{
m_linearVelocity += linearComponent*impulseMagnitude;
m_angularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
}
}
SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
{
if (m_invMass)
{
m_pushVelocity += linearComponent*impulseMagnitude;
m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
}
}
void writebackVelocity()
{
@@ -54,6 +72,24 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
{
m_originalBody->setLinearVelocity(m_linearVelocity);
m_originalBody->setAngularVelocity(m_angularVelocity);
//m_originalBody->setCompanionId(-1);
}
}
void writebackVelocity(btScalar timeStep)
{
if (m_invMass)
{
m_originalBody->setLinearVelocity(m_linearVelocity);
m_originalBody->setAngularVelocity(m_angularVelocity);
//correct the position/orientation based on push/turn recovery
btTransform newTransform;
btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
m_originalBody->setWorldTransform(newTransform);
//m_originalBody->setCompanionId(-1);
}
}
@@ -74,3 +110,4 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
#endif //BT_SOLVER_BODY_H