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fix in btParallelConstraintSolver to support double precision

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fixes in SAT/polyhedral contact clipping, avoid adding GJK contacts (the contact margin causes different contact depths)
add polyhedral convex shape in InternalEdgeDemo as example of the new SAT/polyhedral contact clipping (added reference to Manual/what's new)
avoid glueing objecs with contacts that are positive (no gaps)
This commit is contained in:
erwin.coumans
2011-04-09 03:40:15 +00:00
parent cdddf9d25a
commit 9a9a4394ab
8 changed files with 138 additions and 60 deletions
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19
src/BulletMultiThreaded/btParallelConstraintSolver.cpp
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@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "LinearMath/btPoolAllocator.h"
#include "BulletMultiThreaded/vectormath2bullet.h"
#include "LinearMath/btQuickprof.h"
#include "BulletMultiThreaded/btThreadSupportInterface.h"
@@ -53,8 +54,8 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot((btVector3&)body1.mDeltaLinearVelocity) + c.m_relpos1CrossNormal.dot((btVector3&)body1.mDeltaAngularVelocity);
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot((btVector3&)body2.mDeltaLinearVelocity) + c.m_relpos2CrossNormal.dot((btVector3&)body2.mDeltaAngularVelocity);
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(getBtVector3(body1.mDeltaLinearVelocity)) + c.m_relpos1CrossNormal.dot(getBtVector3(body1.mDeltaAngularVelocity));
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(getBtVector3(body2.mDeltaLinearVelocity)) + c.m_relpos2CrossNormal.dot(getBtVector3(body2.mDeltaAngularVelocity));
// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
@@ -80,15 +81,17 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
if (body1.mMassInv)
{
btVector3 linearComponent = c.m_contactNormal*body1.mMassInv;
((btVector3&)body1.mDeltaLinearVelocity) += linearComponent*deltaImpulse;
((btVector3&)body1.mDeltaAngularVelocity) += c.m_angularComponentA*(btVector3(deltaImpulse,deltaImpulse,deltaImpulse));//*m_angularFactor);
body1.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
btVector3 tmp=c.m_angularComponentA*(btVector3(deltaImpulse,deltaImpulse,deltaImpulse));
body1.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
}
if (body2.mMassInv)
{
btVector3 linearComponent = -c.m_contactNormal*body2.mMassInv;
((btVector3&)body2.mDeltaLinearVelocity) += linearComponent*deltaImpulse;
((btVector3&)body2.mDeltaAngularVelocity) += c.m_angularComponentB*((btVector3(deltaImpulse,deltaImpulse,deltaImpulse)));//*m_angularFactor);
body2.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
btVector3 tmp = c.m_angularComponentB*((btVector3(deltaImpulse,deltaImpulse,deltaImpulse)));//*m_angularFactor);
body2.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
}
//body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
@@ -1035,7 +1038,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
state.reset();
const btQuaternion& orgOri = obj->getWorldTransform().getRotation();
vmQuat orn(orgOri.getX(),orgOri.getY(),orgOri.getZ(),orgOri.getW());
state.setPosition((vmVector3&) obj->getWorldTransform().getOrigin());
state.setPosition(getVmVector3(obj->getWorldTransform().getOrigin()));
state.setOrientation(orn);
state.setPosition(state.getPosition());
state.setRigidBodyId(i);
@@ -1140,7 +1143,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
int contactId = m-offsetContactManifolds;
//likely the contact pool is not contiguous, make sure to allocate large enough contact pool
btAssert(contactId>=0);
btAssert(contactId<dispatcher->getInternalManifoldPool()->getUsedCount());
btAssert(contactId<dispatcher->getInternalManifoldPool()->getMaxCount());
pfxSetContactId(pair,contactId);
pfxSetNumConstraints(pair,numPosPoints);//manifoldPtr[i]->getNumContacts());