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align btQuadWord on 16byte boundary

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slightly improved friction model
This commit is contained in:
ejcoumans
2007-09-25 06:58:53 +00:00
parent a38de566c6
commit 811c105c24
13 changed files with 224 additions and 175 deletions
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2
Extras/BulletMultiThreaded/SpuCollisionTaskProcess.h
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@@ -23,7 +23,7 @@ subject to the following restrictions:
#include "PlatformDefinitions.h" #include "PlatformDefinitions.h"
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
#define DEBUG_SpuCollisionTaskProcess 1 //#define DEBUG_SpuCollisionTaskProcess 1
#define CMD_GATHER_AND_PROCESS_PAIRLIST 1 #define CMD_GATHER_AND_PROCESS_PAIRLIST 1

2
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h
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@@ -36,7 +36,7 @@ struct SpuConvexPolyhedronVertexData
}; };
inline btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, btVector3 localDir,struct SpuConvexPolyhedronVertexData* convexVertexData)//, int *featureIndex) inline btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, btVector3& localDir,struct SpuConvexPolyhedronVertexData* convexVertexData)//, int *featureIndex)
{ {
switch (shapeType) switch (shapeType)
{ {

2
Extras/quickstep/OdeTypedJoint.cpp
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@@ -169,7 +169,7 @@ void OdeP2PJoint::GetInfo2(Info2 *info)
int bt_get_limit_motor_info2( int bt_get_limit_motor_info2(
btRotationalLimitMotor * limot, btRotationalLimitMotor * limot,
btRigidBody * body0, btRigidBody * body1, btRigidBody * body0, btRigidBody * body1,
BU_Joint::Info2 *info, int row, btVector3 ax1, int rotational) BU_Joint::Info2 *info, int row, btVector3& ax1, int rotational)
{ {

2
Extras/quickstep/OdeTypedJoint.h
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@@ -105,7 +105,7 @@ public:
int bt_get_limit_motor_info2( int bt_get_limit_motor_info2(
btRotationalLimitMotor * limot, btRotationalLimitMotor * limot,
btRigidBody * body0, btRigidBody * body1, btRigidBody * body0, btRigidBody * body1,
BU_Joint::Info2 *info, int row, btVector3 ax1, int rotational); BU_Joint::Info2 *info, int row, btVector3& ax1, int rotational);
#endif //CONTACT_JOINT_H #endif //CONTACT_JOINT_H

2
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -40,7 +40,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_friction = btScalar(0.3); m_friction = btScalar(0.3);
m_restitution = btScalar(0.); m_restitution = btScalar(0.);
m_maxErrorReduction = btScalar(20.); m_maxErrorReduction = btScalar(20.);
m_numIterations = 10; m_numIterations = 4;
m_erp = btScalar(0.4); m_erp = btScalar(0.4);
m_sor = btScalar(1.3); m_sor = btScalar(1.3);
} }

2
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -112,7 +112,7 @@ int btRotationalLimitMotor::testLimitValue(btScalar test_value)
btScalar btRotationalLimitMotor::solveAngularLimits( btScalar btRotationalLimitMotor::solveAngularLimits(
btScalar timeStep,btVector3 axis,btScalar jacDiagABInv, btScalar timeStep,btVector3& axis,btScalar jacDiagABInv,
btRigidBody * body0, btRigidBody * body1) btRigidBody * body0, btRigidBody * body1)
{ {
if (needApplyTorques()==false) return 0.0f; if (needApplyTorques()==false) return 0.0f;

2
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -110,7 +110,7 @@ public:
int testLimitValue(btScalar test_value); int testLimitValue(btScalar test_value);
//! apply the correction impulses for two bodies //! apply the correction impulses for two bodies
btScalar solveAngularLimits(btScalar timeStep,btVector3 axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1); btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
}; };

200
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -13,6 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
//#define COMPUTE_IMPULSE_DENOM 1
#include "btSequentialImpulseConstraintSolver.h" #include "btSequentialImpulseConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -336,9 +337,57 @@ btScalar resolveSingleFrictionCacheFriendly(
btAlignedObjectArray<btSolverBody> tmpSolverBodyPool; btAlignedObjectArray<btSolverBody> tmpSolverBodyPool;
btAlignedObjectArray<btSolverConstraint> tmpSolverConstraintPool; btAlignedObjectArray<btSolverConstraint> tmpSolverConstraintPool;
btAlignedObjectArray<btSolverConstraint> tmpSolverFrictionConstraintPool; btAlignedObjectArray<btSolverConstraint> tmpSolverFrictionConstraintPool;
btAlignedObjectArray<int> gOrderTmpConstraintPool;
btAlignedObjectArray<int> gOrderFrictionConstraintPool;
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
void addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btRigidBody* rb0,btRigidBody* rb1, btScalar relaxation)
{
btSolverConstraint& solverConstraint = tmpSolverFrictionConstraintPool.expand();
solverConstraint.m_contactNormal = normalAxis;
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_FRICTION_1D;
solverConstraint.m_frictionIndex = frictionIndex;
solverConstraint.m_friction = cp.m_combinedFriction;
solverConstraint.m_appliedImpulse = btScalar(0.);
solverConstraint.m_appliedVelocityImpulse = 0.f;
solverConstraint.m_penetration = 0.f;
{
btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*ftorqueAxis1;
}
{
btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*ftorqueAxis1;
}
#ifdef COMPUTE_IMPULSE_DENOM
btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal);
btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal);
#else
btVector3 vec;
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
btScalar denom0 = rb0->getInvMass() + normalAxis.dot(vec);
vec = ( solverConstraint.m_angularComponentB).cross(rel_pos2);
btScalar denom1 = rb1->getInvMass() + normalAxis.dot(vec);
#endif //COMPUTE_IMPULSE_DENOM
btScalar denom = relaxation/(denom0+denom1);
solverConstraint.m_jacDiagABInv = denom;
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{ {
(void)stackAlloc; (void)stackAlloc;
(void)debugDrawer; (void)debugDrawer;
@@ -445,6 +494,10 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
} }
} }
btVector3 rel_pos1;
btVector3 rel_pos2;
btScalar relaxation;
for (int j=0;j<manifold->getNumContacts();j++) for (int j=0;j<manifold->getNumContacts();j++)
{ {
@@ -458,11 +511,13 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
const btVector3& pos1 = cp.getPositionWorldOnA(); const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB(); const btVector3& pos2 = cp.getPositionWorldOnB();
btVector3 rel_pos1 = pos1 - rb0->getCenterOfMassPosition(); rel_pos1 = pos1 - rb0->getCenterOfMassPosition();
btVector3 rel_pos2 = pos2 - rb1->getCenterOfMassPosition(); rel_pos2 = pos2 - rb1->getCenterOfMassPosition();
btScalar relaxation = 1.f; relaxation = 1.f;
btScalar rel_vel;
btVector3 vel;
{ {
btSolverConstraint& solverConstraint = tmpSolverConstraintPool.expand(); btSolverConstraint& solverConstraint = tmpSolverConstraintPool.expand();
@@ -471,12 +526,22 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
solverConstraint.m_solverBodyIdB = solverBodyIdB; solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_CONTACT_1D; solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_CONTACT_1D;
btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*torqueAxis0;
btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*torqueAxis1;
{ {
//can be optimized, the cross products are already calculated #ifdef COMPUTE_IMPULSE_DENOM
btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB); btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB); btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
#else
btVector3 vec;
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
btScalar denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec);
vec = ( solverConstraint.m_angularComponentB).cross(rel_pos2);
btScalar denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec);
#endif //COMPUTE_IMPULSE_DENOM
btScalar denom = relaxation/(denom0+denom1); btScalar denom = relaxation/(denom0+denom1);
solverConstraint.m_jacDiagABInv = denom; solverConstraint.m_jacDiagABInv = denom;
} }
@@ -489,8 +554,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
btVector3 vel1 = rb0->getVelocityInLocalPoint(rel_pos1); btVector3 vel1 = rb0->getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = rb1->getVelocityInLocalPoint(rel_pos2); btVector3 vel2 = rb1->getVelocityInLocalPoint(rel_pos2);
btVector3 vel = vel1 - vel2; vel = vel1 - vel2;
btScalar rel_vel;
rel_vel = cp.m_normalWorldOnB.dot(vel); rel_vel = cp.m_normalWorldOnB.dot(vel);
@@ -516,83 +581,26 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
solverConstraint.m_appliedVelocityImpulse = 0.f; solverConstraint.m_appliedVelocityImpulse = 0.f;
btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*torqueAxis0;
btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*torqueAxis1;
}
//create 2 '1d axis' constraints for 2 tangential friction directions
//re-calculate friction direction every frame, todo: check if this is really needed
btVector3 frictionTangential0a, frictionTangential1b;
btPlaneSpace1(cp.m_normalWorldOnB,frictionTangential0a,frictionTangential1b);
{
btSolverConstraint& solverConstraint = tmpSolverFrictionConstraintPool.expand();
solverConstraint.m_contactNormal = frictionTangential0a;
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_FRICTION_1D;
solverConstraint.m_frictionIndex = frictionIndex;
solverConstraint.m_friction = cp.m_combinedFriction;
solverConstraint.m_appliedImpulse = btScalar(0.);
solverConstraint.m_appliedVelocityImpulse = 0.f;
btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal);
btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal);
btScalar denom = relaxation/(denom0+denom1);
solverConstraint.m_jacDiagABInv = denom;
{
btVector3 ftorqueAxis0 = rel_pos1.cross(solverConstraint.m_contactNormal);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis0;
solverConstraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*ftorqueAxis0;
}
{
btVector3 ftorqueAxis0 = rel_pos2.cross(solverConstraint.m_contactNormal);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis0;
solverConstraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*ftorqueAxis0;
}
} }
{ {
btVector3 lat_vel = vel - cp.m_normalWorldOnB * rel_vel;
btSolverConstraint& solverConstraint = tmpSolverFrictionConstraintPool.expand(); btScalar lat_rel_vel = lat_vel.length2();
solverConstraint.m_contactNormal = frictionTangential1b; if (lat_rel_vel > SIMD_EPSILON)//0.0f)
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_constraintType = btSolverConstraint::BT_SOLVER_FRICTION_1D;
solverConstraint.m_frictionIndex = frictionIndex;
solverConstraint.m_friction = cp.m_combinedFriction;
solverConstraint.m_appliedImpulse = btScalar(0.);
solverConstraint.m_appliedVelocityImpulse = 0.f;
btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal);
btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal);
btScalar denom = relaxation/(denom0+denom1);
solverConstraint.m_jacDiagABInv = denom;
{ {
btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal); lat_vel /= btSqrt(lat_rel_vel);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = rb0->getInvInertiaTensorWorld()*ftorqueAxis1; addFrictionConstraint(lat_vel,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
} btVector3 frictionDir2 = lat_vel.cross(cp.m_normalWorldOnB);
{ frictionDir2.normalize();//??
btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal); addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,rb0,rb1, relaxation);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = rb1->getInvInertiaTensorWorld()*ftorqueAxis1;
}
} }
}
} }
} }
} }
@@ -613,8 +621,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
} }
} }
btAlignedObjectArray<int> gOrderTmpConstraintPool;
btAlignedObjectArray<int> gOrderFrictionConstraintPool;
int numConstraintPool = tmpSolverConstraintPool.size(); int numConstraintPool = tmpSolverConstraintPool.size();
int numFrictionPool = tmpSolverFrictionConstraintPool.size(); int numFrictionPool = tmpSolverFrictionConstraintPool.size();
@@ -638,14 +645,20 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
END_PROFILE("prepareConstraints"); END_PROFILE("prepareConstraints");
return 0.f;
}
BEGIN_PROFILE("solveConstraints"); btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
BEGIN_PROFILE("solveConstraintsIterations");
int numConstraintPool = tmpSolverConstraintPool.size();
int numFrictionPool = tmpSolverFrictionConstraintPool.size();
//should traverse the contacts random order... //should traverse the contacts random order...
int iteration; int iteration;
{ {
for ( iteration = 0;iteration<info.m_numIterations;iteration++) for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
{ {
int j; int j;
@@ -682,7 +695,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].writebackVelocity(); tmpSolverBodyPool[constraint->getRigidBodyB().getCompanionId()].writebackVelocity();
} }
constraint->solveConstraint(info.m_timeStep); constraint->solveConstraint(infoGlobal.m_timeStep);
if ((constraint->getRigidBodyA().getIslandTag() >= 0) && (constraint->getRigidBodyA().getCompanionId() >= 0)) if ((constraint->getRigidBodyA().getIslandTag() >= 0) && (constraint->getRigidBodyA().getCompanionId() >= 0))
{ {
@@ -701,7 +714,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
{ {
btSolverConstraint& solveManifold = tmpSolverConstraintPool[gOrderTmpConstraintPool[j]]; btSolverConstraint& solveManifold = tmpSolverConstraintPool[gOrderTmpConstraintPool[j]];
resolveSingleCollisionCombinedCacheFriendly(tmpSolverBodyPool[solveManifold.m_solverBodyIdA], resolveSingleCollisionCombinedCacheFriendly(tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,info); tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal);
} }
} }
@@ -713,7 +726,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
btScalar appliedNormalImpulse = tmpSolverConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; btScalar appliedNormalImpulse = tmpSolverConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
resolveSingleFrictionCacheFriendly(tmpSolverBodyPool[solveManifold.m_solverBodyIdA], resolveSingleFrictionCacheFriendly(tmpSolverBodyPool[solveManifold.m_solverBodyIdA],
tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,info,appliedNormalImpulse); tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold,infoGlobal,appliedNormalImpulse);
} }
} }
@@ -722,12 +735,27 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
} }
} }
END_PROFILE("solveConstraintsIterations");
return 0.f;
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
int i;
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
BEGIN_PROFILE("solveWriteBackVelocity");
for ( i=0;i<tmpSolverBodyPool.size();i++) for ( i=0;i<tmpSolverBodyPool.size();i++)
{ {
tmpSolverBodyPool[i].writebackVelocity(); tmpSolverBodyPool[i].writebackVelocity();
} }
END_PROFILE("solveConstraints"); END_PROFILE("solveWriteBackVelocity");
// printf("tmpSolverConstraintPool.size() = %i\n",tmpSolverConstraintPool.size()); // printf("tmpSolverConstraintPool.size() = %i\n",tmpSolverConstraintPool.size());

3
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -73,6 +73,9 @@ public:
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher); virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
virtual btScalar solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); virtual btScalar solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
///clear internal cached data and reset random seed ///clear internal cached data and reset random seed
virtual void reset(); virtual void reset();

3
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -23,7 +23,6 @@ class btRigidBody;
#include "LinearMath/btAlignedAllocator.h" #include "LinearMath/btAlignedAllocator.h"
///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance. ///btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
ATTRIBUTE_ALIGNED16 (struct) btSolverBody ATTRIBUTE_ALIGNED16 (struct) btSolverBody
{ {
@@ -46,7 +45,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude) inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
{ {
m_linearVelocity += linearComponent*impulseMagnitude; m_linearVelocity += linearComponent*impulseMagnitude;
m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor; m_angularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
} }
void writebackVelocity() void writebackVelocity()

2
src/LinearMath/btQuadWord.h
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@@ -19,7 +19,7 @@ subject to the following restrictions:
#include "btScalar.h" #include "btScalar.h"
#include "btSimdMinMax.h" #include "btSimdMinMax.h"
class btQuadWordStorage ATTRIBUTE_ALIGNED16(class) btQuadWordStorage
{ {
protected: protected:
btScalar m_x; btScalar m_x;

2
src/LinearMath/btQuaternion.h
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@@ -308,7 +308,7 @@ shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Ge
} }
SIMD_FORCE_INLINE btQuaternion SIMD_FORCE_INLINE btQuaternion
shortestArcQuatNormalize(btVector3 v0,btVector3 v1) shortestArcQuatNormalize2(btVector3& v0,btVector3& v1)
{ {
v0.normalize(); v0.normalize();
v1.normalize(); v1.normalize();

21
src/LinearMath/btScalar.h
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@@ -154,7 +154,26 @@ SIMD_FORCE_INLINE btScalar btPow(btScalar x,btScalar y) { return pow(x,y); }
#else #else
SIMD_FORCE_INLINE btScalar btSqrt(btScalar x) { return sqrtf(x); } SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
{
#ifdef USE_APPROXIMATION
double x, z, tempf;
unsigned long *tfptr = ((unsigned long *)&tempf) + 1;
tempf = y;
*tfptr = (0xbfcdd90a - *tfptr)>>1; /* estimate of 1/sqrt(y) */
x = tempf;
z = y*btScalar(0.5); /* hoist out the <20>/2<> */
x = (btScalar(1.5)*x)-(x*x)*(x*z); /* iteration formula */
x = (btScalar(1.5)*x)-(x*x)*(x*z);
x = (btScalar(1.5)*x)-(x*x)*(x*z);
x = (btScalar(1.5)*x)-(x*x)*(x*z);
x = (btScalar(1.5)*x)-(x*x)*(x*z);
return x*y;
#else
return sqrtf(y);
#endif
}
SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); } SIMD_FORCE_INLINE btScalar btFabs(btScalar x) { return fabsf(x); }
SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); } SIMD_FORCE_INLINE btScalar btCos(btScalar x) { return cosf(x); }
SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); } SIMD_FORCE_INLINE btScalar btSin(btScalar x) { return sinf(x); }