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Merge branch 'master' into pr-fix-thread-index

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This commit is contained in:
lunkhound
2017-06-05 00:33:02 -07:00
committed by GitHub
parent 0fc3ce69e9 69642805ff
commit 6bf3d4e08e
23 changed files with 1200 additions and 75 deletions
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2
src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
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@@ -59,7 +59,7 @@ public:
) = 0;
};
typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, IslandCallback* callback );
static void serialIslandDispatch( btAlignedObjectArray<Island*>* islands, IslandCallback* callback );
static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
protected:
btAlignedObjectArray<Island*> m_allocatedIslands; // owner of all Islands

10
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -2013,10 +2013,10 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
}
mbd->m_links = mbd->m_numLinks? (btMultiBodyLinkData*) serializer->getUniquePointer((void*)&m_links[0]):0;
// Fill padding with zeros to appease msan.
#ifdef BT_USE_DOUBLE_PRECISION
memset(mbd->m_padding, 0, sizeof(mbd->m_padding));
#endif
// Fill padding with zeros to appease msan.
#ifdef BT_USE_DOUBLE_PRECISION
memset(mbd->m_padding, 0, sizeof(mbd->m_padding));
#endif
return btMultiBodyDataName;
}

79
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
View File

@@ -665,12 +665,12 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v);
btVector3 torqueAxis0 = constraintNormal;
btVector3 torqueAxis0 = -constraintNormal;
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = btVector3(0,0,0);
} else
{
btVector3 torqueAxis0 = constraintNormal;
btVector3 torqueAxis0 = -constraintNormal;
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = btVector3(0,0,0);
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
@@ -708,21 +708,20 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
multiBodyB->calcAccelerationDeltasMultiDof(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v);
btVector3 torqueAxis1 = constraintNormal;
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
solverConstraint.m_relpos2CrossNormal = torqueAxis1;
solverConstraint.m_contactNormal2 = -btVector3(0,0,0);
} else
{
btVector3 torqueAxis1 = constraintNormal;
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
solverConstraint.m_relpos2CrossNormal = torqueAxis1;
solverConstraint.m_contactNormal2 = -btVector3(0,0,0);
solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
}
{
btVector3 vec;
btScalar denom0 = 0.f;
btScalar denom1 = 0.f;
btScalar* jacB = 0;
@@ -745,8 +744,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
{
if (rb0)
{
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
denom0 = rb0->getInvMass() + constraintNormal.dot(vec);
btVector3 iMJaA = rb0?rb0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0);
denom0 = iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
}
}
if (multiBodyB)
@@ -765,8 +764,8 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
{
if (rb1)
{
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
denom1 = rb1->getInvMass() + constraintNormal.dot(vec);
btVector3 iMJaB = rb1?rb1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0);
denom1 = iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
}
}
@@ -808,7 +807,10 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
{
if (rb0)
{
rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
btSolverBody* solverBodyA = &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA];
rel_vel += solverConstraint.m_contactNormal1.dot(rb0?solverBodyA->m_linearVelocity+solverBodyA->m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(rb0?solverBodyA->m_angularVelocity:btVector3(0,0,0));
}
}
if (multiBodyB)
@@ -822,7 +824,10 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
{
if (rb1)
{
rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
btSolverBody* solverBodyB = &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB];
rel_vel += solverConstraint.m_contactNormal2.dot(rb1?solverBodyB->m_linearVelocity+solverBodyB->m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(rb1?solverBodyB->m_angularVelocity:btVector3(0,0,0));
}
}
@@ -844,12 +849,9 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
{
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
btScalar velocityError = 0 - rel_vel;// * damping; //note for friction restitution is always set to 0 (check above) so it is acutally velocityError = -rel_vel for friction
if (penetration>0)
{
velocityError -= penetration / infoGlobal.m_timeStep;
}
btScalar velocityImpulse = velocityError*solverConstraint.m_jacDiagABInv;
@@ -1021,6 +1023,33 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
///this will give a conveyor belt effect
///
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
cp.m_lateralFrictionDir1.normalize();
cp.m_lateralFrictionDir2.normalize();
if (rollingFriction > 0 )
{
if (cp.m_combinedSpinningFriction>0)
{
addMultiBodyTorsionalFrictionConstraint(cp.m_normalWorldOnB,manifold,frictionIndex,cp,cp.m_combinedSpinningFriction, colObj0,colObj1, relaxation,infoGlobal);
}
if (cp.m_combinedRollingFriction>0)
{
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
if (cp.m_lateralFrictionDir1.length()>0.001)
addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
if (cp.m_lateralFrictionDir2.length()>0.001)
addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
}
rollingFriction--;
}
if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags&BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
{/*
cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
@@ -1045,26 +1074,12 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
} else
*/
{
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
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);
if (rollingFriction > 0 )
{
if (cp.m_combinedSpinningFriction>0)
{
addMultiBodyTorsionalFrictionConstraint(cp.m_normalWorldOnB,manifold,frictionIndex,cp,cp.m_combinedSpinningFriction, colObj0,colObj1, relaxation,infoGlobal);
}
if (cp.m_combinedRollingFriction>0)
{
addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
}
rollingFriction--;
}
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{