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Fix friction and restitution in BulletMultiThreaded (collision detection and parallel solver)

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Thanks to lsgmasa for reporting, see http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1758
This commit is contained in:
ejcoumans
2007-12-12 03:41:35 +00:00
parent 947dc8d33d
commit 8d10a6ba1d
4 changed files with 48 additions and 12 deletions
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35
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.cpp
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@@ -31,13 +31,38 @@ SpuContactResult::SpuContactResult()
g_manifoldDmaExport.swapBuffers();
}
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, uint64_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, bool isSwapped)
///User can override this material combiner by implementing gContactAddedCallback and setting body0->m_collisionFlags |= btCollisionObject::customMaterialCallback;
inline btScalar calculateCombinedFriction(btScalar friction0,btScalar friction1)
{
btScalar friction = friction0*friction1;
const btScalar MAX_FRICTION = btScalar(10.);
if (friction < -MAX_FRICTION)
friction = -MAX_FRICTION;
if (friction > MAX_FRICTION)
friction = MAX_FRICTION;
return friction;
}
inline btScalar calculateCombinedRestitution(btScalar restitution0,btScalar restitution1)
{
return restitution0*restitution1;
}
void SpuContactResult::setContactInfo(btPersistentManifold* spuManifold, uint64_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction1, bool isSwapped)
{
//spu_printf("SpuContactResult::setContactInfo ManifoldAddress: %lu\n", manifoldAddress);
m_rootWorldTransform0 = worldTrans0;
m_rootWorldTransform1 = worldTrans1;
m_manifoldAddress = manifoldAddress;
m_spuManifold = spuManifold;
m_combinedFriction = calculateCombinedFriction(friction0,friction1);
m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
m_isSwapped = isSwapped;
}
@@ -55,6 +80,8 @@ bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
btPersistentManifold* manifoldPtr,
btTransform& transA,
btTransform& transB,
btScalar combinedFriction,
btScalar combinedRestitution,
bool isSwapped)
{
@@ -109,8 +136,8 @@ bool ManifoldResultAddContactPoint(const btVector3& normalOnBInWorld,
} else
{
newPt.m_combinedFriction = 0.25f;//calculateCombinedFriction(m_body0,m_body1);
newPt.m_combinedRestitution = 0.0f;//calculateCombinedRestitution(m_body0,m_body1);
newPt.m_combinedFriction = combinedFriction;
newPt.m_combinedRestitution = combinedRestitution;
/*
//potential TODO: SPU callbacks, either immediate (local on the SPU), or deferred
@@ -165,6 +192,8 @@ void SpuContactResult::addContactPoint(const btVector3& normalOnBInWorld,const b
localManifold,
m_rootWorldTransform0,
m_rootWorldTransform1,
m_combinedFriction,
m_combinedRestitution,
m_isSwapped);
m_RequiresWriteBack = m_RequiresWriteBack || retVal;
}

6
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h
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@@ -81,6 +81,9 @@ class SpuContactResult
btPersistentManifold* m_spuManifold;
bool m_RequiresWriteBack;
btScalar m_combinedFriction;
btScalar m_combinedRestitution;
bool m_isSwapped;
DoubleBuffer<btPersistentManifold, 1> g_manifoldDmaExport;
@@ -96,7 +99,8 @@ class SpuContactResult
virtual void setShapeIdentifiers(int partId0,int index0, int partId1,int index1);
void setContactInfo(btPersistentManifold* spuManifold, uint64_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, bool isSwapped = false);
void setContactInfo(btPersistentManifold* spuManifold, uint64_t manifoldAddress,const btTransform& worldTrans0,const btTransform& worldTrans1, btScalar restitution0,btScalar restitution1, btScalar friction0,btScalar friction01, bool isSwapped);
void writeDoubleBufferedManifold(btPersistentManifold* lsManifold, btPersistentManifold* mmManifold);

6
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
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@@ -932,7 +932,11 @@ void ProcessSpuConvexConvexCollision(SpuCollisionPairInput* wuInput, CollisionTa
#endif
btPersistentManifold* spuManifold=&lsMemPtr->gPersistentManifold;
//spuContacts.setContactInfo(spuManifold,manifoldAddress,wuInput->m_worldTransform0,wuInput->m_worldTransform1,wuInput->m_isSwapped);
spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMemPtr->getColObj0()->getWorldTransform(),lsMemPtr->getColObj1()->getWorldTransform(),wuInput->m_isSwapped);
spuContacts.setContactInfo(spuManifold,manifoldAddress,lsMemPtr->getColObj0()->getWorldTransform(),
lsMemPtr->getColObj1()->getWorldTransform(),
lsMemPtr->getColObj0()->getRestitution(),lsMemPtr->getColObj1()->getRestitution(),
lsMemPtr->getColObj0()->getFriction(),lsMemPtr->getColObj1()->getFriction(),
wuInput->m_isSwapped);
SpuGjkPairDetector gjk(shape0Ptr,shape1Ptr,shapeType0,shapeType1,marginA,marginB,&vsSolver,&penetrationSolver);
gjk.getClosestPoints(cpInput,spuContacts);//,debugDraw);

11
Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
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@@ -1062,15 +1062,14 @@ void processSolverTask(void* userPtr, void* lsMemory)
};
btScalar penVel = -constraint.m_penetration/taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_timeStep;
if (rest > penVel)
{
rest = btScalar(0.);
}
constraint.m_restitution = rest;
constraint.m_penetration *=
-(taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_erp/taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_timeStep);
if (rest > penVel)
{
constraint.m_penetration = btScalar(0.);
}
constraint.m_restitution = rest;
constraint.m_appliedImpulse = 0.f;