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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
erwincoumans
2019-04-03 20:08:05 -07:00
parent 6951aaf26a 62add41ab4
commit 76918ca26d
14 changed files with 521 additions and 128 deletions
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32
examples/BlockSolver/BlockSolverExample.cpp
View File

@@ -13,6 +13,7 @@
class BlockSolverExample : public CommonMultiBodyBase
{
int m_option;
public:
BlockSolverExample(GUIHelperInterface* helper, int option);
virtual ~BlockSolverExample();
@@ -35,7 +36,6 @@ public:
btMultiBody* loadRobot(std::string filepath);
};
BlockSolverExample::BlockSolverExample(GUIHelperInterface* helper, int option)
: CommonMultiBodyBase(helper),
m_option(option)
@@ -51,13 +51,12 @@ BlockSolverExample::~BlockSolverExample()
void BlockSolverExample::stepSimulation(float deltaTime)
{
//use a smaller internal timestep, there are stability issues
btScalar internalTimeStep = 1./240.f;
btScalar internalTimeStep = 1. / 240.f;
m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
}
void BlockSolverExample::initPhysics()
{
///collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
@@ -66,37 +65,34 @@ void BlockSolverExample::initPhysics()
m_broadphase = new btDbvtBroadphase();
btMLCPSolverInterface* mlcp;
if (m_option&BLOCK_SOLVER_SI)
if (m_option & BLOCK_SOLVER_SI)
{
btAssert(!m_solver);
m_solver = new btMultiBodyConstraintSolver;
b3Printf("Constraint Solver: Sequential Impulse");
}
if (m_option&BLOCK_SOLVER_MLCP_PGS)
if (m_option & BLOCK_SOLVER_MLCP_PGS)
{
btAssert(!m_solver);
mlcp = new btSolveProjectedGaussSeidel();
m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
b3Printf("Constraint Solver: MLCP + PGS");
}
if (m_option&BLOCK_SOLVER_MLCP_DANTZIG)
if (m_option & BLOCK_SOLVER_MLCP_DANTZIG)
{
btAssert(!m_solver);
mlcp = new btDantzigSolver();
m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
b3Printf("Constraint Solver: MLCP + Dantzig");
}
if (m_option&BLOCK_SOLVER_BLOCK)
if (m_option & BLOCK_SOLVER_BLOCK)
{
m_solver = new btBlockSolver();
}
btAssert(m_solver);
btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_dynamicsWorld = world;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
@@ -104,16 +100,14 @@ void BlockSolverExample::initPhysics()
m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-6); //todo: what value is good?
if (m_option&BLOCK_SOLVER_SCENE_MB_STACK)
if (m_option & BLOCK_SOLVER_SCENE_MB_STACK)
{
createMultiBodyStack();
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void BlockSolverExample::createMultiBodyStack()
{
///create a few basic rigid bodies
@@ -134,7 +128,7 @@ void BlockSolverExample::createMultiBodyStack()
btMultiBody* body = createMultiBody(mass, tr, groundShape);
}
for (int i=0;i<10;i++)
for (int i = 0; i < 10; i++)
{
btBoxShape* boxShape = createBoxShape(btVector3(btScalar(.1), btScalar(.1), btScalar(.1)));
m_collisionShapes.push_back(boxShape);
@@ -143,10 +137,10 @@ void BlockSolverExample::createMultiBodyStack()
mass = 100;
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0, 0, 0.1+i*0.2));
tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2));
btMultiBody* body = createMultiBody(mass, tr, boxShape);
}
if(0)
if (0)
{
btMultiBody* mb = loadRobot("cube_small.urdf");
btTransform tr;
@@ -173,25 +167,21 @@ btMultiBody* BlockSolverExample::createMultiBody(btScalar mass, const btTransfor
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
this->m_dynamicsWorld->addCollisionObject(collider, collisionFilterGroup, collisionFilterMask);
mb->setBaseCollider(collider);
mb->finalizeMultiDof();
this->m_dynamicsWorld->addMultiBody(mb);
m_dynamicsWorld->forwardKinematics();
return mb;
}
btMultiBody* BlockSolverExample::loadRobot(std::string filepath)
{
btMultiBody* m_multiBody = 0;
BulletURDFImporter u2b(m_guiHelper, 0, 0, 1, 0);
bool loadOk = u2b.loadURDF(filepath.c_str());// lwr / kuka.urdf");
bool loadOk = u2b.loadURDF(filepath.c_str()); // lwr / kuka.urdf");
if (loadOk)
{
int rootLinkIndex = u2b.getRootLinkIndex();

12
examples/BlockSolver/BlockSolverExample.h
View File

@@ -2,18 +2,6 @@
#ifndef BLOCK_SOLVER_EXAMPLE_H
#define BLOCK_SOLVER_EXAMPLE_H
enum BlockSolverOptions
{
BLOCK_SOLVER_SI=1<<0,
BLOCK_SOLVER_MLCP_PGS = 1 << 1,
BLOCK_SOLVER_MLCP_DANTZIG = 1 << 2,
BLOCK_SOLVER_BLOCK = 1 << 3,
BLOCK_SOLVER_SCENE_MB_STACK= 1 << 5,
BLOCK_SOLVER_SCENE_CHAIN = 1<< 6,
};
class CommonExampleInterface* BlockSolverExampleCreateFunc(struct CommonExampleOptions& options);
#endif //BLOCK_SOLVER_EXAMPLE_H

150
examples/BlockSolver/RigidBodyBoxes.cpp Normal file
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@@ -0,0 +1,150 @@
#include "RigidBodyBoxes.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../CommonInterfaces/CommonRigidBodyBase.h"
#include "BlockSolverExample.h"
#include "btBlockSolver.h"
class RigidBodyBoxes : public CommonRigidBodyBase
{
int m_option;
int m_numIterations;
int m_numBoxes = 4;
btAlignedObjectArray<btRigidBody*> boxes;
static btScalar numSolverIterations;
public:
RigidBodyBoxes(GUIHelperInterface* helper, int option);
virtual ~RigidBodyBoxes();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
void resetCubePosition();
virtual void resetCamera()
{
float dist = 3;
float pitch = -35;
float yaw = 50;
float targetPos[3] = {0, 0, .1};
m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1],
targetPos[2]);
}
void createRigidBodyStack();
};
btScalar RigidBodyBoxes::numSolverIterations = 50;
RigidBodyBoxes::RigidBodyBoxes(GUIHelperInterface* helper, int option)
: CommonRigidBodyBase(helper),
m_option(option),
m_numIterations(numSolverIterations)
{
m_guiHelper->setUpAxis(2);
}
RigidBodyBoxes::~RigidBodyBoxes()
{
// Do nothing
}
void RigidBodyBoxes::createRigidBodyStack()
{
// create ground
btBoxShape* groundShape =
createBoxShape(btVector3(btScalar(5.), btScalar(5.), btScalar(5.)));
m_collisionShapes.push_back(groundShape);
btTransform groundTransform;
groundTransform.setIdentity();
groundTransform.setOrigin(btVector3(0, 0, -5));
btScalar mass(0.);
btRigidBody* body = createRigidBody(mass, groundTransform, groundShape,
btVector4(0, 0, 1, 1));
// create a few boxes
mass = 1;
for (int i = 0; i < m_numBoxes; i++)
{
btBoxShape* boxShape =
createBoxShape(btVector3(btScalar(.1), btScalar(.1), btScalar(.1)));
m_collisionShapes.push_back(boxShape);
mass *= 4;
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2));
boxes.push_back(createRigidBody(mass, tr, boxShape));
}
}
void RigidBodyBoxes::initPhysics()
{
/// collision configuration contains default setup for memory, collision setup
m_collisionConfiguration = new btDefaultCollisionConfiguration();
/// use the default collision dispatcher. For parallel processing you can use
/// a diffent dispatcher (see Extras/BulletMultiThreaded)
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_broadphase = new btDbvtBroadphase();
{
SliderParams slider("numSolverIterations", &numSolverIterations);
slider.m_minVal = 5;
slider.m_maxVal = 500;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
if (m_option & BLOCK_SOLVER_SI)
{
m_solver = new btSequentialImpulseConstraintSolver;
b3Printf("Constraint Solver: Sequential Impulse");
}
if (m_option & BLOCK_SOLVER_BLOCK)
{
m_solver = new btBlockSolver();
b3Printf("Constraint Solver: Block solver");
}
btAssert(m_solver);
m_dynamicsWorld = new btDiscreteDynamicsWorld(
m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
createRigidBodyStack();
m_dynamicsWorld->getSolverInfo().m_numIterations = numSolverIterations;
m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-6);
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
void RigidBodyBoxes::resetCubePosition()
{
for (int i = 0; i < m_numBoxes; i++)
{
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0, 0, 0.1 + i * 0.2));
boxes[i]->setWorldTransform(tr);
}
}
void RigidBodyBoxes::stepSimulation(float deltaTime)
{
if ((int)numSolverIterations != m_numIterations)
{
resetCubePosition();
m_numIterations = (int)numSolverIterations;
m_dynamicsWorld->getSolverInfo().m_numIterations = m_numIterations;
b3Printf("New num iterations; %d", m_numIterations);
}
m_dynamicsWorld->stepSimulation(deltaTime);
}
CommonExampleInterface* RigidBodyBoxesCreateFunc(
CommonExampleOptions& options)
{
return new RigidBodyBoxes(options.m_guiHelper, options.m_option);
}

6
examples/BlockSolver/RigidBodyBoxes.h Normal file
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@@ -0,0 +1,6 @@
#ifndef BLOCKSOLVER_RIGIDBODYBOXES_H_
#define BLOCKSOLVER_RIGIDBODYBOXES_H_
class CommonExampleInterface* RigidBodyBoxesCreateFunc(struct CommonExampleOptions& options);
#endif //BLOCKSOLVER_RIGIDBODYBOXES_H_

326
examples/BlockSolver/btBlockSolver.cpp
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@@ -1,7 +1,17 @@
#include "btBlockSolver.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "LinearMath/btQuickprof.h"
void setupHelper(btSISolverSingleIterationData& siData,
btCollisionObject** bodies, int numBodies,
const btContactSolverInfo& info,
btTypedConstraint** constraintStart, int constrainNums,
btPersistentManifold** manifoldPtr, int numManifolds);
struct btBlockSolverInternalData
{
btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
@@ -13,68 +23,255 @@ struct btBlockSolverInternalData
btAlignedObjectArray<int> m_orderTmpConstraintPool;
btAlignedObjectArray<int> m_orderNonContactConstraintPool;
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>
m_tmpConstraintSizesPool;
unsigned long m_btSeed2;
int m_fixedBodyId;
int m_maxOverrideNumSolverIterations;
btAlignedObjectArray<int> m_kinematicBodyUniqueIdToSolverBodyTable; // only used for multithreading
btAlignedObjectArray<int>
m_kinematicBodyUniqueIdToSolverBodyTable; // only used for multithreading
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
btBlockSolverInternalData()
:m_btSeed2(0),
: m_btSeed2(0),
m_fixedBodyId(-1),
m_maxOverrideNumSolverIterations(0),
m_resolveSingleConstraintRowGeneric(btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverGeneric()),
m_resolveSingleConstraintRowLowerLimit(btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverLowerLimit()),
m_resolveSplitPenetrationImpulse(btSequentialImpulseConstraintSolver::getScalarSplitPenetrationImpulseGeneric())
{
}
m_resolveSingleConstraintRowGeneric(
btSequentialImpulseConstraintSolver::
getScalarConstraintRowSolverGeneric()),
m_resolveSingleConstraintRowLowerLimit(
btSequentialImpulseConstraintSolver::
getScalarConstraintRowSolverLowerLimit()),
m_resolveSplitPenetrationImpulse(
btSequentialImpulseConstraintSolver::
getScalarSplitPenetrationImpulseGeneric()) {}
};
btBlockSolver::btBlockSolver()
{
m_data2 = new btBlockSolverInternalData;
m_data21 = new btBlockSolverInternalData;
m_data22 = new btBlockSolverInternalData;
}
btBlockSolver::~btBlockSolver()
{
delete m_data2;
delete m_data21;
delete m_data22;
}
btScalar btBlockSolver::solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
btScalar btBlockSolver::solveGroupInternalBlock(
btCollisionObject** bodies, int numBodies,
btPersistentManifold** manifoldPtr, int numManifolds,
btTypedConstraint** constraints, int numConstraints,
const btContactSolverInfo& info, btIDebugDraw* debugDrawer,
btDispatcher* dispatcher)
{
// initialize data for two children solvers
btSISolverSingleIterationData siData1(
m_data21->m_tmpSolverBodyPool, m_data21->m_tmpSolverContactConstraintPool,
m_data21->m_tmpSolverNonContactConstraintPool,
m_data21->m_tmpSolverContactFrictionConstraintPool,
m_data21->m_tmpSolverContactRollingFrictionConstraintPool,
m_data21->m_orderTmpConstraintPool,
m_data21->m_orderNonContactConstraintPool,
m_data21->m_orderFrictionConstraintPool,
m_data21->m_tmpConstraintSizesPool,
m_data21->m_resolveSingleConstraintRowGeneric,
m_data21->m_resolveSingleConstraintRowLowerLimit,
m_data21->m_resolveSplitPenetrationImpulse,
m_data21->m_kinematicBodyUniqueIdToSolverBodyTable, m_data21->m_btSeed2,
m_data21->m_fixedBodyId, m_data21->m_maxOverrideNumSolverIterations);
btSISolverSingleIterationData siData(m_data2->m_tmpSolverBodyPool,
m_data2->m_tmpSolverContactConstraintPool,
m_data2->m_tmpSolverNonContactConstraintPool,
m_data2->m_tmpSolverContactFrictionConstraintPool,
m_data2->m_tmpSolverContactRollingFrictionConstraintPool,
m_data2->m_orderTmpConstraintPool,
m_data2->m_orderNonContactConstraintPool,
m_data2->m_orderFrictionConstraintPool,
m_data2->m_tmpConstraintSizesPool,
m_data2->m_resolveSingleConstraintRowGeneric,
m_data2->m_resolveSingleConstraintRowLowerLimit,
m_data2->m_resolveSplitPenetrationImpulse,
m_data2->m_kinematicBodyUniqueIdToSolverBodyTable,
m_data2->m_btSeed2,
m_data2->m_fixedBodyId,
m_data2->m_maxOverrideNumSolverIterations);
btSISolverSingleIterationData siData2(
m_data22->m_tmpSolverBodyPool, m_data22->m_tmpSolverContactConstraintPool,
m_data22->m_tmpSolverNonContactConstraintPool,
m_data22->m_tmpSolverContactFrictionConstraintPool,
m_data22->m_tmpSolverContactRollingFrictionConstraintPool,
m_data22->m_orderTmpConstraintPool,
m_data22->m_orderNonContactConstraintPool,
m_data22->m_orderFrictionConstraintPool,
m_data22->m_tmpConstraintSizesPool,
m_data22->m_resolveSingleConstraintRowGeneric,
m_data22->m_resolveSingleConstraintRowLowerLimit,
m_data22->m_resolveSplitPenetrationImpulse,
m_data22->m_kinematicBodyUniqueIdToSolverBodyTable, m_data22->m_btSeed2,
m_data22->m_fixedBodyId, m_data22->m_maxOverrideNumSolverIterations);
m_data2->m_fixedBodyId = -1;
//todo: setup sse2/4 constraint row methods
m_data21->m_fixedBodyId = -1;
m_data22->m_fixedBodyId = -1;
btSequentialImpulseConstraintSolver::convertBodiesInternal(siData, bodies, numBodies, info);
btSequentialImpulseConstraintSolver::convertJointsInternal(siData, constraints, numConstraints, info);
// set up
int halfNumConstraints1 = numConstraints / 2;
int halfNumConstraints2 = numConstraints - halfNumConstraints1;
int halfNumManifolds1 = numConstraints / 2;
int halfNumManifolds2 = numManifolds - halfNumManifolds1;
setupHelper(siData1, bodies, numBodies, info, constraints,
halfNumConstraints1, manifoldPtr, halfNumManifolds1);
setupHelper(siData2, bodies, numBodies, info,
constraints + halfNumConstraints1, halfNumConstraints2,
manifoldPtr + halfNumManifolds1, halfNumManifolds2);
// set up complete
// begin solve
btScalar leastSquaresResidual = 0;
{
BT_PROFILE("solveGroupCacheFriendlyIterations");
/// this is a special step to resolve penetrations (just for contacts)
btSequentialImpulseConstraintSolver::
solveGroupCacheFriendlySplitImpulseIterationsInternal(
siData1, bodies, numBodies, manifoldPtr, halfNumManifolds1,
constraints, halfNumConstraints1, info, debugDrawer);
btSequentialImpulseConstraintSolver::
solveGroupCacheFriendlySplitImpulseIterationsInternal(
siData2, bodies, numBodies, manifoldPtr + halfNumManifolds1,
halfNumManifolds2, constraints + halfNumConstraints1,
halfNumConstraints2, info, debugDrawer);
int maxIterations =
siData1.m_maxOverrideNumSolverIterations > info.m_numIterations
? siData1.m_maxOverrideNumSolverIterations
: info.m_numIterations;
for (int iteration = 0; iteration < maxIterations; iteration++)
{
btScalar res1 =
btSequentialImpulseConstraintSolver::solveSingleIterationInternal(
siData1, iteration, constraints, halfNumConstraints1, info);
btScalar res2 =
btSequentialImpulseConstraintSolver::solveSingleIterationInternal(
siData2, iteration, constraints + halfNumConstraints1,
halfNumConstraints2, info);
leastSquaresResidual = btMax(res1, res2);
if (leastSquaresResidual <= info.m_leastSquaresResidualThreshold ||
(iteration >= (maxIterations - 1)))
{
#ifdef VERBOSE_RESIDUAL_PRINTF
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual,
iteration);
#endif
break;
}
}
}
btScalar res = btSequentialImpulseConstraintSolver::
solveGroupCacheFriendlyFinishInternal(siData1, bodies, numBodies, info);
+btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(
siData2, bodies, numBodies, info);
return res;
}
void setupHelper(btSISolverSingleIterationData& siData,
btCollisionObject** bodies, int numBodies,
const btContactSolverInfo& info,
btTypedConstraint** constraintStart, int constrainNums,
btPersistentManifold** manifoldPtr, int numManifolds)
{
btSequentialImpulseConstraintSolver::convertBodiesInternal(siData, bodies,
numBodies, info);
btSequentialImpulseConstraintSolver::convertJointsInternal(
siData, constraintStart, constrainNums, info);
int i;
btPersistentManifold* manifold = 0;
for (i = 0; i < numManifolds; i++)
{
manifold = manifoldPtr[i];
btSequentialImpulseConstraintSolver::convertContactInternal(siData,
manifold, info);
int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size();
int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size();
int numFrictionPool =
siData.m_tmpSolverContactFrictionConstraintPool.size();
siData.m_orderNonContactConstraintPool.resizeNoInitialize(
numNonContactPool);
if ((info.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2);
else
siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
siData.m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
{
int i;
for (i = 0; i < numNonContactPool; i++)
{
siData.m_orderNonContactConstraintPool[i] = i;
}
for (i = 0; i < numConstraintPool; i++)
{
siData.m_orderTmpConstraintPool[i] = i;
}
for (i = 0; i < numFrictionPool; i++)
{
siData.m_orderFrictionConstraintPool[i] = i;
}
}
}
}
btScalar btBlockSolver::solveGroup(btCollisionObject** bodies, int numBodies,
btPersistentManifold** manifoldPtr,
int numManifolds,
btTypedConstraint** constraints,
int numConstraints,
const btContactSolverInfo& info,
btIDebugDraw* debugDrawer,
btDispatcher* dispatcher)
{
// if (m_childSolvers.size())
// hard code to use block solver for now
return solveGroupInternalBlock(bodies, numBodies, manifoldPtr, numManifolds,
constraints, numConstraints, info, debugDrawer,
dispatcher);
// else
// return solveGroupInternal(bodies, numBodies, manifoldPtr, numManifolds,
// constraints, numConstraints, info, debugDrawer,
// dispatcher);
}
btScalar btBlockSolver::solveGroupInternal(
btCollisionObject** bodies, int numBodies,
btPersistentManifold** manifoldPtr, int numManifolds,
btTypedConstraint** constraints, int numConstraints,
const btContactSolverInfo& info, btIDebugDraw* debugDrawer,
btDispatcher* dispatcher)
{
btSISolverSingleIterationData siData(
m_data21->m_tmpSolverBodyPool, m_data21->m_tmpSolverContactConstraintPool,
m_data21->m_tmpSolverNonContactConstraintPool,
m_data21->m_tmpSolverContactFrictionConstraintPool,
m_data21->m_tmpSolverContactRollingFrictionConstraintPool,
m_data21->m_orderTmpConstraintPool,
m_data21->m_orderNonContactConstraintPool,
m_data21->m_orderFrictionConstraintPool,
m_data21->m_tmpConstraintSizesPool,
m_data21->m_resolveSingleConstraintRowGeneric,
m_data21->m_resolveSingleConstraintRowLowerLimit,
m_data21->m_resolveSplitPenetrationImpulse,
m_data21->m_kinematicBodyUniqueIdToSolverBodyTable, m_data21->m_btSeed2,
m_data21->m_fixedBodyId, m_data21->m_maxOverrideNumSolverIterations);
m_data21->m_fixedBodyId = -1;
// todo: setup sse2/4 constraint row methods
btSequentialImpulseConstraintSolver::convertBodiesInternal(siData, bodies,
numBodies, info);
btSequentialImpulseConstraintSolver::convertJointsInternal(
siData, constraints, numConstraints, info);
int i;
btPersistentManifold* manifold = 0;
@@ -83,16 +280,16 @@ btScalar btBlockSolver::solveGroup(btCollisionObject * *bodies, int numBodies, b
for (i = 0; i < numManifolds; i++)
{
manifold = manifoldPtr[i];
btSequentialImpulseConstraintSolver::convertContactInternal(siData, manifold, info);
btSequentialImpulseConstraintSolver::convertContactInternal(siData,
manifold, info);
}
int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size();
int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size();
int numFrictionPool = siData.m_tmpSolverContactFrictionConstraintPool.size();
///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
// @todo: use stack allocator for such temporarily memory, same for solver
// bodies/constraints
siData.m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool);
if ((info.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2);
@@ -118,43 +315,60 @@ btScalar btBlockSolver::solveGroup(btCollisionObject * *bodies, int numBodies, b
btScalar leastSquaresResidual = 0;
{
BT_PROFILE("solveGroupCacheFriendlyIterations");
///this is a special step to resolve penetrations (just for contacts)
btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterationsInternal(siData, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, info, debugDrawer);
/// this is a special step to resolve penetrations (just for contacts)
btSequentialImpulseConstraintSolver::
solveGroupCacheFriendlySplitImpulseIterationsInternal(
siData, bodies, numBodies, manifoldPtr, numManifolds, constraints,
numConstraints, info, debugDrawer);
int maxIterations = siData.m_maxOverrideNumSolverIterations > info.m_numIterations ? siData.m_maxOverrideNumSolverIterations : info.m_numIterations;
int maxIterations =
siData.m_maxOverrideNumSolverIterations > info.m_numIterations
? siData.m_maxOverrideNumSolverIterations
: info.m_numIterations;
for (int iteration = 0; iteration < maxIterations; iteration++)
{
leastSquaresResidual = btSequentialImpulseConstraintSolver::solveSingleIterationInternal(siData, iteration, constraints, numConstraints, info);
leastSquaresResidual =
btSequentialImpulseConstraintSolver::solveSingleIterationInternal(
siData, iteration, constraints, numConstraints, info);
if (leastSquaresResidual <= info.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
if (leastSquaresResidual <= info.m_leastSquaresResidualThreshold ||
(iteration >= (maxIterations - 1)))
{
#ifdef VERBOSE_RESIDUAL_PRINTF
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
printf("residual = %f at iteration #%d\n", m_leastSquaresResidual,
iteration);
#endif
break;
}
}
}
btScalar res = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(siData, bodies, numBodies, info);
btScalar res = btSequentialImpulseConstraintSolver::
solveGroupCacheFriendlyFinishInternal(siData, bodies, numBodies, info);
return res;
}
void btBlockSolver::solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
void btBlockSolver::solveMultiBodyGroup(
btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold,
int numManifolds, btTypedConstraint** constraints, int numConstraints,
btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints,
const btContactSolverInfo& info, btIDebugDraw* debugDrawer,
btDispatcher* dispatcher)
{
btMultiBodyConstraintSolver::solveMultiBodyGroup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, multiBodyConstraints, numMultiBodyConstraints, info, debugDrawer, dispatcher);
btMultiBodyConstraintSolver::solveMultiBodyGroup(
bodies, numBodies, manifold, numManifolds, constraints, numConstraints,
multiBodyConstraints, numMultiBodyConstraints, info, debugDrawer,
dispatcher);
}
void btBlockSolver::reset()
{
//or just set m_data2->m_btSeed2=0?
delete m_data2;
m_data2 = new btBlockSolverInternalData;
// or just set m_data2->m_btSeed2=0?
delete m_data21;
delete m_data22;
m_data21 = new btBlockSolverInternalData;
m_data22 = new btBlockSolverInternalData;
}

64
examples/BlockSolver/btBlockSolver.h
View File

@@ -1,23 +1,71 @@
#ifndef BT_BLOCK_SOLVER_H
#define BT_BLOCK_SOLVER_H
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "Bullet3Common/b3Logging.h"
enum BlockSolverOptions
{
BLOCK_SOLVER_SI = 1 << 0,
BLOCK_SOLVER_MLCP_PGS = 1 << 1,
BLOCK_SOLVER_MLCP_DANTZIG = 1 << 2,
BLOCK_SOLVER_BLOCK = 1 << 3,
BLOCK_SOLVER_SCENE_MB_STACK = 1 << 5,
BLOCK_SOLVER_SCENE_CHAIN = 1 << 6,
};
class btBlockSolver : public btMultiBodyConstraintSolver
{
struct btBlockSolverInternalData* m_data2;
struct btBlockSolverInternalData* m_data21;
struct btBlockSolverInternalData* m_data22;
public
: btBlockSolver();
public:
btBlockSolver();
virtual ~btBlockSolver();
//btRigidBody
virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, class btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
// btRigidBody
virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies,
btPersistentManifold** manifoldPtr,
int numManifolds, btTypedConstraint** constraints,
int numConstraints,
const btContactSolverInfo& info,
class btIDebugDraw* debugDrawer,
btDispatcher* dispatcher);
//btMultibody
virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
btScalar solveGroupInternal(btCollisionObject** bodies, int numBodies,
btPersistentManifold** manifoldPtr,
int numManifolds,
btTypedConstraint** constraints,
int numConstraints,
const btContactSolverInfo& info,
btIDebugDraw* debugDrawer,
btDispatcher* dispatcher);
///clear internal cached data and reset random seed
btScalar solveGroupInternalBlock(btCollisionObject** bodies, int numBodies,
btPersistentManifold** manifoldPtr,
int numManifolds,
btTypedConstraint** constraints,
int numConstraints,
const btContactSolverInfo& info,
btIDebugDraw* debugDrawer,
btDispatcher* dispatcher);
// btMultibody
virtual void solveMultiBodyGroup(
btCollisionObject** bodies, int numBodies,
btPersistentManifold** manifold, int numManifolds,
btTypedConstraint** constraints, int numConstraints,
btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints,
const btContactSolverInfo& info, btIDebugDraw* debugDrawer,
btDispatcher* dispatcher);
/// clear internal cached data and reset random seed
virtual void reset();
virtual btConstraintSolverType getSolverType() const

5
examples/BulletRobotics/FixJointBoxes.cpp
View File

@@ -1,4 +1,3 @@
#include "FixJointBoxes.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
@@ -111,8 +110,8 @@ public:
{
for (int i = 0; i < numCubes; i++)
{
btVector3 pos (0, i * (btScalar)0.05, 1);
btQuaternion quar (0, 0, 0, 1);
btVector3 pos(0, i * (btScalar)0.05, 1);
btQuaternion quar(0, 0, 0, 1);
m_robotSim.resetBasePositionAndOrientation(cubeIds[i], pos, quar);
}
}

2
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -211,6 +211,8 @@ SET(BulletExampleBrowser_SRCS
../BlockSolver/btBlockSolver.h
../BlockSolver/BlockSolverExample.cpp
../BlockSolver/BlockSolverExample.h
../BlockSolver/RigidBodyBoxes.cpp
../BlockSolver/RigidBodyBoxes.h
../Tutorial/Tutorial.cpp
../Tutorial/Tutorial.h
../Tutorial/Dof6ConstraintTutorial.cpp

6
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
View File

@@ -132,7 +132,6 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
{
btConvexShape* convex = (btConvexShape*)collisionShape;
{
const btConvexPolyhedron* pol = 0;
if (convex->isPolyhedral())
{
@@ -151,19 +150,16 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
}
for (int f = 0; f < pol->m_faces.size(); f++)
{
for (int ii = 2; ii < pol->m_faces[f].m_indices.size(); ii++)
{
indicesOut.push_back(pol->m_faces[f].m_indices[0]);
indicesOut.push_back(pol->m_faces[f].m_indices[ii-1]);
indicesOut.push_back(pol->m_faces[f].m_indices[ii - 1]);
indicesOut.push_back(pol->m_faces[f].m_indices[ii]);
}
}
}
else
{
btShapeHull* hull = new btShapeHull(convex);
hull->buildHull(0.0, 1);

10
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -1,6 +1,8 @@
#include "ExampleEntries.h"
#include "../BlockSolver/btBlockSolver.h"
#include "../BlockSolver/BlockSolverExample.h"
#include "../BlockSolver/RigidBodyBoxes.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "EmptyExample.h"
#include "../RenderingExamples/RenderInstancingDemo.h"
@@ -129,8 +131,6 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", RigidBodySoftContactCreateFunc),
ExampleEntry(0, "MultiBody"),
ExampleEntry(1, "MultiDof", "Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
ExampleEntry(1, "TestJointTorque", "Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
@@ -140,7 +140,6 @@ static ExampleEntry gDefaultExamples[] =
ExampleEntry(1, "Inverted Pendulum PD", "Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
ExampleEntry(1, "MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", MultiBodySoftContactCreateFunc, 0),
ExampleEntry(0, "Physics Client-Server"),
ExampleEntry(1, "Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.",
PhysicsServerCreateFuncBullet2),
@@ -153,12 +152,13 @@ static ExampleEntry gDefaultExamples[] =
//
// ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
ExampleEntry(0, "BlockSolver"),
ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK+ BLOCK_SOLVER_SI),
ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_SI),
ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_PGS),
ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_DANTZIG),
ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_BLOCK),
ExampleEntry(1, "Stack RigidBody SI", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_SI),
ExampleEntry(1, "Stack RigidBody Block", "Create a stack of blocks, with heavy block at the top", RigidBodyBoxesCreateFunc, BLOCK_SOLVER_BLOCK),
ExampleEntry(0, "Inverse Dynamics"),
ExampleEntry(1, "Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc, BT_ID_LOAD_URDF),

1
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -1127,7 +1127,6 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
gui2->registerFileOpenCallback(fileOpenCallback);
gui2->registerQuitCallback(quitCallback);
}
return true;

1
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1699,6 +1699,7 @@ struct PhysicsServerCommandProcessorInternalData
m_logPlaybackUid(-1),
m_physicsDeltaTime(1. / 240.),
m_numSimulationSubSteps(0),
m_simulationTimestamp(0),
m_userConstraintUIDGenerator(1),
m_broadphaseCollisionFilterCallback(0),
m_pairCache(0),

4
src/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
View File

@@ -123,11 +123,11 @@ protected:
void btSimpleBroadphase::destroyProxy(btBroadphaseProxy* proxyOrg, btDispatcher* dispatcher)
{
m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher);
btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxyOrg);
freeHandle(proxy0);
m_pairCache->removeOverlappingPairsContainingProxy(proxyOrg, dispatcher);
//validate();
}