Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

process contact and non-contact constraints inside the same iteration loop

Browse Source 
added first draft for hingeConstraint motor
This commit is contained in:
ejcoumans
2006-12-12 03:15:11 +00:00
parent a4541d2470
commit 6dff5a218e
15 changed files with 267 additions and 203 deletions
Download Patch File Download Diff File Expand all files Collapse all files

122
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -270,12 +270,9 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep)
///solve non-contact constraints
solveNoncontactConstraints(getSolverInfo());
///solve contact and other joint constraints
solveConstraints(getSolverInfo());
///solve contact constraints
solveContactConstraints(getSolverInfo());
///CallbackTriggers();
///integrate transforms
@@ -401,79 +398,116 @@ void btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
}
}
inline int btGetConstraintIslandId(const btTypedConstraint* lhs)
{
int islandId;
const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag();
return islandId;
void btDiscreteDynamicsWorld::solveContactConstraints(btContactSolverInfo& solverInfo)
}
static bool btSortConstraintOnIslandPredicate(const btTypedConstraint* lhs, const btTypedConstraint* rhs)
{
int rIslandId0,lIslandId0;
rIslandId0 = btGetConstraintIslandId(rhs);
lIslandId0 = btGetConstraintIslandId(lhs);
return lIslandId0 < rIslandId0;
}
void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
BEGIN_PROFILE("solveContactConstraints");
BEGIN_PROFILE("solveConstraints");
struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
{
btContactSolverInfo& m_solverInfo;
btConstraintSolver* m_solver;
btIDebugDraw* m_debugDrawer;
btContactSolverInfo& m_solverInfo;
btConstraintSolver* m_solver;
btTypedConstraint** m_sortedConstraints;
int m_numConstraints;
btIDebugDraw* m_debugDrawer;
InplaceSolverIslandCallback(
btContactSolverInfo& solverInfo,
btConstraintSolver* solver,
btTypedConstraint** sortedConstraints,
int numConstraints,
btIDebugDraw* debugDrawer)
:m_solverInfo(solverInfo),
m_solver(solver),
m_sortedConstraints(sortedConstraints),
m_numConstraints(numConstraints),
m_debugDrawer(debugDrawer)
{
}
virtual void ProcessIsland(btPersistentManifold** manifolds,int numManifolds)
virtual void ProcessIsland(btPersistentManifold** manifolds,int numManifolds, int islandId)
{
m_solver->solveGroup( manifolds, numManifolds,m_solverInfo,m_debugDrawer);
//also add all non-contact constraints/joints for this island
btTypedConstraint** startConstraint = 0;
int numCurConstraints = 0;
int i;
//find the first constraint for this island
for (i=0;i<m_numConstraints;i++)
{
if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
{
startConstraint = &m_sortedConstraints[i];
break;
}
}
//count the number of constraints in this island
for (;i<m_numConstraints;i++)
{
if (btGetConstraintIslandId(m_sortedConstraints[i]) == islandId)
{
numCurConstraints++;
}
}
m_solver->solveGroup( manifolds, numManifolds,startConstraint,numCurConstraints,m_solverInfo,m_debugDrawer);
}
};
InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, m_debugDrawer);
/// solve all the contact points and contact friction
//sorted version of all btTypedConstraint, based on islandId
std::vector<btTypedConstraint*> sortedConstraints;
sortedConstraints.resize( m_constraints.size());
int i;
for (i=0;i<getNumConstraints();i++)
{
sortedConstraints[i] = m_constraints[i];
}
std::sort(sortedConstraints.begin(),sortedConstraints.end(),btSortConstraintOnIslandPredicate);
btTypedConstraint** constraintsPtr = getNumConstraints() ? &sortedConstraints[0] : 0;
InplaceSolverIslandCallback solverCallback( solverInfo, m_constraintSolver, constraintsPtr,sortedConstraints.size(), m_debugDrawer);
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld()->getCollisionObjectArray(),&solverCallback);
END_PROFILE("solveContactConstraints");
END_PROFILE("solveConstraints");
}
void btDiscreteDynamicsWorld::solveNoncontactConstraints(btContactSolverInfo& solverInfo)
{
BEGIN_PROFILE("solveNoncontactConstraints");
int i;
int numConstraints = int(m_constraints.size());
///constraint preparation: building jacobians
for (i=0;i< numConstraints ; i++ )
{
btTypedConstraint* constraint = m_constraints[i];
constraint->buildJacobian();
}
//solve the regular non-contact constraints (point 2 point, hinge, generic d6)
for (int g=0;g<solverInfo.m_numIterations;g++)
{
//
// constraint solving
//
for (i=0;i< numConstraints ; i++ )
{
btTypedConstraint* constraint = m_constraints[i];
constraint->solveConstraint( solverInfo.m_timeStep );
}
}
END_PROFILE("solveNoncontactConstraints");
}
void btDiscreteDynamicsWorld::calculateSimulationIslands()
{

6
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View File

@@ -66,10 +66,8 @@ protected:
void calculateSimulationIslands();
void solveNoncontactConstraints(btContactSolverInfo& solverInfo);
void solveContactConstraints(btContactSolverInfo& solverInfo);
void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(float timeStep);
void updateVehicles(float timeStep);

7
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View File

@@ -63,7 +63,7 @@ int btSimpleDynamicsWorld::stepSimulation( float timeStep,int maxSubSteps, floa
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
m_constraintSolver->solveGroup(manifoldPtr, numManifolds,infoGlobal,m_debugDrawer);
m_constraintSolver->solveGroup(manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer);
}
///integrate transforms
@@ -101,7 +101,10 @@ void btSimpleDynamicsWorld::addRigidBody(btRigidBody* body)
{
body->setGravity(m_gravity);
addCollisionObject(body);
if (body->getCollisionShape())
{
addCollisionObject(body);
}
}
void btSimpleDynamicsWorld::updateAabbs()