documentation and optimization

2019-09-20 13:54:17 -07:00
parent 20abbc9ee7
commit 657a7468b3
11 changed files with 162 additions and 110 deletions
--- a/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
+++ b/src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
@@ -59,3 +59,67 @@ btScalar btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlyIteration
    }
    return 0.f;
 }
+
+void btDeformableMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
+{
+    m_tmpMultiBodyConstraints = multiBodyConstraints;
+    m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
+    
+    // inherited from MultiBodyConstraintSolver
+    solveGroupCacheFriendlySetup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
+    
+    // overriden
+    solveGroupCacheFriendlyIterations(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, info, debugDrawer);
+    
+    // inherited from MultiBodyConstraintSolver
+    solveGroupCacheFriendlyFinish(bodies, numBodies, info);
+    
+    m_tmpMultiBodyConstraints = 0;
+    m_tmpNumMultiBodyConstraints = 0;
+}
+
+void btDeformableMultiBodyConstraintSolver::writeToSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
+{
+    btSISolverSingleIterationData siData(m_tmpSolverBodyPool,
+                                         m_tmpSolverContactConstraintPool,
+                                         m_tmpSolverNonContactConstraintPool,
+                                         m_tmpSolverContactFrictionConstraintPool,
+                                         m_tmpSolverContactRollingFrictionConstraintPool,
+                                         m_orderTmpConstraintPool,
+                                         m_orderNonContactConstraintPool,
+                                         m_orderFrictionConstraintPool,
+                                         m_tmpConstraintSizesPool,
+                                         m_resolveSingleConstraintRowGeneric,
+                                         m_resolveSingleConstraintRowLowerLimit,
+                                         m_resolveSplitPenetrationImpulse,
+                                         m_kinematicBodyUniqueIdToSolverBodyTable,
+                                         m_btSeed2,
+                                         m_fixedBodyId,
+                                         m_maxOverrideNumSolverIterations);
+    
+    for (int i = 0; i < numBodies; i++)
+    {
+        int bodyId = siData.getOrInitSolverBody(*bodies[i], infoGlobal.m_timeStep);
+        
+        btRigidBody* body = btRigidBody::upcast(bodies[i]);
+        if (body && body->getInvMass())
+        {
+            btSolverBody& solverBody = siData.m_tmpSolverBodyPool[bodyId];
+            solverBody.m_linearVelocity = body->getLinearVelocity() - solverBody.m_deltaLinearVelocity;
+            solverBody.m_angularVelocity = body->getAngularVelocity() - solverBody.m_deltaAngularVelocity;
+        }
+    }
+}
+
+void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactSolverInfo& infoGlobal)
+{
+    for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
+    {
+        btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
+        if (body)
+        {
+            m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity + m_tmpSolverBodyPool[i].m_deltaLinearVelocity);
+            m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity+m_tmpSolverBodyPool[i].m_deltaAngularVelocity);
+        }
+    }
+}