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Constraints can override their own number of solver iterations (either more or less than the default) or leave it default (-1)

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Bump version to 2.80
This commit is contained in:
erwin.coumans
2012-03-03 03:07:18 +00:00
parent a5aa2a5ff7
commit 710954d772
16 changed files with 799 additions and 649 deletions
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148
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -740,13 +740,13 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
}
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
BT_PROFILE("solveGroupCacheFriendlySetup");
(void)stackAlloc;
(void)debugDrawer;
m_maxOverrideNumSolverIterations = 0;
if (!(numConstraints + numManifolds))
{
@@ -831,12 +831,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
btTypedConstraint* constraint = constraints[i];
btRigidBody& rbA = constraint->getRigidBodyA();
btRigidBody& rbB = constraint->getRigidBodyB();
int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)
m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
int j;
for ( j=0;j<info1.m_numConstraintRows;j++)
{
@@ -847,6 +850,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
currentConstraintRow[j].m_appliedPushImpulse = 0.f;
currentConstraintRow[j].m_solverBodyA = &rbA;
currentConstraintRow[j].m_solverBodyB = &rbB;
currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
}
rbA.internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f);
@@ -1004,18 +1008,22 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
m_orderNonContactConstraintPool[swapi] = tmp;
}
for (j=0; j<numConstraintPool; ++j) {
int tmp = m_orderTmpConstraintPool[j];
int swapi = btRandInt2(j+1);
m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
m_orderTmpConstraintPool[swapi] = tmp;
}
//contact/friction constraints are not solved more than
if (iteration< infoGlobal.m_numIterations)
{
for (j=0; j<numConstraintPool; ++j) {
int tmp = m_orderTmpConstraintPool[j];
int swapi = btRandInt2(j+1);
m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
m_orderTmpConstraintPool[swapi] = tmp;
}
for (j=0; j<numFrictionPool; ++j) {
int tmp = m_orderFrictionConstraintPool[j];
int swapi = btRandInt2(j+1);
m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
m_orderFrictionConstraintPool[swapi] = tmp;
for (j=0; j<numFrictionPool; ++j) {
int tmp = m_orderFrictionConstraintPool[j];
int swapi = btRandInt2(j+1);
m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
m_orderFrictionConstraintPool[swapi] = tmp;
}
}
}
}
@@ -1026,35 +1034,40 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
{
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
if (iteration < constraint.m_overrideNumSolverIterations)
resolveSingleConstraintRowGenericSIMD(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
}
for (j=0;j<numConstraints;j++)
if (iteration< infoGlobal.m_numIterations)
{
constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
}
///solve all contact constraints using SIMD, if available
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
for (j=0;j<numPoolConstraints;j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
resolveSingleConstraintRowLowerLimitSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
}
///solve all friction constraints, using SIMD, if available
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
for (j=0;j<numFrictionPoolConstraints;j++)
{
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
if (totalImpulse>btScalar(0))
for (j=0;j<numConstraints;j++)
{
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
}
resolveSingleConstraintRowGenericSIMD(*solveManifold.m_solverBodyA, *solveManifold.m_solverBodyB,solveManifold);
///solve all contact constraints using SIMD, if available
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
for (j=0;j<numPoolConstraints;j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
resolveSingleConstraintRowLowerLimitSIMD(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
}
///solve all friction constraints, using SIMD, if available
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
for (j=0;j<numFrictionPoolConstraints;j++)
{
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
if (totalImpulse>btScalar(0))
{
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
resolveSingleConstraintRowGenericSIMD(*solveManifold.m_solverBodyA, *solveManifold.m_solverBodyB,solveManifold);
}
}
}
} else
@@ -1064,33 +1077,37 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
{
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
if (iteration < constraint.m_overrideNumSolverIterations)
resolveSingleConstraintRowGeneric(*constraint.m_solverBodyA,*constraint.m_solverBodyB,constraint);
}
for (j=0;j<numConstraints;j++)
if (iteration< infoGlobal.m_numIterations)
{
constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
}
///solve all contact constraints
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
for (j=0;j<numPoolConstraints;j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
resolveSingleConstraintRowLowerLimit(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
}
///solve all friction constraints
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
for (j=0;j<numFrictionPoolConstraints;j++)
{
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
if (totalImpulse>btScalar(0))
for (j=0;j<numConstraints;j++)
{
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
constraints[j]->solveConstraintObsolete(constraints[j]->getRigidBodyA(),constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
}
///solve all contact constraints
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
for (j=0;j<numPoolConstraints;j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
resolveSingleConstraintRowLowerLimit(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
}
///solve all friction constraints
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
for (j=0;j<numFrictionPoolConstraints;j++)
{
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
resolveSingleConstraintRowGeneric(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
if (totalImpulse>btScalar(0))
{
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
resolveSingleConstraintRowGeneric(*solveManifold.m_solverBodyA,*solveManifold.m_solverBodyB,solveManifold);
}
}
}
}
@@ -1142,13 +1159,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
{
BT_PROFILE("solveGroupCacheFriendlyIterations");
//should traverse the contacts random order...
int iteration;
{
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
{
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
}