Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #2203 from erwincoumans/master

Browse Source 
implement stablePD control version of testLaikago,  fix getCameraImage in VR,  only report solver analytics if enabled using setPhysicsEngineParameter
This commit is contained in:
erwincoumans
2019-04-15 08:52:03 -07:00
committed by GitHub
parent c6a43e0a5b e97a7d77af
commit a929e8f2e5
16 changed files with 857 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -207,6 +207,7 @@ public:
}
};
struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
{
btContactSolverInfo* m_solverInfo;
@@ -224,6 +225,8 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
btAlignedObjectArray<btTypedConstraint*> m_constraints;
btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
btAlignedObjectArray<btSolverAnalyticsData> m_islandAnalyticsData;
MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver* solver,
btDispatcher* dispatcher)
: m_solverInfo(NULL),
@@ -244,6 +247,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
SIMD_FORCE_INLINE void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer)
{
m_islandAnalyticsData.clear();
btAssert(solverInfo);
m_solverInfo = solverInfo;
@@ -270,6 +274,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
{
///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
if (m_solverInfo->m_reportSolverAnalytics&1)
{
m_solver->m_analyticsData.m_islandId = islandId;
m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
}
}
else
{
@@ -335,7 +344,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
if ((m_multiBodyConstraints.size() + m_constraints.size() + m_manifolds.size()) > m_solverInfo->m_minimumSolverBatchSize)
{
processConstraints();
processConstraints(islandId);
}
else
{
@@ -344,7 +353,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
}
}
}
void processConstraints()
void processConstraints(int islandId=-1)
{
btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
@@ -354,6 +363,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
//printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1))
{
m_solver->m_analyticsData.m_islandId = islandId;
m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
}
m_bodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
@@ -361,6 +375,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
}
};
void btMultiBodyDynamicsWorld::getAnalyticsData(btAlignedObjectArray<btSolverAnalyticsData>& islandAnalyticsData) const
{
islandAnalyticsData = m_solverMultiBodyIslandCallback->m_islandAnalyticsData;
}
btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
: btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
m_multiBodyConstraintSolver(constraintSolver)
@@ -721,10 +740,13 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
if (!bod->isUsingRK4Integration())
{
bool isConstraintPass = true;
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
if (bod->internalNeedsJointFeedback())
{
bool isConstraintPass = true;
bod->computeAccelerationsArticulatedBodyAlgorithmMultiDof(solverInfo.m_timeStep, m_scratch_r, m_scratch_v, m_scratch_m, isConstraintPass,
getSolverInfo().m_jointFeedbackInWorldSpace,
getSolverInfo().m_jointFeedbackInJointFrame);
}
}
}
}