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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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51
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -16,19 +16,23 @@ subject to the following restrictions:
#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
#include "btConstraintSolver.h"
class btIDebugDraw;
#include "btContactConstraint.h"
#include "btSolverBody.h"
#include "btSolverConstraint.h"
#include "btTypedConstraint.h"
class btPersistentManifold;
class btStackAlloc;
class btDispatcher;
class btCollisionObject;
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:
btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
btConstraintArray m_tmpSolverContactConstraintPool;
btConstraintArray m_tmpSolverNonContactConstraintPool;
btConstraintArray m_tmpSolverContactFrictionConstraintPool;
@@ -38,55 +42,54 @@ protected:
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
int m_maxOverrideNumSolverIterations;
void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB,
void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
btScalar desiredVelocity=0., btScalar cfmSlip=0.);
btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, btManifoldPoint& cp,
void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
btVector3& rel_pos1, btVector3& rel_pos2);
void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, btRigidBody* rb0, btRigidBody* rb1,
void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
unsigned long m_btSeed2;
// void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
void resolveSplitPenetrationSIMD(
btRigidBody& body1,
btRigidBody& body2,
btSolverBody& bodyA,btSolverBody& bodyB,
const btSolverConstraint& contactConstraint);
void resolveSplitPenetrationImpulseCacheFriendly(
btRigidBody& body1,
btRigidBody& body2,
btSolverBody& bodyA,btSolverBody& bodyB,
const btSolverConstraint& contactConstraint);
//internal method
int getOrInitSolverBody(btCollisionObject& body);
int getOrInitSolverBody(btCollisionObject& body);
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
void resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
protected:
static btRigidBody& getFixedBody();
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
@@ -122,9 +125,7 @@ public:
};
#ifndef BT_PREFER_SIMD
typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered;
#endif
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H