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some more fixes to get msvc6 happy, and constraint solver: make non-randomizing solver default

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This commit is contained in:
ejcoumans
2006-11-23 02:57:38 +00:00
parent 94abde9287
commit 7dc6aa215a
3 changed files with 95 additions and 49 deletions
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86
src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
View File

@@ -94,17 +94,20 @@ throw(object); }
#else
template <typename T> static inline void Raise(const T&) {}
#endif
struct Block
{
Block* previous;
U1* address;
};
//
// StackAlloc
//
struct StackAlloc
{
struct Block
{
Block* previous;
U1* address;
};
{
StackAlloc() { ctor(); }
StackAlloc(U size) { ctor();Create(size); }
~StackAlloc() { Free(); }
@@ -122,10 +125,21 @@ struct StackAlloc
data = 0;
usedsize = 0;
} else Raise(L"StackAlloc is still in use");
}
U1* Allocate(U size)
{
const U nus(usedsize+size);
if(nus<totalsize)
{
usedsize=nus;
return(data+(usedsize-size));
}
Raise(L"Not enough memory");
return(0);
}
Block* BeginBlock()
{
Block* pb((Block*)Allocate(sizeof(Block)));
Block* pb = (Block*)Allocate(sizeof(Block));
pb->previous = current;
pb->address = data+usedsize;
current = pb;
@@ -139,17 +153,7 @@ struct StackAlloc
usedsize = (U)((block->address-data)-sizeof(Block));
} else Raise(L"Unmatched blocks");
}
U1* Allocate(U size)
{
const U nus(usedsize+size);
if(nus<totalsize)
{
usedsize=nus;
return(data+(usedsize-size));
}
Raise(L"Not enough memory");
return(0);
}
private:
void ctor()
{
@@ -182,7 +186,7 @@ struct GJK
He* n;
};
StackAlloc* sa;
StackAlloc::Block* sablock;
Block* sablock;
He* table[GJK_hashsize];
Rotation wrotations[2];
Vector3 positions[2];
@@ -234,7 +238,7 @@ struct GJK
inline Z FetchSupport()
{
const U h(Hash(ray));
He* e(table[h]);
He* e = (He*)(table[h]);
while(e) { if(e->v==ray) { --order;return(false); } else e=e->n; }
e=(He*)sa->Allocate(sizeof(He));e->v=ray;e->n=table[h];table[h]=e;
Support(ray,simplex[++order]);
@@ -426,10 +430,10 @@ struct EPA
//
inline Face* FindBest() const
{
Face* bf(0);
Face* bf = 0;
if(root)
{
Face* cf(root);
Face* cf = root;
F bd(cstInf);
do {
if(cf->d<bd) { bd=cf->d;bf=cf; }
@@ -457,7 +461,7 @@ c) const
//
inline Face* NewFace(const GJK::Mkv* a,const GJK::Mkv* b,const GJK::Mkv* c)
{
Face* pf((Face*)sa->Allocate(sizeof(Face)));
Face* pf = (Face*)sa->Allocate(sizeof(Face));
if(Set(pf,a,b,c))
{
if(root) root->prev=pf;
@@ -499,7 +503,7 @@ c) const
//
GJK::Mkv* Support(const Vector3& w) const
{
GJK::Mkv* v((GJK::Mkv*)sa->Allocate(sizeof(GJK::Mkv)));
GJK::Mkv* v =(GJK::Mkv*)sa->Allocate(sizeof(GJK::Mkv));
gjk->Support(w,*v);
return(v);
}
@@ -514,7 +518,7 @@ ff)
const U e1(mod3[e+1]);
if((f.n.dot(w->w)+f.d)>0)
{
Face* nf(NewFace(f.v[e1],f.v[e],w));
Face* nf = NewFace(f.v[e1],f.v[e],w);
Link(nf,0,&f,e);
if(cf) Link(cf,1,nf,2); else ff=nf;
cf=nf;ne=1;
@@ -533,8 +537,8 @@ ff)
//
inline F EvaluatePD(F accuracy=EPA_accuracy)
{
StackAlloc::Block* sablock(sa->BeginBlock());
Face* bestface(0);
Block* sablock = sa->BeginBlock();
Face* bestface = 0;
U markid(1);
depth = -cstInf;
normal = Vector3(0,0,0);
@@ -545,10 +549,10 @@ ff)
/* Prepare hull */
if(gjk->EncloseOrigin())
{
const U* pfidx(0);
U nfidx(0);
const U* peidx(0);
U neidx(0);
const U* pfidx = 0;
U nfidx= 0;
const U* peidx = 0;
U neidx = 0;
GJK::Mkv* basemkv[5];
Face* basefaces[6];
switch(gjk->order)
@@ -568,14 +572,16 @@ U fidx[6][3]={{2,0,4},{4,1,2},{1,4,0},{0,3,1},{0,2,3},{1,3,2}};
U eidx[9][4]={{0,0,4,0},{0,1,2,1},{0,2,1,2},{1,1,5,2},{1,0,2,0},{2,2,3,2},{3,1,5,0},{3,0,4,2},{5,1,4,1}};
pfidx=(const U*)fidx;nfidx=6;peidx=(const U*)eidx;neidx=9;
} break;
}
for(U i=0;i<=gjk->order;++i) {
}
U i;
for( i=0;i<=gjk->order;++i) {
basemkv[i]=(GJK::Mkv*)sa->Allocate(sizeof(GJK::Mkv));*basemkv[i]=gjk->simplex[i];
}
for(U i=0;i<nfidx;++i,pfidx+=3) {
for( i=0;i<nfidx;++i,pfidx+=3) {
basefaces[i]=NewFace(basemkv[pfidx[0]],basemkv[pfidx[1]],basemkv[pfidx[2]]);
}
for(U i=0;i<neidx;++i,peidx+=4) {
for( i=0;i<neidx;++i,peidx+=4) {
Link(basefaces[peidx[0]],peidx[1],basefaces[peidx[2]],peidx[3]); }
}
if(0==nfaces)
@@ -586,17 +592,17 @@ Link(basefaces[peidx[0]],peidx[1],basefaces[peidx[2]],peidx[3]); }
/* Expand hull */
for(;iterations<EPA_maxiterations;++iterations)
{
Face* bf(FindBest());
Face* bf = FindBest();
if(bf)
{
GJK::Mkv* w(Support(-bf->n));
GJK::Mkv* w = Support(-bf->n);
const F d(bf->n.dot(w->w)+bf->d);
bestface = bf;
if(d<-accuracy)
{
Face* cf(0);
Face* ff(0);
U nf(0);
Face* cf =0;
Face* ff =0;
U nf = 0;
Detach(bf);
bf->mark=++markid;
for(U i=0;i<3;++i) {

54
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -47,10 +47,47 @@ unsigned long btRand2()
return btSeed2;
}
//See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
int btRandInt2 (int n)
{
// seems good; xor-fold and modulus
const unsigned long un = n;
unsigned long r = btRand2();
// note: probably more aggressive than it needs to be -- might be
// able to get away without one or two of the innermost branches.
if (un <= 0x00010000UL) {
r ^= (r >> 16);
if (un <= 0x00000100UL) {
r ^= (r >> 8);
if (un <= 0x00000010UL) {
r ^= (r >> 4);
if (un <= 0x00000004UL) {
r ^= (r >> 2);
if (un <= 0x00000002UL) {
r ^= (r >> 1);
}
}
}
}
}
return (int) (r % un);
}
int btRandIntWrong (int n)
{
float a = float(n) / 4294967296.0f;
return (int) (float(btRand2()) * a);
// printf("n = %d\n",n);
// printf("a = %f\n",a);
int res = (int) (float(btRand2()) * a);
// printf("res=%d\n",res);
return res;
}
bool MyContactDestroyedCallback(void* userPersistentData)
@@ -63,14 +100,14 @@ bool MyContactDestroyedCallback(void* userPersistentData)
return true;
}
btSequentialImpulseConstraintSolver2::btSequentialImpulseConstraintSolver2()
btSequentialImpulseConstraintSolver3::btSequentialImpulseConstraintSolver3()
{
setSolverMode(SOLVER_USE_WARMSTARTING);
setSolverMode(SOLVER_RANDMIZE_ORDER);
}
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_solverMode(SOLVER_RANDMIZE_ORDER)
:m_solverMode(SOLVER_USE_WARMSTARTING)
{
gContactDestroyedCallback = &MyContactDestroyedCallback;
@@ -86,7 +123,7 @@ btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
}
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
@@ -105,6 +142,7 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
{
btPersistentManifold* manifold = manifoldPtr[j];
prepareConstraints(manifold,info,debugDrawer);
for (int p=0;p<manifoldPtr[j]->getNumContacts();p++)
{
gOrder[totalPoints].m_manifoldIndex = j;
@@ -159,7 +197,7 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
float btSequentialImpulseConstraintSolver2::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
@@ -292,7 +330,9 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
} else
{
cpd = new btConstraintPersistentData();
cpd = new btConstraintPersistentData;
assert(cpd);
totalCpd ++;
//printf("totalCpd = %i Created Ptr %x\n",totalCpd,cpd);
cp.m_userPersistentData = cpd;

4
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -82,11 +82,11 @@ public:
};
/// Small variation on btSequentialImpulseConstraintSolver: warmstarting, separate friction, non-randomized ordering
class btSequentialImpulseConstraintSolver2 : public btSequentialImpulseConstraintSolver
class btSequentialImpulseConstraintSolver3 : public btSequentialImpulseConstraintSolver
{
public:
btSequentialImpulseConstraintSolver2();
btSequentialImpulseConstraintSolver3();
virtual float solveGroup(btPersistentManifold** manifold,int numManifolds,const btContactSolverInfo& info, btIDebugDraw* debugDrawer=0);