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improve handling of restitution by using the velocity (linear/angular) before applying forces: this is done by re-introducing the btSolverBody and only apply the forces to solver body, and use the original rigid body velocity for restitution computation.

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warmstarting for contact points was broken, fix in btPersistentManifold
enable split impulse by default (at the cost of some performance)
add  the option for zero-length friction (instead of recomputing friction directions using btPlaneSpace), use the solver mode flag SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
precompute lateral friction directions (in btManifoldResult)
remove the mConstraintRow[3] from btManifoldPoint, it just took a lot of memory with no benefits: fixed it in btParallelConstraintSolver
This commit is contained in:
erwin.coumans
2012-08-31 19:46:24 +00:00
parent 37ebcc3aa6
commit 84b1774dda
17 changed files with 730 additions and 509 deletions
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15
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -16,18 +16,20 @@ subject to the following restrictions:
#ifndef BT_CONTACT_SOLVER_INFO
#define BT_CONTACT_SOLVER_INFO
#include "LinearMath/btScalar.h"
enum btSolverMode
{
SOLVER_RANDMIZE_ORDER = 1,
SOLVER_FRICTION_SEPARATE = 2,
SOLVER_USE_WARMSTARTING = 4,
SOLVER_USE_FRICTION_WARMSTARTING = 8,
SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
SOLVER_CACHE_FRIENDLY = 128,
SOLVER_SIMD = 256, //enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version
SOLVER_CUDA = 512 //will be open sourced during Game Developers Conference 2009. Much faster.
SOLVER_SIMD = 256,
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
};
struct btContactSolverInfoData
@@ -67,6 +69,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_tau = btScalar(0.6);
m_damping = btScalar(1.0);
m_friction = btScalar(0.3);
m_timeStep = btScalar(1.f/60.f);
m_restitution = btScalar(0.);
m_maxErrorReduction = btScalar(20.);
m_numIterations = 10;
@@ -74,12 +77,12 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_erp2 = btScalar(0.1);
m_globalCfm = btScalar(0.);
m_sor = btScalar(1.);
m_splitImpulse = false;
m_splitImpulsePenetrationThreshold = -0.02f;
m_splitImpulse = true;
m_splitImpulsePenetrationThreshold = -.04f;
m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85);
//m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
}
};