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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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7
Bullet/BroadphaseCollision/AxisSweep3.cpp
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@@ -47,17 +47,14 @@ void AxisSweep3::SetAabb(BroadphaseProxy* proxy,const SimdVector3& aabbMin,const
AxisSweep3::AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles, int maxOverlaps)
:OverlappingPairCache(maxOverlaps)
AxisSweep3::AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles)
:OverlappingPairCache()
{
//assert(bounds.HasVolume());
// 1 handle is reserved as sentinel
assert(maxHandles > 1 && maxHandles < 32767);
// doesn't need this limit right now, but I may want to use unsigned short indexes into overlaps array
assert(maxOverlaps > 0 && maxOverlaps < 65536);
// init bounds
m_worldAabbMin = worldAabbMin;
m_worldAabbMax = worldAabbMax;

2
Bullet/BroadphaseCollision/AxisSweep3.h
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@@ -91,7 +91,7 @@ private:
void SortMaxUp(int axis, unsigned short edge, bool updateOverlaps = true);
public:
AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 20000, int maxOverlaps = 60000);
AxisSweep3(const SimdPoint3& worldAabbMin,const SimdPoint3& worldAabbMax, int maxHandles = 16384);
virtual ~AxisSweep3();
virtual void RefreshOverlappingPairs()

29
Bullet/BroadphaseCollision/OverlappingPairCache.cpp
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@@ -21,11 +21,11 @@ subject to the following restrictions:
#include "Dispatcher.h"
#include "CollisionAlgorithm.h"
int gOverlappingPairs = 0;
OverlappingPairCache::OverlappingPairCache(int maxOverlap):
m_blockedForChanges(false),
//m_NumOverlapBroadphasePair(0),
m_maxOverlap(maxOverlap)
OverlappingPairCache::OverlappingPairCache():
m_blockedForChanges(false)
//m_NumOverlapBroadphasePair(0)
{
}
@@ -36,14 +36,17 @@ OverlappingPairCache::~OverlappingPairCache()
}
void OverlappingPairCache::RemoveOverlappingPair(BroadphasePair& pair)
void OverlappingPairCache::RemoveOverlappingPair(BroadphasePair& findPair)
{
CleanOverlappingPair(pair);
std::set<BroadphasePair>::iterator it = m_overlappingPairSet.find(pair);
std::set<BroadphasePair>::iterator it = m_overlappingPairSet.find(findPair);
// assert(it != m_overlappingPairSet.end());
if (it != m_overlappingPairSet.end())
{
gOverlappingPairs--;
BroadphasePair* pair = (BroadphasePair*)(&(*it));
CleanOverlappingPair(*pair);
m_overlappingPairSet.erase(it);
}
}
@@ -79,6 +82,7 @@ void OverlappingPairCache::AddOverlappingPair(BroadphaseProxy* proxy0,Broadphase
BroadphasePair pair(*proxy0,*proxy1);
m_overlappingPairSet.insert(pair);
gOverlappingPairs++;
}
@@ -179,10 +183,17 @@ void OverlappingPairCache::ProcessAllOverlappingPairs(OverlapCallback* callback)
CleanOverlappingPair(*pair);
std::set<BroadphasePair>::iterator it2 = it;
it++;
//why does next line not compile under OS X??
//it = m_overlappingPairSet.erase(it2);
#ifdef MAC_OSX_FIXED_STL_SET
it2++;
it = m_overlappingPairSet.erase(it);
assert(it == it2);
#else
it++;
m_overlappingPairSet.erase(it2);
#endif //MAC_OSX_FIXED_STL_SET
gOverlappingPairs--;
} else
{
it++;

4
Bullet/BroadphaseCollision/OverlappingPairCache.h
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@@ -37,14 +37,12 @@ class OverlappingPairCache : public BroadphaseInterface
//avoid brute-force finding all the time
std::set<BroadphasePair> m_overlappingPairSet;
int m_maxOverlap;
//during the dispatch, check that user doesn't destroy/create proxy
bool m_blockedForChanges;
public:
OverlappingPairCache(int maxOverlap);
OverlappingPairCache();
virtual ~OverlappingPairCache();
void ProcessAllOverlappingPairs(OverlapCallback*);

4
Bullet/BroadphaseCollision/SimpleBroadphase.cpp
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@@ -35,8 +35,8 @@ void SimpleBroadphase::validate()
}
SimpleBroadphase::SimpleBroadphase(int maxProxies,int maxOverlap)
:OverlappingPairCache(maxOverlap),
SimpleBroadphase::SimpleBroadphase(int maxProxies)
:OverlappingPairCache(),
m_firstFreeProxy(0),
m_numProxies(0),
m_maxProxies(maxProxies)

2
Bullet/BroadphaseCollision/SimpleBroadphase.h
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@@ -66,7 +66,7 @@ protected:
virtual void RefreshOverlappingPairs();
public:
SimpleBroadphase(int maxProxies=4096,int maxOverlap=8192);
SimpleBroadphase(int maxProxies=16384);
virtual ~SimpleBroadphase();

20
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)
{
}
@@ -56,6 +72,8 @@ struct ConstraintPersistentData
SimdVector3 m_frictionWorldTangential0;
SimdVector3 m_frictionWorldTangential1;
ContactSolverFunc m_contactSolverFunc;
ContactSolverFunc m_frictionSolverFunc;
};

64
BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.cpp
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@@ -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++)
{
@@ -181,6 +201,11 @@ 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);
@@ -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();
@@ -276,10 +310,8 @@ 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);
@@ -312,14 +344,16 @@ 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);
}
}

21
BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.h
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@@ -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);

4
BulletDynamics/Dynamics/RigidBody.cpp
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@@ -32,7 +32,9 @@ RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdSc
m_angularVelocity(0.f,0.f,0.f),
m_linearDamping(0.f),
m_angularDamping(0.5f),
m_kinematicTimeStep(0.f)
m_kinematicTimeStep(0.f),
m_contactSolverType(0),
m_frictionSolverType(0)
{
//moved to CollisionObject

3
BulletDynamics/Dynamics/RigidBody.h
View File

@@ -236,6 +236,9 @@ public:
m_broadphaseProxy = broadphaseProxy;
}
//for experimental overriding of friction/contact solver func
int m_contactSolverType;
int m_frictionSolverType;
/// for ode solver-binding

78
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -13,8 +13,10 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define USE_PARALLEL_DISPATCHER 1
//#define USER_DEFINED_FRICTION_MODEL 1
//#define PRINT_CONTACT_STATISTICS 1
#define REGISTER_CUSTOM_COLLISION_ALGORITHM 1
#include "CcdPhysicsEnvironment.h"
#include "ParallelPhysicsEnvironment.h"
@@ -33,7 +35,7 @@ subject to the following restrictions:
#include "CollisionShapes/TriangleIndexVertexArray.h"
#include "CollisionShapes/BvhTriangleMeshShape.h"
#include "CollisionShapes/TriangleMesh.h"
#include "ConstraintSolver/SequentialImpulseConstraintSolver.h"
#include "Dynamics/RigidBody.h"
#include "CollisionDispatch/CollisionDispatcher.h"
@@ -76,9 +78,9 @@ bool useCompound = false;//true;//false;
#ifdef _DEBUG
const int numObjects = 120;
const int gNumObjects = 120;
#else
const int numObjects = 120;//try this in release mode: 3000. never go above 4095, unless you increate maxNumObjects value in DemoApplication.cp
const int gNumObjects = 120;//try this in release mode: 3000. never go above 16384, unless you increate maxNumObjects value in DemoApplication.cp
#endif
const int maxNumObjects = 32760;
@@ -147,6 +149,10 @@ int main(int argc,char** argv)
extern int gNumManifold;
extern int gOverlappingPairs;
extern int gTotalContactPoints;
void CcdPhysicsDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
@@ -166,6 +172,14 @@ void CcdPhysicsDemo::clientMoveAndDisplay()
Profiler::endBlock("render");
#endif
glFlush();
//some additional debugging info
#ifdef PRINT_CONTACT_STATISTICS
printf("num manifolds: %i\n",gNumManifold);
printf("num gOverlappingPairs: %i\n",gOverlappingPairs);
printf("num gTotalContactPoints : %i\n",gTotalContactPoints );
#endif //PRINT_CONTACT_STATISTICS
gTotalContactPoints = 0;
glutSwapBuffers();
}
@@ -185,7 +199,6 @@ void CcdPhysicsDemo::displayCallback(void) {
renderme();
glFlush();
glutSwapBuffers();
}
@@ -245,6 +258,13 @@ void CcdPhysicsDemo::clientResetScene()
}
///User-defined friction model, the most simple friction model available: no friction
float myFrictionModel( RigidBody& body1, RigidBody& body2, ManifoldPoint& contactPoint, const ContactSolverInfo& solverInfo )
{
//don't do any friction
return 0.f;
}
void CcdPhysicsDemo::initPhysics()
{
@@ -254,10 +274,12 @@ void CcdPhysicsDemo::initPhysics()
SimdVector3 worldAabbMin(-10000,-10000,-10000);
SimdVector3 worldAabbMax(10000,10000,10000);
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies,maxOverlap);
OverlappingPairCache* broadphase = new AxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
// OverlappingPairCache* broadphase = new SimpleBroadphase;
#ifdef REGISTER_CUSTOM_COLLISION_ALGORITHM
dispatcher->RegisterCollisionCreateFunc(SPHERE_SHAPE_PROXYTYPE,SPHERE_SHAPE_PROXYTYPE,new SphereSphereCollisionAlgorithm::CreateFunc);
#endif //REGISTER_CUSTOM_COLLISION_ALGORITHM
#ifdef USE_PARALLEL_DISPATCHER
@@ -271,13 +293,23 @@ void CcdPhysicsDemo::initPhysics()
m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
#ifdef USER_DEFINED_FRICTION_MODEL
SequentialImpulseConstraintSolver* solver = (SequentialImpulseConstraintSolver*) m_physicsEnvironmentPtr->GetConstraintSolver();
//solver->SetContactSolverFunc(ContactSolverFunc func,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
//m_physicsEnvironmentPtr->setNumIterations(2);
#endif //USER_DEFINED_FRICTION_MODEL
int i;
SimdTransform tr;
tr.setIdentity();
for (i=0;i<numObjects;i++)
for (i=0;i<gNumObjects;i++)
{
if (i>0)
{
@@ -301,7 +333,7 @@ void CcdPhysicsDemo::initPhysics()
compoundShape->AddChildShape(ident,new SphereShape(0.9));//
}
for (i=0;i<numObjects;i++)
for (i=0;i<gNumObjects;i++)
{
CollisionShape* shape = shapePtr[shapeIndex[i]];
shape->SetMargin(0.05f);
@@ -311,7 +343,30 @@ void CcdPhysicsDemo::initPhysics()
SimdTransform trans;
trans.setIdentity();
trans.setOrigin(SimdVector3(0,-30+i*CUBE_HALF_EXTENTS*2,0));
if (i>0)
{
//stack them
int colsize = 10;
int row = (i*CUBE_HALF_EXTENTS*2)/(colsize*2*CUBE_HALF_EXTENTS);
int row2 = row;
int col = (i)%(colsize)-colsize/2;
if (col>3)
{
col=11;
row2 |=1;
}
SimdVector3 pos(col*2*CUBE_HALF_EXTENTS + (row2%2)*CUBE_HALF_EXTENTS,
row*2*CUBE_HALF_EXTENTS+CUBE_HALF_EXTENTS+EXTRA_HEIGHT,0);
trans.setOrigin(pos);
} else
{
trans.setOrigin(SimdVector3(0,-30,0));
}
float mass = 1.f;
if (!isDyna)
@@ -324,7 +379,10 @@ void CcdPhysicsDemo::initPhysics()
//Experimental: better estimation of CCD Time of Impact:
ctrl->GetRigidBody()->m_ccdSweptShereRadius = 0.2*CUBE_HALF_EXTENTS;
#ifdef USER_DEFINED_FRICTION_MODEL
///Advanced use: override the friction solver
ctrl->GetRigidBody()->m_frictionSolverType = USER_CONTACT_SOLVER_TYPE1;
#endif //USER_DEFINED_FRICTION_MODEL
}

5
Demos/OpenGL/DemoApplication.cpp
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@@ -23,11 +23,11 @@ subject to the following restrictions:
#include "CollisionShapes/CollisionShape.h"
#include "CollisionShapes/BoxShape.h"
#include "GL_ShapeDrawer.h"
#include "quickprof.h"
#include "BMF_Api.h"
int numObjects = 0;
const int maxNumObjects = 4096;
const int maxNumObjects = 16384;
DefaultMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects];
SimdTransform startTransforms[maxNumObjects];
@@ -889,6 +889,7 @@ void DemoApplication::renderme()
BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),buf);
yStart += yIncr;
}
}

7
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
View File

@@ -1707,18 +1707,25 @@ PHY_IVehicle* CcdPhysicsEnvironment::getVehicleConstraint(int constraintId)
#endif //NEW_BULLET_VEHICLE_SUPPORT
int currentController = 0;
int numController = 0;
void CcdPhysicsEnvironment::UpdateAabbs(float timeStep)
{
std::vector<CcdPhysicsController*>::iterator i;
BroadphaseInterface* scene = GetBroadphase();
numController = m_controllers.size();
currentController = 0;
//
// update aabbs, only for moving objects (!)
//
for (i=m_controllers.begin();
!(i==m_controllers.end()); i++)
{
currentController++;
CcdPhysicsController* ctrl = (*i);
RigidBody* body = ctrl->GetRigidBody();

5
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
View File

@@ -234,6 +234,11 @@ protected:
return m_islandManager;
}
class ConstraintSolver* GetConstraintSolver()
{
return m_solver;
}
protected: