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Add 1D and 2D support for Bullet: using rigidbody->angularFactor(const btVector3& factor) and body->setLinearFactor(const btVector3& linearFactor);

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For example, to only allow linear motion in the X-Z plane, and only rotation around Y axis use:
	body->setLinearFactor(btVector3(1,0,1));
	body->setAngularFactor(btVector3(0,1,0));
Fix build issues with CodeBlocks, when generating projectfiles using CMake 2.6:
${OPENGL_glU_LIBRARY} should be ${OPENGL_glu_LIBRARY}
Fix build issue with CodeBlocks, comment out xmlfree in Extras/COLLADA_DOM/src/modules/LIBXMLPlugin/daeLIBXMLPlugin.cpp (will leak memory)
This commit is contained in:
erwin.coumans
2009-03-08 04:14:17 +00:00
parent 3317f17270
commit 700db838b1
8 changed files with 91 additions and 77 deletions
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32
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -76,8 +76,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
__m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp);
deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) );
c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) );
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,_mm_set1_ps(body1.m_invMass));
__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,_mm_set1_ps(body2.m_invMass));
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128);
__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128);
__m128 impulseMagnitude = deltaImpulse;
body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
@@ -114,9 +114,7 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
{
c.m_appliedImpulse = sum;
}
if (body1.m_invMass)
body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse);
if (body2.m_invMass)
body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
}
@@ -138,8 +136,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,_mm_set1_ps(body1.m_invMass));
__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,_mm_set1_ps(body2.m_invMass));
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128);
__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128);
__m128 impulseMagnitude = deltaImpulse;
body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
@@ -169,10 +167,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
{
c.m_appliedImpulse = sum;
}
if (body1.m_invMass)
body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse);
if (body2.m_invMass)
body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse);
body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse);
}
@@ -224,14 +220,14 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
if (rb)
{
solverBody->m_invMass = rb->getInvMass();
solverBody->m_invMass = btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor();
solverBody->m_originalBody = rb;
solverBody->m_angularFactor = rb->getAngularFactor();
} else
{
solverBody->m_invMass = 0.f;
solverBody->m_invMass.setValue(0,0,0);
solverBody->m_originalBody = 0;
solverBody->m_angularFactor = 1.f;
solverBody->m_angularFactor.setValue(1,1,1);
}
}
@@ -494,13 +490,13 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
///warm starting (or zero if disabled)
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
if (0)//infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (rb0)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
if (rb1)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass(),-solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse);
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse);
} else
{
solverConstraint.m_appliedImpulse = 0.f;
@@ -587,9 +583,9 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
{
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
if (rb0)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
if (rb1)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
} else
{
frictionConstraint1.m_appliedImpulse = 0.f;