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

Use two SI solvers as blocks in block solver.

Browse Source 
In the btBlockSolver we are experimenting with, we have SI for both multibody and rigid body. I'm currently replacing rigid body SI solver with two smaller SI solvers. The two examples provided by RigidBodyBoxes.h should have the same behavior.
This commit is contained in:
Chuyuan Fu
2019-03-25 14:41:58 -07:00
parent 19f3ec8b80
commit 7aba1f9e8a
9 changed files with 369 additions and 128 deletions
Download Patch File Download Diff File Expand all files Collapse all files

70
examples/BlockSolver/btBlockSolver.h
View File

@@ -1,24 +1,72 @@
#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();
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
virtual void reset();
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
{
@@ -26,4 +74,4 @@ public:
}
};
#endif //BT_BLOCK_SOLVER_H
#endif //BT_BLOCK_SOLVER_H