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restore default behavior

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take out condition
This commit is contained in:
Chuyuan Fu
2019-10-23 11:59:46 -07:00
parent 913400eba1
commit 8c3ddac521
3 changed files with 27 additions and 19 deletions
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2
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -90,7 +90,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_splitImpulseTurnErp = 0.1f; m_splitImpulseTurnErp = 0.1f;
m_linearSlop = btScalar(0.0); m_linearSlop = btScalar(0.0);
m_warmstartingFactor = btScalar(0.85); m_warmstartingFactor = btScalar(0.85);
m_articulatedWarmstartingFactor = btScalar(0); m_articulatedWarmstartingFactor = btScalar(1);
//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_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_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER;
m_restingContactRestitutionThreshold = 2; //unused as of 2.81 m_restingContactRestitutionThreshold = 2; //unused as of 2.81

43
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -831,9 +831,9 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv; solverConstraint.m_cfm = cfm * solverConstraint.m_jacDiagABInv;
} }
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING)
{ {
if (btFabs(cp.m_prevRHS) > 1e-5) if (btFabs(cp.m_prevRHS) > 1e-5 && cp.m_prevRHS < 2* solverConstraint.m_rhs && solverConstraint.m_rhs < 2*cp.m_prevRHS)
{ {
solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor; solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse / cp.m_prevRHS * solverConstraint.m_rhs * infoGlobal.m_articulatedWarmstartingFactor;
if (solverConstraint.m_appliedImpulse < 0) if (solverConstraint.m_appliedImpulse < 0)
@@ -876,6 +876,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
else else
{ {
solverConstraint.m_appliedImpulse = 0.f; solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;
} }
} }
@@ -1395,7 +1396,9 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM); addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2, cp.m_appliedImpulseLateral2, manifold, frictionIndex, cp, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
} solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;
}
#endif //ENABLE_FRICTION #endif //ENABLE_FRICTION
} }
@@ -1603,11 +1606,29 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep); writeBackSolverBodyToMultiBody(solverConstraint, infoGlobal.m_timeStep);
} }
if (infoGlobal.m_solverMode & SOLVER_USE_ARTICULATED_WARMSTARTING)
{ {
BT_PROFILE("warm starting write back"); BT_PROFILE("warm starting write back");
writeBackMultiBodyContacts(0, numPoolConstraints); for (int j = 0; j < numPoolConstraints; j++)
{
const btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints[j];
btManifoldPoint* pt = (btManifoldPoint*)solverConstraint.m_originalContactPoint;
btAssert(pt);
pt->m_appliedImpulse = solverConstraint.m_appliedImpulse;
pt->m_prevRHS = solverConstraint.m_rhs;
pt->m_appliedImpulseLateral1 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex].m_appliedImpulse;
//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
pt->m_appliedImpulseLateral2 = m_multiBodyFrictionContactConstraints[solverConstraint.m_frictionIndex + 1].m_appliedImpulse;
} else
{
pt->m_appliedImpulseLateral2 = 0;
}
}
} }
#if 0 #if 0
//multibody joint feedback //multibody joint feedback
{ {
@@ -1711,18 +1732,6 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal); return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
} }
void btMultiBodyConstraintSolver::writeBackMultiBodyContacts(int iBegin, int iEnd)
{
for (int j = iBegin; j < iEnd; j++)
{
const btMultiBodySolverConstraint& solveManifold = m_multiBodyNormalContactConstraints[j];
btManifoldPoint* pt = (btManifoldPoint*)solveManifold.m_originalContactPoint;
btAssert(pt);
pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
pt->m_prevRHS = solveManifold.m_rhs;
}
}
void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher) void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
{ {
//printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints); //printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints);

1
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
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@@ -87,7 +87,6 @@ protected:
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof); void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof);
void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime); void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint & constraint, btScalar deltaTime);
void writeBackMultiBodyContacts(int iBegin, int iEnd);
public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();