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bump up to Bullet version 2.89 and update serialization structures

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This commit is contained in:
Erwin Coumans
2019-10-30 10:32:14 -07:00
parent 938ac51da7
commit 5a9b862ef5
19 changed files with 2926 additions and 2777 deletions
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101
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
View File

@@ -19,11 +19,10 @@
// Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
#ifndef __BULLET_H__
#define __BULLET_H__
namespace Bullet
{
namespace Bullet {
// put an empty struct in the case
typedef struct bInvalidHandle
{
typedef struct bInvalidHandle {
int unused;
}bInvalidHandle;
@@ -124,6 +123,7 @@ public:
void *m_data;
};
// -------------------------------------------------- //
class btPhysicsSystem
{
@@ -133,6 +133,7 @@ public:
PointerArray m_constraints;
};
// -------------------------------------------------- //
class ListBase
{
@@ -141,6 +142,7 @@ public:
void *last;
};
// -------------------------------------------------- //
class btVector3FloatData
{
@@ -148,6 +150,7 @@ public:
float m_floats[4];
};
// -------------------------------------------------- //
class btVector3DoubleData
{
@@ -155,6 +158,7 @@ public:
double m_floats[4];
};
// -------------------------------------------------- //
class btQuaternionFloatData
{
@@ -162,6 +166,7 @@ public:
float m_floats[4];
};
// -------------------------------------------------- //
class btQuaternionDoubleData
{
@@ -169,6 +174,7 @@ public:
double m_floats[4];
};
// -------------------------------------------------- //
class btMatrix3x3FloatData
{
@@ -176,6 +182,7 @@ public:
btVector3FloatData m_el[3];
};
// -------------------------------------------------- //
class btMatrix3x3DoubleData
{
@@ -183,6 +190,7 @@ public:
btVector3DoubleData m_el[3];
};
// -------------------------------------------------- //
class btTransformFloatData
{
@@ -191,6 +199,7 @@ public:
btVector3FloatData m_origin;
};
// -------------------------------------------------- //
class btTransformDoubleData
{
@@ -199,6 +208,7 @@ public:
btVector3DoubleData m_origin;
};
// -------------------------------------------------- //
class btBvhSubtreeInfoData
{
@@ -209,6 +219,7 @@ public:
short m_quantizedAabbMax[3];
};
// -------------------------------------------------- //
class btOptimizedBvhNodeFloatData
{
@@ -221,6 +232,7 @@ public:
char m_pad[4];
};
// -------------------------------------------------- //
class btOptimizedBvhNodeDoubleData
{
@@ -233,6 +245,7 @@ public:
char m_pad[4];
};
// -------------------------------------------------- //
class btQuantizedBvhNodeData
{
@@ -242,6 +255,7 @@ public:
int m_escapeIndexOrTriangleIndex;
};
// -------------------------------------------------- //
class btQuantizedBvhFloatData
{
@@ -260,6 +274,7 @@ public:
int m_numSubtreeHeaders;
};
// -------------------------------------------------- //
class btQuantizedBvhDoubleData
{
@@ -278,6 +293,7 @@ public:
btBvhSubtreeInfoData *m_subTreeInfoPtr;
};
// -------------------------------------------------- //
class btCollisionShapeData
{
@@ -287,6 +303,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btStaticPlaneShapeData
{
@@ -298,6 +315,7 @@ public:
char m_pad[4];
};
// -------------------------------------------------- //
class btConvexInternalShapeData
{
@@ -309,6 +327,7 @@ public:
int m_padding;
};
// -------------------------------------------------- //
class btPositionAndRadius
{
@@ -317,6 +336,7 @@ public:
float m_radius;
};
// -------------------------------------------------- //
class btMultiSphereShapeData
{
@@ -327,6 +347,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btIntIndexData
{
@@ -334,6 +355,7 @@ public:
int m_value;
};
// -------------------------------------------------- //
class btShortIntIndexData
{
@@ -342,6 +364,7 @@ public:
char m_pad[2];
};
// -------------------------------------------------- //
class btShortIntIndexTripletData
{
@@ -350,6 +373,7 @@ public:
char m_pad[2];
};
// -------------------------------------------------- //
class btCharIndexTripletData
{
@@ -358,6 +382,7 @@ public:
char m_pad;
};
// -------------------------------------------------- //
class btMeshPartData
{
@@ -372,6 +397,7 @@ public:
int m_numVertices;
};
// -------------------------------------------------- //
class btStridingMeshInterfaceData
{
@@ -382,6 +408,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btTriangleMeshShapeData
{
@@ -395,6 +422,7 @@ public:
char m_pad3[4];
};
// -------------------------------------------------- //
class btScaledTriangleMeshShapeData
{
@@ -403,6 +431,7 @@ public:
btVector3FloatData m_localScaling;
};
// -------------------------------------------------- //
class btCompoundShapeChildData
{
@@ -413,6 +442,7 @@ public:
float m_childMargin;
};
// -------------------------------------------------- //
class btCompoundShapeData
{
@@ -423,6 +453,7 @@ public:
float m_collisionMargin;
};
// -------------------------------------------------- //
class btCylinderShapeData
{
@@ -432,6 +463,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btConeShapeData
{
@@ -441,6 +473,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btCapsuleShapeData
{
@@ -450,6 +483,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btTriangleInfoData
{
@@ -460,6 +494,7 @@ public:
float m_edgeV2V0Angle;
};
// -------------------------------------------------- //
class btTriangleInfoMapData
{
@@ -480,6 +515,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btPersistentManifoldDoubleData
{
@@ -493,6 +529,7 @@ public:
btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
double m_pointCacheDistance[4];
double m_pointCacheAppliedImpulse[4];
double m_pointCachePrevRHS[4];
double m_pointCacheCombinedFriction[4];
double m_pointCacheCombinedRollingFriction[4];
double m_pointCacheCombinedSpinningFriction[4];
@@ -524,6 +561,7 @@ public:
btCollisionObjectDoubleData *m_body1;
};
// -------------------------------------------------- //
class btPersistentManifoldFloatData
{
@@ -537,6 +575,7 @@ public:
btVector3FloatData m_pointCacheLateralFrictionDir2[4];
float m_pointCacheDistance[4];
float m_pointCacheAppliedImpulse[4];
float m_pointCachePrevRHS[4];
float m_pointCacheCombinedFriction[4];
float m_pointCacheCombinedRollingFriction[4];
float m_pointCacheCombinedSpinningFriction[4];
@@ -568,6 +607,7 @@ public:
btCollisionObjectFloatData *m_body1;
};
// -------------------------------------------------- //
class btGImpactMeshShapeData
{
@@ -579,6 +619,7 @@ public:
int m_gimpactSubType;
};
// -------------------------------------------------- //
class btConvexHullShapeData
{
@@ -590,6 +631,7 @@ public:
char m_padding3[4];
};
// -------------------------------------------------- //
class btCollisionObjectDoubleData
{
@@ -625,6 +667,7 @@ public:
int m_uniqueId;
};
// -------------------------------------------------- //
class btCollisionObjectFloatData
{
@@ -660,6 +703,7 @@ public:
int m_uniqueId;
};
// -------------------------------------------------- //
class btContactSolverInfoDoubleData
{
@@ -678,6 +722,7 @@ public:
double m_splitImpulseTurnErp;
double m_linearSlop;
double m_warmstartingFactor;
double m_articulatedWarmstartingFactor;
double m_maxGyroscopicForce;
double m_singleAxisRollingFrictionThreshold;
int m_numIterations;
@@ -688,6 +733,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btContactSolverInfoFloatData
{
@@ -706,6 +752,7 @@ public:
float m_splitImpulseTurnErp;
float m_linearSlop;
float m_warmstartingFactor;
float m_articulatedWarmstartingFactor;
float m_maxGyroscopicForce;
float m_singleAxisRollingFrictionThreshold;
int m_numIterations;
@@ -716,6 +763,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btDynamicsWorldDoubleData
{
@@ -724,6 +772,7 @@ public:
btVector3DoubleData m_gravity;
};
// -------------------------------------------------- //
class btDynamicsWorldFloatData
{
@@ -732,6 +781,7 @@ public:
btVector3FloatData m_gravity;
};
// -------------------------------------------------- //
class btRigidBodyFloatData
{
@@ -759,6 +809,7 @@ public:
int m_additionalDamping;
};
// -------------------------------------------------- //
class btRigidBodyDoubleData
{
@@ -787,6 +838,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btConstraintInfo1
{
@@ -795,6 +847,7 @@ public:
int nub;
};
// -------------------------------------------------- //
class btTypedConstraintFloatData
{
@@ -814,6 +867,7 @@ public:
int m_isEnabled;
};
// -------------------------------------------------- //
class btTypedConstraintData
{
@@ -833,6 +887,7 @@ public:
int m_isEnabled;
};
// -------------------------------------------------- //
class btTypedConstraintDoubleData
{
@@ -853,6 +908,7 @@ public:
char padding[4];
};
// -------------------------------------------------- //
class btPoint2PointConstraintFloatData
{
@@ -862,6 +918,7 @@ public:
btVector3FloatData m_pivotInB;
};
// -------------------------------------------------- //
class btPoint2PointConstraintDoubleData2
{
@@ -871,6 +928,7 @@ public:
btVector3DoubleData m_pivotInB;
};
// -------------------------------------------------- //
class btPoint2PointConstraintDoubleData
{
@@ -880,6 +938,7 @@ public:
btVector3DoubleData m_pivotInB;
};
// -------------------------------------------------- //
class btHingeConstraintDoubleData
{
@@ -899,6 +958,7 @@ public:
float m_relaxationFactor;
};
// -------------------------------------------------- //
class btHingeConstraintFloatData
{
@@ -918,6 +978,7 @@ public:
float m_relaxationFactor;
};
// -------------------------------------------------- //
class btHingeConstraintDoubleData2
{
@@ -938,6 +999,7 @@ public:
char m_padding1[4];
};
// -------------------------------------------------- //
class btConeTwistConstraintDoubleData
{
@@ -954,6 +1016,7 @@ public:
double m_damping;
};
// -------------------------------------------------- //
class btConeTwistConstraintData
{
@@ -971,6 +1034,7 @@ public:
char m_pad[4];
};
// -------------------------------------------------- //
class btGeneric6DofConstraintData
{
@@ -986,6 +1050,7 @@ public:
int m_useOffsetForConstraintFrame;
};
// -------------------------------------------------- //
class btGeneric6DofConstraintDoubleData2
{
@@ -1001,6 +1066,7 @@ public:
int m_useOffsetForConstraintFrame;
};
// -------------------------------------------------- //
class btGeneric6DofSpringConstraintData
{
@@ -1012,6 +1078,7 @@ public:
float m_springDamping[6];
};
// -------------------------------------------------- //
class btGeneric6DofSpringConstraintDoubleData2
{
@@ -1023,6 +1090,7 @@ public:
double m_springDamping[6];
};
// -------------------------------------------------- //
class btGeneric6DofSpring2ConstraintData
{
@@ -1070,6 +1138,7 @@ public:
int m_rotateOrder;
};
// -------------------------------------------------- //
class btGeneric6DofSpring2ConstraintDoubleData2
{
@@ -1117,6 +1186,7 @@ public:
int m_rotateOrder;
};
// -------------------------------------------------- //
class btSliderConstraintData
{
@@ -1132,6 +1202,7 @@ public:
int m_useOffsetForConstraintFrame;
};
// -------------------------------------------------- //
class btSliderConstraintDoubleData
{
@@ -1147,6 +1218,7 @@ public:
int m_useOffsetForConstraintFrame;
};
// -------------------------------------------------- //
class btGearConstraintFloatData
{
@@ -1158,6 +1230,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btGearConstraintDoubleData
{
@@ -1168,6 +1241,7 @@ public:
double m_ratio;
};
// -------------------------------------------------- //
class SoftBodyMaterialData
{
@@ -1178,6 +1252,7 @@ public:
int m_flags;
};
// -------------------------------------------------- //
class SoftBodyNodeData
{
@@ -1194,6 +1269,7 @@ public:
int m_pad;
};
// -------------------------------------------------- //
class SoftBodyLinkData
{
@@ -1204,6 +1280,7 @@ public:
int m_bbending;
};
// -------------------------------------------------- //
class SoftBodyFaceData
{
@@ -1214,6 +1291,7 @@ public:
float m_restArea;
};
// -------------------------------------------------- //
class SoftBodyTetraData
{
@@ -1227,6 +1305,7 @@ public:
int m_pad;
};
// -------------------------------------------------- //
class SoftRigidAnchorData
{
@@ -1239,6 +1318,7 @@ public:
float m_c2;
};
// -------------------------------------------------- //
class SoftBodyConfigData
{
@@ -1271,6 +1351,7 @@ public:
int m_collisionFlags;
};
// -------------------------------------------------- //
class SoftBodyPoseData
{
@@ -1289,6 +1370,7 @@ public:
int m_pad;
};
// -------------------------------------------------- //
class SoftBodyClusterData
{
@@ -1322,6 +1404,7 @@ public:
int m_clusterIndex;
};
// -------------------------------------------------- //
class btSoftBodyJointData
{
@@ -1340,6 +1423,7 @@ public:
int m_pad;
};
// -------------------------------------------------- //
class btSoftBodyFloatData
{
@@ -1365,6 +1449,7 @@ public:
SoftBodyConfigData m_config;
};
// -------------------------------------------------- //
class btMultiBodyLinkDoubleData
{
@@ -1399,6 +1484,7 @@ public:
char *m_paddingPtr;
};
// -------------------------------------------------- //
class btMultiBodyLinkFloatData
{
@@ -1433,6 +1519,7 @@ public:
char *m_paddingPtr;
};
// -------------------------------------------------- //
class btMultiBodyDoubleData
{
@@ -1450,6 +1537,7 @@ public:
btCollisionObjectDoubleData *m_baseCollider;
};
// -------------------------------------------------- //
class btMultiBodyFloatData
{
@@ -1466,6 +1554,7 @@ public:
btCollisionObjectFloatData *m_baseCollider;
};
// -------------------------------------------------- //
class btMultiBodyLinkColliderFloatData
{
@@ -1476,6 +1565,7 @@ public:
char m_padding[4];
};
// -------------------------------------------------- //
class btMultiBodyLinkColliderDoubleData
{
@@ -1486,5 +1576,6 @@ public:
char m_padding[4];
};
} // namespace Bullet
}
#endif//__BULLET_H__

2
VERSION
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@@ -1 +1 @@
2.88
2.89

8
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -752,6 +752,14 @@ B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandl
return 0;
}
B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_articulatedWarmStartingFactor = warmStartingFactor;
command->m_updateFlags |= SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -339,6 +339,7 @@ extern "C"
B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
B3_SHARED_API int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
B3_SHARED_API int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);

6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -9338,6 +9338,12 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
{
m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = clientCmd.m_physSimParamArgs.m_warmStartingFactor;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR)
{
m_data->m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_USE_ARTICULATED_WARMSTARTING;
m_data->m_dynamicsWorld->getSolverInfo().m_articulatedWarmstartingFactor = clientCmd.m_physSimParamArgs.m_articulatedWarmStartingFactor;
}
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
return hasStatus;

1
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -483,6 +483,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 1 << 25,
SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS = 1 << 26,
SIM_PARAM_UPDATE_WARM_STARTING_FACTOR = 1 << 27,
SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR = 1 << 28,
};

1
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -947,6 +947,7 @@ struct b3PhysicsSimulationParameters
int m_numSimulationSubSteps;
int m_numSolverIterations;
double m_warmStartingFactor;
double m_articulatedWarmStartingFactor;
int m_useRealTimeSimulation;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;

3
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
View File

@@ -55,6 +55,7 @@ public:
: m_userPersistentData(0),
m_contactPointFlags(0),
m_appliedImpulse(0.f),
m_prevRHS(0.f),
m_appliedImpulseLateral1(0.f),
m_appliedImpulseLateral2(0.f),
m_contactMotion1(0.f),
@@ -79,6 +80,7 @@ public:
m_userPersistentData(0),
m_contactPointFlags(0),
m_appliedImpulse(0.f),
m_prevRHS(0.f),
m_appliedImpulseLateral1(0.f),
m_appliedImpulseLateral2(0.f),
m_contactMotion1(0.f),
@@ -114,6 +116,7 @@ public:
int m_contactPointFlags;
btScalar m_appliedImpulse;
btScalar m_prevRHS;
btScalar m_appliedImpulseLateral1;
btScalar m_appliedImpulseLateral2;
btScalar m_contactMotion1;

3
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
View File

@@ -325,6 +325,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma
{
const btManifoldPoint& pt = manifold->getContactPoint(i);
dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse;
dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS;
dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2;
pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]);
@@ -371,6 +372,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleDa
btManifoldPoint& pt = m_pointCache[i];
pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]);
@@ -416,6 +418,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat
btManifoldPoint& pt = m_pointCache[i];
pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]);

5
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
View File

@@ -173,6 +173,7 @@ public:
//get rid of duplicated userPersistentData pointer
m_pointCache[lastUsedIndex].m_userPersistentData = 0;
m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
m_pointCache[lastUsedIndex].m_prevRHS = 0.f;
m_pointCache[lastUsedIndex].m_contactPointFlags = 0;
m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
@@ -195,6 +196,7 @@ public:
#ifdef MAINTAIN_PERSISTENCY
int lifeTime = m_pointCache[insertIndex].getLifeTime();
btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS;
btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
@@ -223,6 +225,7 @@ public:
m_pointCache[insertIndex] = newPoint;
m_pointCache[insertIndex].m_userPersistentData = cache;
m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
m_pointCache[insertIndex].m_prevRHS = prevRHS;
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
}
@@ -276,6 +279,7 @@ struct btPersistentManifoldDoubleData
btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
double m_pointCacheDistance[4];
double m_pointCacheAppliedImpulse[4];
double m_pointCachePrevRHS[4];
double m_pointCacheCombinedFriction[4];
double m_pointCacheCombinedRollingFriction[4];
double m_pointCacheCombinedSpinningFriction[4];
@@ -322,6 +326,7 @@ struct btPersistentManifoldFloatData
btVector3FloatData m_pointCacheLateralFrictionDir2[4];
float m_pointCacheDistance[4];
float m_pointCacheAppliedImpulse[4];
float m_pointCachePrevRHS[4];
float m_pointCacheCombinedFriction[4];
float m_pointCacheCombinedRollingFriction[4];
float m_pointCacheCombinedSpinningFriction[4];

14
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
View File

@@ -30,7 +30,8 @@ enum btSolverMode
SOLVER_SIMD = 256,
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048
SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048,
SOLVER_USE_ARTICULATED_WARMSTARTING = 4096,
};
struct btContactSolverInfoData
@@ -54,7 +55,7 @@ struct btContactSolverInfoData
btScalar m_splitImpulseTurnErp;
btScalar m_linearSlop;
btScalar m_warmstartingFactor;
btScalar m_articulatedWarmstartingFactor;
int m_solverMode;
int m_restingContactRestitutionThreshold;
int m_minimumSolverBatchSize;
@@ -89,6 +90,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_splitImpulseTurnErp = 0.1f;
m_linearSlop = btScalar(0.0);
m_warmstartingFactor = btScalar(0.85);
m_articulatedWarmstartingFactor = btScalar(0.85);
//m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER;
m_restingContactRestitutionThreshold = 2; //unused as of 2.81
@@ -120,6 +122,7 @@ struct btContactSolverInfoDoubleData
double m_splitImpulseTurnErp;
double m_linearSlop;
double m_warmstartingFactor;
double m_articulatedWarmstartingFactor;
double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force
double m_singleAxisRollingFrictionThreshold;
@@ -150,16 +153,17 @@ struct btContactSolverInfoFloatData
float m_linearSlop;
float m_warmstartingFactor;
float m_articulatedWarmstartingFactor;
float m_maxGyroscopicForce;
float m_singleAxisRollingFrictionThreshold;
float m_singleAxisRollingFrictionThreshold;
int m_numIterations;
int m_solverMode;
int m_restingContactRestitutionThreshold;
int m_minimumSolverBatchSize;
int m_minimumSolverBatchSize;
int m_splitImpulse;
char m_padding[4];
};
#endif //BT_CONTACT_SOLVER_INFO

2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -1436,8 +1436,6 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize
worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
// Fill padding with zeros to appease msan.
memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding));
#ifdef BT_USE_DOUBLE_PRECISION
const char* structType = "btDynamicsWorldDoubleData";

34
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
View File

@@ -342,40 +342,6 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra
solverConstraint.m_friction = 0.f; //cp.m_combinedFriction;
}
///warm starting (or zero if disabled)
/*
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (solverConstraint.m_appliedImpulse)
{
if (multiBodyA)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->applyDeltaVee(deltaV,impulse);
applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
} else
{
if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
}
if (multiBodyB)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
multiBodyB->applyDeltaVee(deltaV,impulse);
applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
} else
{
if (rb1)
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
}
}
} else
*/
solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;

174
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
View File

@@ -22,6 +22,8 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "LinearMath/btQuickprof.h"
#include "BulletDynamics/Featherstone/btMultiBodySolverConstraint.h"
#include "LinearMath/btScalar.h"
btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
{
@@ -491,11 +493,7 @@ btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const bt
return deltaVel;
}
void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
const btVector3& contactNormal,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, const btVector3& contactNormal, const btScalar& appliedImpulse, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation, bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
{
BT_PROFILE("setupMultiBodyContactConstraint");
btVector3 rel_pos1;
@@ -781,48 +779,6 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
}
}
///warm starting (or zero if disabled)
//disable warmstarting for btMultiBody, it has issues gaining energy (==explosion)
if (/* DISABLES CODE */ (0)) //infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (solverConstraint.m_appliedImpulse)
{
if (multiBodyA)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->applyDeltaVeeMultiDof(deltaV, impulse);
applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA);
}
else
{
if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
}
if (multiBodyB)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
multiBodyB->applyDeltaVeeMultiDof(deltaV, impulse);
applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB);
}
else
{
if (rb1)
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
}
}
}
else
{
solverConstraint.m_appliedImpulse = 0.f;
}
solverConstraint.m_appliedPushImpulse = 0.f;
{
btScalar positionalError = 0.f;
btScalar velocityError = restitution - rel_vel; // * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
@@ -874,6 +830,54 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv;
}
if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING)
{
if (btFabs(cp.m_prevRHS) > 1e-5 && cp.m_prevRHS < 2* solverConstraint.m_rhs && solverConstraint.m_rhs < 2*cp.m_prevRHS)
{
solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor;
if (solverConstraint.m_appliedImpulse < 0)
solverConstraint.m_appliedImpulse = 0;
}
else
{
solverConstraint.m_appliedImpulse = 0.f;
}
if (solverConstraint.m_appliedImpulse)
{
if (multiBodyA)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse);
applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA);
}
else
{
if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1 * bodyA->internalGetInvMass() * rb0->getLinearFactor(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
}
if (multiBodyB)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse);
applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB);
}
else
{
if (rb1)
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2 * bodyB->internalGetInvMass() * rb1->getLinearFactor(), -solverConstraint.m_angularComponentB, -(btScalar)solverConstraint.m_appliedImpulse);
}
}
}
else
{
solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;
}
}
void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint,
@@ -1130,7 +1134,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
}
}
btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
{
BT_PROFILE("addMultiBodyFrictionConstraint");
btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
@@ -1161,7 +1165,7 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionCo
solverConstraint.m_originalContactPoint = &cp;
setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip);
setupMultiBodyContactConstraint(solverConstraint, normalAxis, 0, cp, infoGlobal, relaxation, isFriction, desiredVelocity, cfmSlip);
return solverConstraint;
}
@@ -1297,7 +1301,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
solverConstraint.m_originalContactPoint = &cp;
bool isFriction = false;
setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp, infoGlobal, relaxation, isFriction);
setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB, cp.m_appliedImpulse, cp, infoGlobal, relaxation, isFriction);
// const btVector3& pos1 = cp.getPositionWorldOnA();
// const btVector3& pos2 = cp.getPositionWorldOnB();
@@ -1371,13 +1375,13 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
{
applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
applyAnisotropicFriction(colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal);
}
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
@@ -1388,26 +1392,27 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
}
else
{
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1, cp.m_appliedImpulseLateral1, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
//setMultiBodyFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
//todo:
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;
}
#endif //ENABLE_FRICTION
}
else
{
// Reset quantities related to warmstart as 0.
cp.m_appliedImpulse = 0;
cp.m_prevRHS = 0;
}
}
}
void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
{
//btPersistentManifold* manifold = 0;
for (int i = 0; i < numManifolds; i++)
{
btPersistentManifold* manifold = manifoldPtr[i];
@@ -1434,6 +1439,51 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol
c->createConstraintRows(m_multiBodyNonContactConstraints, m_data, infoGlobal);
}
// Warmstart for noncontact constraints
if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING)
{
for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++)
{
btMultiBodySolverConstraint& solverConstraint =
m_multiBodyNonContactConstraints[i];
solverConstraint.m_appliedImpulse =
solverConstraint.m_orgConstraint->getAppliedImpulse(solverConstraint.m_orgDofIndex) *
infoGlobal.m_articulatedWarmstartingFactor;
btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
if (solverConstraint.m_appliedImpulse)
{
if (multiBodyA)
{
int ndofA = multiBodyA->getNumDofs() + 6;
btScalar* deltaV =
&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
btScalar impulse = solverConstraint.m_appliedImpulse;
multiBodyA->applyDeltaVeeMultiDof2(deltaV, impulse);
applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelAindex, ndofA);
}
if (multiBodyB)
{
int ndofB = multiBodyB->getNumDofs() + 6;
btScalar* deltaV =
&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
btScalar impulse = solverConstraint.m_appliedImpulse;
multiBodyB->applyDeltaVeeMultiDof2(deltaV, impulse);
applyDeltaVee(deltaV, impulse, solverConstraint.m_deltaVelBindex, ndofB);
}
}
}
}
else
{
for (int i = 0; i < m_multiBodyNonContactConstraints.size(); i++)
{
btMultiBodySolverConstraint& solverConstraint = m_multiBodyNonContactConstraints[i];
solverConstraint.m_appliedImpulse = 0;
}
}
}
btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
@@ -1556,7 +1606,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep);
}
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
BT_PROFILE("warm starting write back");
for (int j = 0; j < numPoolConstraints; j++)
@@ -1565,6 +1615,7 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint;
btAssert(pt);
pt->m_appliedImpulse = solverConstraint.m_appliedImpulse;
pt->m_prevRHS = solverConstraint.m_rhs;
pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse;
//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
@@ -1576,9 +1627,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
pt->m_appliedImpulseLateral2 = 0;
}
}
//do a callback here?
}
#if 0
//multibody joint feedback
{

7
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
View File

@@ -49,7 +49,7 @@ protected:
void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
btMultiBodySolverConstraint& addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp,
btScalar combinedTorsionalFriction,
@@ -66,7 +66,9 @@ protected:
void setupMultiBodyContactConstraint(btMultiBodySolverConstraint & solverConstraint,
const btVector3& contactNormal,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
const btScalar& appliedImpulse,
btManifoldPoint& cp,
const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
@@ -82,7 +84,6 @@ protected:
void convertMultiBodyContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof);
void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime);

12
src/LinearMath/btScalar.h
View File

@@ -25,13 +25,23 @@ subject to the following restrictions:
#include <float.h>
/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
#define BT_BULLET_VERSION 288
#define BT_BULLET_VERSION 289
inline int btGetVersion()
{
return BT_BULLET_VERSION;
}
inline int btIsDoublePrecision()
{
#ifdef BT_USE_DOUBLE_PRECISION
return true;
#else
return false;
#endif
}
// The following macro "BT_NOT_EMPTY_FILE" can be put into a file
// in order suppress the MS Visual C++ Linker warning 4221
//

1198
src/LinearMath/btSerializer.cpp
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File diff suppressed because it is too large Load Diff

2
src/LinearMath/btSerializer.h
View File

@@ -481,7 +481,7 @@ public:
buffer[9] = '2';
buffer[10] = '8';
buffer[11] = '8';
buffer[11] = '9';
}
virtual void startSerialization()

1197
src/LinearMath/btSerializer64.cpp
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File diff suppressed because it is too large Load Diff