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Expose various advanced friction options to the developer, and use a higher-quality friction model by default, to match ODE quickstep constraint solver.

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Thanks to Martijn Reuvers for bringing this up, and reproduction case.
See issue here: http://code.google.com/p/bullet/issues/detail?id=177
This commit is contained in:
erwin.coumans
2009-01-20 01:21:48 +00:00
parent 987b5cbfb1
commit 57fb21879b
2 changed files with 149 additions and 135 deletions
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9
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
View File

@@ -22,9 +22,12 @@ enum btSolverMode
SOLVER_FRICTION_SEPARATE = 2, SOLVER_FRICTION_SEPARATE = 2,
SOLVER_USE_WARMSTARTING = 4, SOLVER_USE_WARMSTARTING = 4,
SOLVER_USE_FRICTION_WARMSTARTING = 8, SOLVER_USE_FRICTION_WARMSTARTING = 8,
SOLVER_CACHE_FRIENDLY = 16, SOLVER_USE_1_FRICTION_DIRECTION = 16,
SOLVER_SIMD = 32,//enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
SOLVER_CUDA = 64 //will be open sourced during Game Developers Conference 2009. Much faster. SOLVER_ENABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
SOLVER_CACHE_FRIENDLY = 128,
SOLVER_SIMD = 256, //enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version
SOLVER_CUDA = 512 //will be open sourced during Game Developers Conference 2009. Much faster.
}; };
struct btContactSolverInfoData struct btContactSolverInfoData

31
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -269,7 +269,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c
solverConstraint.m_originalContactPoint = 0; solverConstraint.m_originalContactPoint = 0;
solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedImpulse = 0.f;
// solverConstraint.m_appliedPushImpulse = 0.f; // solverConstraint.m_appliedPushImpulse = 0.f;
solverConstraint.m_penetration = 0.f; solverConstraint.m_penetration = 0.f;
{ {
btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal); btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
@@ -374,7 +374,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
if (!(numConstraints + numManifolds)) if (!(numConstraints + numManifolds))
{ {
// printf("empty\n"); // printf("empty\n");
return 0.f; return 0.f;
} }
@@ -660,7 +660,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedImpulse = 0.f;
} }
// solverConstraint.m_appliedPushImpulse = 0.f; // solverConstraint.m_appliedPushImpulse = 0.f;
{ {
btScalar rel_vel; btScalar rel_vel;
@@ -699,37 +699,37 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
if (1) if (1)
{ {
solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size(); solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
if (!cp.m_lateralFrictionInitialized) if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
{ {
cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2(); btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
if (lat_rel_vel > SIMD_EPSILON)//0.0f) if ((infoGlobal.m_solverMode & SOLVER_ENABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
{ {
cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel); cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if(infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING) if(!(infoGlobal.m_solverMode & SOLVER_USE_1_FRICTION_DIRECTION))
{ {
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB); cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
cp.m_lateralFrictionDir2.normalize();//?? cp.m_lateralFrictionDir2.normalize();//??
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
cp.m_lateralFrictionInitialized = true;
} }
cp.m_lateralFrictionInitialized = true;
} else } else
{ {
//re-calculate friction direction every frame, todo: check if this is really needed //re-calculate friction direction every frame, todo: check if this is really needed
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING) if (!(infoGlobal.m_solverMode & SOLVER_USE_1_FRICTION_DIRECTION))
{ {
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
cp.m_lateralFrictionInitialized = true;
} }
cp.m_lateralFrictionInitialized = true;
} }
} else } else
{ {
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING) if (!(infoGlobal.m_solverMode & SOLVER_USE_1_FRICTION_DIRECTION))
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
} }
@@ -749,6 +749,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
frictionConstraint1.m_appliedImpulse = 0.f; frictionConstraint1.m_appliedImpulse = 0.f;
} }
} }
if (!(infoGlobal.m_solverMode & SOLVER_USE_1_FRICTION_DIRECTION))
{ {
btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1]; btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
@@ -763,6 +765,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
frictionConstraint2.m_appliedImpulse = 0.f; frictionConstraint2.m_appliedImpulse = 0.f;
} }
} }
} else
{
btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
frictionConstraint1.m_appliedImpulse = 0.f;
if (!(infoGlobal.m_solverMode & SOLVER_USE_1_FRICTION_DIRECTION))
{
btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
frictionConstraint2.m_appliedImpulse = 0.f;
}
} }
} }
} }