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.
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
@@ -134,11 +134,8 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
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{
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if (islandId<0)
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{
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if (numManifolds + m_numConstraints)
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{
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///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
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m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
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}
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///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
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m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
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} else
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{
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//also add all non-contact constraints/joints for this island
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@@ -166,11 +163,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
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if (m_solverInfo->m_minimumSolverBatchSize<=1)
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{
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///only call solveGroup if there is some work: avoid virtual function call, its overhead can be excessive
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if (numManifolds + numCurConstraints)
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{
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m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
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}
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m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
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} else
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{
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@@ -192,15 +185,12 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
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}
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void processConstraints()
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{
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if (m_manifolds.size() + m_constraints.size()>0)
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{
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btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
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btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
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btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
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btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
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btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
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btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
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m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
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}
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m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
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m_bodies.resize(0);
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m_manifolds.resize(0);
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m_constraints.resize(0);
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@@ -977,7 +967,8 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
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btRigidBody* body = m_nonStaticRigidBodies[i];
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if (!body->isStaticOrKinematicObject())
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{
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body->integrateVelocities( timeStep);
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//don't integrate/update velocities here, it happens in the constraint solver
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//damping
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body->applyDamping(timeStep);
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@@ -250,7 +250,6 @@ void btRigidBody::setMassProps(btScalar mass, const btVector3& inertia)
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}
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void btRigidBody::updateInertiaTensor()
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{
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m_invInertiaTensorWorld = m_worldTransform.getBasis().scaled(m_invInertiaLocal) * m_worldTransform.getBasis().transpose();
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@@ -317,26 +316,6 @@ bool btRigidBody::checkCollideWithOverride(const btCollisionObject* co) const
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return true;
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}
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void btRigidBody::internalWritebackVelocity(btScalar timeStep)
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{
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(void) timeStep;
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if (m_inverseMass)
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{
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setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
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setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
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//correct the position/orientation based on push/turn recovery
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btTransform newTransform;
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btTransformUtil::integrateTransform(getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
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setWorldTransform(newTransform);
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//m_originalBody->setCompanionId(-1);
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}
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// m_deltaLinearVelocity.setZero();
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// m_deltaAngularVelocity .setZero();
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// m_pushVelocity.setZero();
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// m_turnVelocity.setZero();
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}
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void btRigidBody::addConstraintRef(btTypedConstraint* c)
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@@ -519,105 +519,7 @@ public:
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return m_rigidbodyFlags;
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}
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const btVector3& getDeltaLinearVelocity() const
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{
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return m_deltaLinearVelocity;
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}
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const btVector3& getDeltaAngularVelocity() const
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{
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return m_deltaAngularVelocity;
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}
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const btVector3& getPushVelocity() const
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{
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return m_pushVelocity;
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}
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const btVector3& getTurnVelocity() const
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{
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return m_turnVelocity;
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}
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////////////////////////////////////////////////
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///some internal methods, don't use them
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btVector3& internalGetDeltaLinearVelocity()
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{
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return m_deltaLinearVelocity;
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}
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btVector3& internalGetDeltaAngularVelocity()
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{
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return m_deltaAngularVelocity;
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}
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const btVector3& internalGetAngularFactor() const
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{
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return m_angularFactor;
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}
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const btVector3& internalGetInvMass() const
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{
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return m_invMass;
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}
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btVector3& internalGetPushVelocity()
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{
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return m_pushVelocity;
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}
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btVector3& internalGetTurnVelocity()
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{
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return m_turnVelocity;
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}
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SIMD_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
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{
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velocity = getLinearVelocity()+m_deltaLinearVelocity + (getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
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}
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SIMD_FORCE_INLINE void internalGetAngularVelocity(btVector3& angVel) const
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{
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angVel = getAngularVelocity()+m_deltaAngularVelocity;
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}
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//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
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SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
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{
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if (m_inverseMass)
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{
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m_deltaLinearVelocity += linearComponent*impulseMagnitude;
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m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
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}
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}
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SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
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{
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if (m_inverseMass)
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{
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m_pushVelocity += linearComponent*impulseMagnitude;
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m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
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}
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}
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void internalWritebackVelocity()
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{
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if (m_inverseMass)
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{
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setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
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setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
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//m_deltaLinearVelocity.setZero();
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//m_deltaAngularVelocity .setZero();
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//m_originalBody->setCompanionId(-1);
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}
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}
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void internalWritebackVelocity(btScalar timeStep);
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///////////////////////////////////////////////
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