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improved performance, and allowed custom friction and contact solver models. See CcdPhysicsDemo #define USER_DEFINED_FRICTION_MODEL

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This commit is contained in:
ejcoumans
2006-09-20 00:49:33 +00:00
parent dad2cb634e
commit 5ed0cf5b7f
15 changed files with 211 additions and 56 deletions
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22
BulletDynamics/ConstraintSolver/ContactConstraint.h
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@@ -24,6 +24,20 @@ class RigidBody;
struct ContactSolverInfo;
class ManifoldPoint;
enum {
DEFAULT_CONTACT_SOLVER_TYPE=0,
CONTACT_SOLVER_TYPE1,
CONTACT_SOLVER_TYPE2,
USER_CONTACT_SOLVER_TYPE1,
MAX_CONTACT_SOLVER_TYPES
};
typedef float (*ContactSolverFunc)(RigidBody& body1,
RigidBody& body2,
class ManifoldPoint& contactPoint,
const ContactSolverInfo& info);
struct ConstraintPersistentData
{
inline ConstraintPersistentData()
@@ -35,7 +49,9 @@ struct ConstraintPersistentData
m_persistentLifeTime(0),
m_restitution(0.f),
m_friction(0.f),
m_penetration(0.f)
m_penetration(0.f),
m_contactSolverFunc(0),
m_frictionSolverFunc(0)
{
}
@@ -55,7 +71,9 @@ struct ConstraintPersistentData
float m_penetration;
SimdVector3 m_frictionWorldTangential0;
SimdVector3 m_frictionWorldTangential1;
ContactSolverFunc m_contactSolverFunc;
ContactSolverFunc m_frictionSolverFunc;
};

68
BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.cpp
View File

@@ -32,7 +32,7 @@ subject to the following restrictions:
int totalCpd = 0;
int gTotalContactPoints = 0;
bool MyContactDestroyedCallback(void* userPersistentData)
{
@@ -48,8 +48,17 @@ bool MyContactDestroyedCallback(void* userPersistentData)
SequentialImpulseConstraintSolver::SequentialImpulseConstraintSolver()
{
gContactDestroyedCallback = &MyContactDestroyedCallback;
}
//initialize default friction/contact funcs
int i,j;
for (i=0;i<MAX_CONTACT_SOLVER_TYPES;i++)
for (j=0;j<MAX_CONTACT_SOLVER_TYPES;j++)
{
m_contactDispatch[i][j] = resolveSingleCollision;
m_frictionDispatch[i][j] = resolveSingleFriction;
}
}
/// SequentialImpulseConstraintSolver Sequentially applies impulses
float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer)
@@ -62,9 +71,22 @@ float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifol
Profiler::beginBlock("Solve");
#endif //USE_PROFILE
{
int j;
for (j=0;j<numManifolds;j++)
{
int k=j;
//interleaving the preparation with solving impacts the behaviour a lot, todo: find out why
PrepareConstraints(manifoldPtr[k],info,debugDrawer);
Solve(manifoldPtr[k],info,0,debugDrawer);
}
}
//should traverse the contacts random order...
int i;
for ( i = 0;i<numiter;i++)
for ( i = 0;i<numiter-1;i++)
{
int j;
for (j=0;j<numManifolds;j++)
@@ -84,7 +106,7 @@ float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifol
#endif //USE_PROFILE
//now solve the friction
for (i = 0;i<numiter;i++)
for (i = 0;i<numiter-1;i++)
{
int j;
for (j=0;j<numManifolds;j++)
@@ -111,23 +133,21 @@ SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
}
float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,IDebugDraw* debugDrawer)
{
RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();
float maxImpulse = 0.f;
//only necessary to refresh the manifold once (first iteration). The integration is done outside the loop
if (iter == 0)
{
manifoldPtr->RefreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
int numpoints = manifoldPtr->GetNumContacts();
gTotalContactPoints += numpoints;
SimdVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
{
@@ -181,7 +201,12 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
cpd->m_jacDiagABInv = 1.f / jacDiagAB;
//Dependent on Rigidbody A and B types, fetch the contact/friction response func
//perhaps do a similar thing for friction/restutution combiner funcs...
cpd->m_frictionSolverFunc = m_frictionDispatch[body0->m_frictionSolverType][body1->m_frictionSolverType];
cpd->m_contactSolverFunc = m_contactDispatch[body0->m_contactSolverType][body1->m_contactSolverType];
SimdVector3 vel1 = body0->getVelocityInLocalPoint(rel_pos1);
SimdVector3 vel2 = body1->getVelocityInLocalPoint(rel_pos2);
SimdVector3 vel = vel1 - vel2;
@@ -250,6 +275,15 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
}
}
}
float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
{
RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();
float maxImpulse = 0.f;
{
const int numpoints = manifoldPtr->GetNumContacts();
@@ -276,14 +310,12 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
{
//float dist = cp.GetDistance();
//printf("dist(%i)=%f\n",j,dist);
float impulse = resolveSingleCollision(
ConstraintPersistentData* cpd = (ConstraintPersistentData*) cp.m_userPersistentData;
float impulse = cpd->m_contactSolverFunc(
*body0,*body1,
cp,
info);
if (maxImpulse < impulse)
maxImpulse = impulse;
@@ -312,13 +344,15 @@ float SequentialImpulseConstraintSolver::SolveFriction(PersistentManifold* manif
// j = numpoints-1-i;
ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
if (cp.GetDistance() <= 0.f)
if (cp.GetDistance() <= 0.f)
{
resolveSingleFriction(
ConstraintPersistentData* cpd = (ConstraintPersistentData*) cp.m_userPersistentData;
cpd->m_frictionSolverFunc(
*body0,*body1,
cp,
info);
}
}

23
BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.h
View File

@@ -19,6 +19,10 @@ subject to the following restrictions:
#include "ConstraintSolver.h"
class IDebugDraw;
#include "ContactConstraint.h"
/// SequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
@@ -27,12 +31,29 @@ class SequentialImpulseConstraintSolver : public ConstraintSolver
{
float Solve(PersistentManifold* manifold, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
float SolveFriction(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer);
void PrepareConstraints(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,IDebugDraw* debugDrawer);
ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
public:
SequentialImpulseConstraintSolver();
///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
///See RigidBody::m_contactSolverType and RigidBody::m_frictionSolverType
void SetContactSolverFunc(ContactSolverFunc func,int type0,int type1)
{
m_contactDispatch[type0][type1] = func;
}
///Advanced: Override the default friction solving function for contacts, for certain types of rigidbody
///See RigidBody::m_contactSolverType and RigidBody::m_frictionSolverType
void SetFrictionSolverFunc(ContactSolverFunc func,int type0,int type1)
{
m_frictionDispatch[type0][type1] = func;
}
virtual ~SequentialImpulseConstraintSolver() {}
virtual float SolveGroup(PersistentManifold** manifold,int numManifolds,const ContactSolverInfo& info, IDebugDraw* debugDrawer=0);