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SerializeDemo: create a testFile.bullet if it is missing

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Serialization: remove obsolete autogenerated headers
Minor changes in btSequentialImpulseConstraintSolver: split methods to make it easier to derive from the class and add functionality.
This commit is contained in:
erwin.coumans
2010-02-19 23:24:04 +00:00
parent 07ea2a71e2
commit 85724b5500
13 changed files with 436 additions and 865 deletions
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2
CMakeLists.txt
View File

@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 2.4)
SET(MSVC_INCREMENTAL_DEFAULT ON)
PROJECT(BULLET_PHYSICS)
SET(BULLET_VERSION 2.75)
SET(BULLET_VERSION 2.76)
IF (NOT CMAKE_BUILD_TYPE)
# SET(CMAKE_BUILD_TYPE "Debug")

37
Demos/SerializeDemo/SerializeDemo.cpp
View File

@@ -122,7 +122,12 @@ void SerializeDemo::initPhysics()
setupEmptyDynamicsWorld();
///create a few basic rigid bodies
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
//fileLoader->setVerboseMode(true);
if (!fileLoader->loadFile("testFile.bullet"))
{
///create a few basic rigid bodies and save them to testFile.bullet
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
btCollisionObject* groundObject = 0;
@@ -215,14 +220,6 @@ void SerializeDemo::initPhysics()
}
}
clientResetScene();
#ifdef TEST_SERIALIZATION
//test serializing this
#ifdef CREATE_NEW_BULLETFILE
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
@@ -249,29 +246,9 @@ void SerializeDemo::initPhysics()
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
#endif //CREATE_NEW_BULLETFILE
exitPhysics();
//now try again from the loaded file
setupEmptyDynamicsWorld();
printf("loading file\n");
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
//fileLoader->setVerboseMode(true);
if (!fileLoader->loadFile("testFile.bullet"))
{
//cmake generated msvc files need 4 levels deep back... so make a 3rd attempt...
if (fileLoader->loadFile("../../../../testFileOriginal.bullet"))
{
printf("loaded fine\n");
}
}
#endif //TEST_SERIALIZATION
clientResetScene();
}

63
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btCollisionObjectData.h
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@@ -1,63 +0,0 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTCOLLISIONOBJECTDATA__H__
#define __BULLET_BTCOLLISIONOBJECTDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btTransformData.h"
#include "bullet_btVector3Data.h"
namespace Bullet {
// ---------------------------------------------- //
class btCollisionObjectData
{
public:
btTransformData m_worldTransform;
btTransformData m_interpolationWorldTransform;
btVector3Data m_interpolationLinearVelocity;
btVector3Data m_interpolationAngularVelocity;
btVector3Data m_anisotropicFriction;
int m_hasAnisotropicFriction;
btScalar m_contactProcessingThreshold;
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
btScalar m_deactivationTime;
btScalar m_friction;
btScalar m_restitution;
int m_internalType;
void *m_userObjectPointer;
btScalar m_hitFraction;
btScalar m_ccdSweptSphereRadius;
btScalar m_ccdMotionThreshold;
int m_checkCollideWith;
};
}
#endif//__BULLET_BTCOLLISIONOBJECTDATA__H__

40
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btMatrix3x3Data.h
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@@ -1,40 +0,0 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTMATRIX3X3DATA__H__
#define __BULLET_BTMATRIX3X3DATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btVector3Data.h"
namespace Bullet {
// ---------------------------------------------- //
class btMatrix3x3Data
{
public:
btVector3Data m_el[3];
};
}
#endif//__BULLET_BTMATRIX3X3DATA__H__

62
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btRigidBodyData.h
View File

@@ -1,62 +0,0 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTRIGIDBODYDATA__H__
#define __BULLET_BTRIGIDBODYDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btCollisionObjectData.h"
#include "bullet_btMatrix3x3Data.h"
#include "bullet_btVector3Data.h"
namespace Bullet {
// ---------------------------------------------- //
class btRigidBodyData
{
public:
btCollisionObjectData m_collisionObjectData;
btMatrix3x3Data m_invInertiaTensorWorld;
btVector3Data m_linearVelocity;
btVector3Data m_angularVelocity;
btScalar m_inverseMass;
btVector3Data m_angularFactor;
btVector3Data m_linearFactor;
btVector3Data m_gravity;
btVector3Data m_gravity_acceleration;
btVector3Data m_invInertiaLocal;
btVector3Data m_totalForce;
btVector3Data m_totalTorque;
btScalar m_linearDamping;
btScalar m_angularDamping;
int m_additionalDamping;
btScalar m_additionalDampingFactor;
btScalar m_additionalLinearDampingThresholdSqr;
btScalar m_additionalAngularDampingThresholdSqr;
btScalar m_additionalAngularDampingFactor;
btScalar m_linearSleepingThreshold;
btScalar m_angularSleepingThreshold;
};
}
#endif//__BULLET_BTRIGIDBODYDATA__H__

42
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btTransformData.h
View File

@@ -1,42 +0,0 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTTRANSFORMDATA__H__
#define __BULLET_BTTRANSFORMDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btMatrix3x3Data.h"
#include "bullet_btVector3Data.h"
namespace Bullet {
// ---------------------------------------------- //
class btTransformData
{
public:
btMatrix3x3Data m_basis;
btVector3Data m_origin;
};
}
#endif//__BULLET_BTTRANSFORMDATA__H__

39
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btVector3Data.h
View File

@@ -1,39 +0,0 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* This software is provided 'as-is', without any express or implied
* warranty. In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
* claim that you wrote the original software. If you use this software
* in a product, an acknowledgment in the product documentation would be
* appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
* misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTVECTOR3DATA__H__
#define __BULLET_BTVECTOR3DATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
namespace Bullet {
// ---------------------------------------------- //
class btVector3Data
{
public:
btScalar m_floats[4];
};
}
#endif//__BULLET_BTVECTOR3DATA__H__

9
Extras/Serialize/HeaderGenerator/CMakeLists.txt
View File

@@ -21,3 +21,12 @@ INCLUDE_DIRECTORIES(${includes})
SET(Main_LIBS LinearMath)
ADD_EXECUTABLE(HeaderGenerator ${cpp_SRC} ${h_SRC})
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ADD_CUSTOM_COMMAND(
TARGET HeaderGenerator
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/HeaderGenerator/createDnaString.bat ${CMAKE_CURRENT_BINARY_DIR}/createDnaString.bat
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/HeaderGenerator/bulletGenerate.py ${CMAKE_CURRENT_BINARY_DIR}/bulletGenerate.py
)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)

2
Extras/Serialize/HeaderGenerator/bulletGenerate.py
View File

@@ -24,7 +24,7 @@ header = """/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
dtList = dump.DataTypeList
out = "../BulletFileLoader/autogenerated/"
out = "autogenerated/"
spaces = 4
def addSpaces(file, space):

2
Extras/Serialize/HeaderGenerator/createDnaString.bat
View File

@@ -1,5 +1,7 @@
delete dnaString.txt
mkdir autogenerated
Debug\HeaderGenerator.exe
python bulletGenerate.py

286
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -329,21 +329,17 @@ void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirec
}
btSolverConstraint& btSequentialImpulseConstraintSolver::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, btScalar cfmSlip)
void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity, btScalar cfmSlip)
{
btRigidBody* body0=btRigidBody::upcast(colObj0);
btRigidBody* body1=btRigidBody::upcast(colObj1);
btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
//memset(&solverConstraint,0xff,sizeof(btSolverConstraint));
solverConstraint.m_contactNormal = normalAxis;
solverConstraint.m_solverBodyA = body0 ? body0 : &getFixedBody();
solverConstraint.m_solverBodyB = body1 ? body1 : &getFixedBody();
solverConstraint.m_frictionIndex = frictionIndex;
solverConstraint.m_friction = cp.m_combinedFriction;
solverConstraint.m_originalContactPoint = 0;
@@ -413,7 +409,16 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addFrictionConstraint(c
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}
}
btSolverConstraint& btSequentialImpulseConstraintSolver::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, btScalar cfmSlip)
{
btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
solverConstraint.m_frictionIndex = frictionIndex;
setupFrictionConstraint(solverConstraint, normalAxis, solverBodyA, solverBodyB, cp, rel_pos1, rel_pos2,
colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
return solverConstraint;
}
@@ -447,62 +452,30 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
#include <stdio.h>
void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal)
{
btCollisionObject* colObj0=0,*colObj1=0;
colObj0 = (btCollisionObject*)manifold->getBody0();
colObj1 = (btCollisionObject*)manifold->getBody1();
btRigidBody* solverBodyA = btRigidBody::upcast(colObj0);
btRigidBody* solverBodyB = btRigidBody::upcast(colObj1);
///avoid collision response between two static objects
if (!solverBodyA && !solverBodyB)
return;
btVector3 rel_pos1;
btVector3 rel_pos2;
btScalar relaxation;
for (int j=0;j<manifold->getNumContacts();j++)
{
btManifoldPoint& cp = manifold->getContactPoint(j);
if (cp.getDistance() <= manifold->getContactProcessingThreshold())
void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint,
btCollisionObject* colObj0, btCollisionObject* colObj1,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
btVector3& rel_pos1, btVector3& rel_pos2)
{
btRigidBody* rb0 = btRigidBody::upcast(colObj0);
btRigidBody* rb1 = btRigidBody::upcast(colObj1);
const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB();
// btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
// btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
relaxation = 1.f;
btScalar rel_vel;
btVector3 vel;
int frictionIndex = m_tmpSolverContactConstraintPool.size();
{
btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
btRigidBody* rb0 = btRigidBody::upcast(colObj0);
btRigidBody* rb1 = btRigidBody::upcast(colObj1);
solverConstraint.m_solverBodyA = rb0? rb0 : &getFixedBody();
solverConstraint.m_solverBodyB = rb1? rb1 : &getFixedBody();
solverConstraint.m_originalContactPoint = &cp;
btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
{
#ifdef COMPUTE_IMPULSE_DENOM
btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
@@ -532,11 +505,11 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
solverConstraint.m_relpos2CrossNormal = rel_pos2.cross(-cp.m_normalWorldOnB);
btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
vel = vel1 - vel2;
rel_vel = cp.m_normalWorldOnB.dot(vel);
btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
@@ -605,13 +578,110 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
}
}
void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolverConstraint& solverConstraint,
btRigidBody* rb0, btRigidBody* rb1,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal)
{
if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
{
{
btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
if (rb0)
rb0->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
if (rb1)
rb1->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
} else
{
frictionConstraint1.m_appliedImpulse = 0.f;
}
}
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
if (rb0)
rb0->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
if (rb1)
rb1->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse);
} else
{
frictionConstraint2.m_appliedImpulse = 0.f;
}
}
} else
{
btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
frictionConstraint1.m_appliedImpulse = 0.f;
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
frictionConstraint2.m_appliedImpulse = 0.f;
}
}
}
void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal)
{
btCollisionObject* colObj0=0,*colObj1=0;
colObj0 = (btCollisionObject*)manifold->getBody0();
colObj1 = (btCollisionObject*)manifold->getBody1();
btRigidBody* solverBodyA = btRigidBody::upcast(colObj0);
btRigidBody* solverBodyB = btRigidBody::upcast(colObj1);
//??????????????????
// TODO : check InverseMass instead
///avoid collision response between two static objects
if (!solverBodyA && !solverBodyB)
return;
for (int j=0;j<manifold->getNumContacts();j++)
{
btManifoldPoint& cp = manifold->getContactPoint(j);
if (cp.getDistance() <= manifold->getContactProcessingThreshold())
{
btVector3 rel_pos1;
btVector3 rel_pos2;
btScalar relaxation;
btScalar rel_vel;
btVector3 vel;
int frictionIndex = m_tmpSolverContactConstraintPool.size();
btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
btRigidBody* rb0 = btRigidBody::upcast(colObj0);
btRigidBody* rb1 = btRigidBody::upcast(colObj1);
solverConstraint.m_solverBodyA = rb0? rb0 : &getFixedBody();
solverConstraint.m_solverBodyB = rb1? rb1 : &getFixedBody();
solverConstraint.m_originalContactPoint = &cp;
setupContactConstraint(solverConstraint, colObj0, colObj1, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB();
/////setup the friction constraints
if (1)
{
solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
{
cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
@@ -657,51 +727,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyA,solverBodyB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
}
if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING)
{
{
btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
if (rb0)
rb0->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
if (rb1)
rb1->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
} else
{
frictionConstraint1.m_appliedImpulse = 0.f;
}
}
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
if (rb0)
rb0->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
if (rb1)
rb1->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse);
} else
{
frictionConstraint2.m_appliedImpulse = 0.f;
}
}
} else
{
btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
frictionConstraint1.m_appliedImpulse = 0.f;
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
frictionConstraint2.m_appliedImpulse = 0.f;
}
}
}
}
setFrictionConstraintImpulse( solverConstraint, rb0, rb1, cp, infoGlobal);
}
}
@@ -901,20 +927,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
{
BT_PROFILE("solveGroupCacheFriendlyIterations");
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
//should traverse the contacts random order...
int iteration;
{
for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
{
int j;
if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
{
if ((iteration & 7) == 0) {
@@ -1008,9 +1028,13 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
}
}
}
return 0.f;
}
void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
int iteration;
if (infoGlobal.m_splitImpulse)
{
if (infoGlobal.m_solverMode & SOLVER_SIMD)
@@ -1046,32 +1070,30 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
}
}
}
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
{
BT_PROFILE("solveGroupCacheFriendlyIterations");
//should traverse the contacts random order...
int iteration;
{
for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
{
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
}
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
}
return 0.f;
}
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** /*constraints*/,int /* numConstraints*/,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
{
BT_PROFILE("solveGroup");
//we only implement SOLVER_CACHE_FRIENDLY now
//you need to provide at least some bodies
btAssert(bodies);
btAssert(numBodies);
int i;
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
int j;
int i,j;
for (j=0;j<numPoolConstraints;j++)
{
@@ -1128,11 +1150,23 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
{
BT_PROFILE("solveGroup");
//you need to provide at least some bodies
btAssert(bodies);
btAssert(numBodies);
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlyFinish(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
return 0.f;
}
void btSequentialImpulseConstraintSolver::reset()
{

22
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -36,8 +36,20 @@ protected:
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* 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.);
void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, 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,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
unsigned long m_btSeed2;
@@ -75,6 +87,13 @@ protected:
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
return s_fixed;
}
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);
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);
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
public:
@@ -84,8 +103,7 @@ 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);
btScalar solveGroupCacheFriendlySetup(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);
///clear internal cached data and reset random seed
virtual void reset();

223
src/LinearMath/btSerializer.cpp
View File

@@ -1,226 +1,3 @@
unsigned char sBulletDNAstr64[]= {
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99,80,108,97,110,101,83,104,97,112,101,68,97,116,97,0,98,116,67,111,
110,118,101,120,73,110,116,101,114,110,97,108,83,104,97,112,101,68,97,116,
97,0,98,116,80,111,115,105,116,105,111,110,65,110,100,82,97,100,105,117,
115,0,98,116,77,117,108,116,105,83,112,104,101,114,101,83,104,97,112,101,
68,97,116,97,0,98,116,73,110,116,73,110,100,101,120,68,97,116,97,0,
98,116,83,104,111,114,116,73,110,116,73,110,100,101,120,68,97,116,97,0,
98,116,77,101,115,104,80,97,114,116,68,97,116,97,0,98,116,83,116,114,
105,100,105,110,103,77,101,115,104,73,110,116,101,114,102,97,99,101,68,97,
116,97,0,98,116,84,114,105,97,110,103,108,101,77,101,115,104,83,104,97,
112,101,68,97,116,97,0,98,116,67,111,109,112,111,117,110,100,83,104,97,
112,101,67,104,105,108,100,68,97,116,97,0,98,116,67,111,109,112,111,117,
110,100,83,104,97,112,101,68,97,116,97,0,98,116,67,121,108,105,110,100,
101,114,83,104,97,112,101,68,97,116,97,0,98,116,67,97,112,115,117,108,
101,83,104,97,112,101,68,97,116,97,0,98,116,71,73,109,112,97,99,116,
77,101,115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,110,118,
101,120,72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,67,111,
108,108,105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,101,68,
97,116,97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,101,99,
116,70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,
100,121,70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,
111,100,121,68,111,117,98,108,101,68,97,116,97,0,98,116,67,111,110,115,
116,114,97,105,110,116,73,110,102,111,49,0,98,116,84,121,112,101,100,67,
111,110,115,116,114,97,105,110,116,68,97,116,97,0,98,116,82,105,103,105,
100,66,111,100,121,68,97,116,97,0,98,116,80,111,105,110,116,50,80,111,
105,110,116,67,111,110,115,116,114,97,105,110,116,70,108,111,97,116,68,97,
116,97,0,98,116,80,111,105,110,116,50,80,111,105,110,116,67,111,110,115,
116,114,97,105,110,116,68,111,117,98,108,101,68,97,116,97,0,98,116,72,
105,110,103,101,67,111,110,115,116,114,97,105,110,116,68,111,117,98,108,101,
68,97,116,97,0,98,116,72,105,110,103,101,67,111,110,115,116,114,97,105,
110,116,70,108,111,97,116,68,97,116,97,0,98,116,67,111,110,101,84,119,
105,115,116,67,111,110,115,116,114,97,105,110,116,68,97,116,97,0,98,116,
71,101,110,101,114,105,99,54,68,111,102,67,111,110,115,116,114,97,105,110,
116,68,97,116,97,0,98,116,83,108,105,100,101,114,67,111,110,115,116,114,
97,105,110,116,68,97,116,97,0,0,0,0,84,76,69,78,1,0,1,0,
2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,16,0,48,0,
16,0,16,0,32,0,48,0,96,0,64,0,-128,0,16,0,56,0,56,0,
20,0,72,0,4,0,4,0,40,0,32,0,56,0,80,0,32,0,64,0,
64,0,72,0,80,0,-40,1,8,1,-16,1,-88,3,8,0,56,0,0,0,
88,0,120,0,96,1,-32,0,-40,0,0,1,-48,0,0,0,83,84,82,67,
38,0,0,0,10,0,3,0,4,0,0,0,4,0,1,0,9,0,2,0,
11,0,3,0,10,0,3,0,10,0,4,0,10,0,5,0,12,0,2,0,
9,0,6,0,9,0,7,0,13,0,1,0,7,0,8,0,14,0,1,0,
8,0,8,0,15,0,1,0,13,0,9,0,16,0,1,0,14,0,9,0,
17,0,2,0,15,0,10,0,13,0,11,0,18,0,2,0,16,0,10,0,
14,0,11,0,19,0,3,0,0,0,12,0,4,0,13,0,0,0,14,0,
20,0,5,0,19,0,15,0,13,0,16,0,13,0,17,0,7,0,18,0,
0,0,19,0,21,0,5,0,19,0,15,0,13,0,16,0,13,0,20,0,
7,0,21,0,4,0,22,0,22,0,2,0,13,0,23,0,7,0,24,0,
23,0,4,0,21,0,25,0,22,0,26,0,4,0,27,0,0,0,14,0,
24,0,1,0,4,0,28,0,25,0,2,0,2,0,29,0,2,0,28,0,
26,0,6,0,13,0,30,0,14,0,31,0,24,0,32,0,25,0,33,0,
4,0,34,0,4,0,35,0,27,0,4,0,26,0,36,0,13,0,37,0,
4,0,38,0,0,0,14,0,28,0,4,0,19,0,15,0,27,0,39,0,
7,0,21,0,0,0,14,0,29,0,4,0,17,0,40,0,19,0,41,0,
4,0,42,0,7,0,43,0,30,0,4,0,19,0,15,0,29,0,44,0,
4,0,45,0,7,0,21,0,31,0,3,0,21,0,25,0,4,0,46,0,
0,0,14,0,32,0,3,0,21,0,25,0,4,0,46,0,0,0,14,0,
33,0,5,0,19,0,15,0,27,0,39,0,13,0,16,0,7,0,21,0,
4,0,47,0,34,0,5,0,21,0,25,0,13,0,48,0,14,0,49,0,
4,0,50,0,0,0,51,0,35,0,24,0,9,0,52,0,9,0,53,0,
19,0,54,0,0,0,12,0,18,0,55,0,18,0,56,0,14,0,57,0,
14,0,58,0,14,0,59,0,8,0,60,0,8,0,61,0,8,0,62,0,
8,0,63,0,8,0,64,0,8,0,65,0,8,0,66,0,4,0,67,0,
4,0,68,0,4,0,69,0,4,0,70,0,4,0,71,0,4,0,72,0,
4,0,73,0,0,0,14,0,36,0,23,0,9,0,52,0,9,0,53,0,
19,0,54,0,0,0,12,0,17,0,55,0,17,0,56,0,13,0,57,0,
13,0,58,0,13,0,59,0,7,0,60,0,7,0,61,0,7,0,62,0,
7,0,63,0,7,0,64,0,7,0,65,0,7,0,66,0,4,0,67,0,
4,0,68,0,4,0,69,0,4,0,70,0,4,0,71,0,4,0,72,0,
4,0,73,0,37,0,21,0,36,0,74,0,15,0,75,0,13,0,76,0,
13,0,77,0,13,0,78,0,13,0,79,0,13,0,80,0,13,0,81,0,
13,0,82,0,13,0,83,0,13,0,84,0,7,0,85,0,7,0,86,0,
7,0,87,0,7,0,88,0,7,0,89,0,7,0,90,0,7,0,91,0,
7,0,92,0,7,0,93,0,4,0,94,0,38,0,22,0,35,0,74,0,
16,0,75,0,14,0,76,0,14,0,77,0,14,0,78,0,14,0,79,0,
14,0,80,0,14,0,81,0,14,0,82,0,14,0,83,0,14,0,84,0,
8,0,85,0,8,0,86,0,8,0,87,0,8,0,88,0,8,0,89,0,
8,0,90,0,8,0,91,0,8,0,92,0,8,0,93,0,4,0,94,0,
0,0,14,0,39,0,2,0,4,0,95,0,4,0,96,0,40,0,11,0,
41,0,97,0,41,0,98,0,0,0,12,0,4,0,99,0,4,0,100,0,
4,0,101,0,4,0,102,0,7,0,103,0,7,0,104,0,4,0,105,0,
0,0,106,0,42,0,3,0,40,0,107,0,13,0,108,0,13,0,109,0,
43,0,3,0,40,0,107,0,14,0,108,0,14,0,109,0,44,0,13,0,
40,0,107,0,18,0,110,0,18,0,111,0,4,0,112,0,4,0,113,0,
4,0,114,0,7,0,115,0,7,0,116,0,7,0,117,0,7,0,118,0,
7,0,119,0,7,0,120,0,7,0,121,0,45,0,13,0,40,0,107,0,
17,0,110,0,17,0,111,0,4,0,112,0,4,0,113,0,4,0,114,0,
7,0,115,0,7,0,116,0,7,0,117,0,7,0,118,0,7,0,119,0,
7,0,120,0,7,0,121,0,46,0,11,0,40,0,107,0,17,0,110,0,
17,0,111,0,7,0,122,0,7,0,123,0,7,0,124,0,7,0,119,0,
7,0,120,0,7,0,121,0,7,0,125,0,0,0,19,0,47,0,9,0,
40,0,107,0,17,0,110,0,17,0,111,0,13,0,126,0,13,0,127,0,
13,0,-128,0,13,0,-127,0,4,0,-126,0,4,0,-125,0,48,0,9,0,
40,0,107,0,17,0,110,0,17,0,111,0,7,0,126,0,7,0,127,0,
7,0,-128,0,7,0,-127,0,4,0,-126,0,4,0,-125,0,};
int sBulletDNAlen64= sizeof(sBulletDNAstr64);
unsigned char sBulletDNAstr[]= {
83,68,78,65,78,65,77,69,-124,0,0,0,109,95,115,105,122,101,0,109,
95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,