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- stop threads when exiting demo that uses multi threading

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- improved friction model for parallel solver (align the friction direction with projected velocity, unless the projection is close to zero (only then use 2 arbitrary axis orthogonal to contact normal)
This commit is contained in:
ejcoumans
2007-11-11 22:48:08 +00:00
parent 232f41353f
commit 56c69bc42e
6 changed files with 76 additions and 19 deletions
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20
Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
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@@ -1026,6 +1026,9 @@ void processSolverTask(void* userPtr, void* lsMemory)
btVector3 rel_pos1 = pos1 - rb0->getCenterOfMassPosition();
btVector3 rel_pos2 = pos2 - rb1->getCenterOfMassPosition();
btScalar rel_vel;
btVector3 vel;
// De-penetration
{
SpuSolverInternalConstraint& constraint = localMemory->m_tempInternalConstr[0];
@@ -1034,7 +1037,6 @@ void processSolverTask(void* userPtr, void* lsMemory)
constraint.m_localOffsetBodyB = offsB;
constraint.m_normal = cp.m_normalWorldOnB;
{
//can be optimized, the cross products are already calculated
constraint.m_jacDiagABInv = computeJacobianInverse (rb0, rb1, pos1, pos2, cp.m_normalWorldOnB);
@@ -1046,11 +1048,9 @@ void processSolverTask(void* userPtr, void* lsMemory)
btVector3 vel1 = rb0->getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = rb1->getVelocityInLocalPoint(rel_pos2);
btVector3 vel = vel1 - vel2;
btScalar rel_vel;
vel = vel1 - vel2;
rel_vel = cp.m_normalWorldOnB.dot(vel);
constraint.m_penetration = cp.getDistance();///btScalar(infoGlobal.m_numIterations);
constraint.m_friction = cp.m_combinedFriction;
float rest = - rel_vel * cp.m_combinedRestitution;
@@ -1082,8 +1082,16 @@ void processSolverTask(void* userPtr, void* lsMemory)
btVector3 frictionTangential0a, frictionTangential1b;
btPlaneSpace1(cp.m_normalWorldOnB,frictionTangential0a,frictionTangential1b);
frictionTangential0a = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = frictionTangential0a.length2();
if (lat_rel_vel > SIMD_EPSILON)//0.0f)
{
frictionTangential0a /= btSqrt(lat_rel_vel);
frictionTangential1b = frictionTangential0a.cross(cp.m_normalWorldOnB);
} else
{
btPlaneSpace1(cp.m_normalWorldOnB,frictionTangential0a,frictionTangential1b);
}
{
SpuSolverInternalConstraint& constraint = localMemory->m_tempInternalConstr[1];