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contact normal should point from B to A (to be consistent with Bullet 2.x)

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stringify: pre-allocate bigger buffer (10MB, workaround)
This commit is contained in:
erwincoumans
2013-08-10 12:08:15 -07:00
parent d158507c03
commit ac23dbc4be
17 changed files with 220 additions and 209 deletions
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34
src/Bullet3OpenCL/RigidBody/kernels/solverUtils.cl
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@@ -455,9 +455,9 @@ __global float4* deltaLinearVelocities, __global float4* deltaAngularVelocities,
void setLinearAndAngular( float4 n, float4 r0, float4 r1, float4* linear, float4* angular0, float4* angular1)
{
*linear = make_float4(-n.xyz,0.f);
*angular0 = -cross3(r0, n);
*angular1 = cross3(r1, n);
*linear = make_float4(n.xyz,0.f);
*angular0 = cross3(r0, n);
*angular1 = -cross3(r1, n);
}
@@ -845,14 +845,14 @@ void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVe
dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f;
dstC->m_linear = -src->m_worldNormal;
dstC->m_linear = src->m_worldNormalOnB;
dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() );
for(int ic=0; ic<4; ic++)
{
float4 r0 = src->m_worldPos[ic] - posA;
float4 r1 = src->m_worldPos[ic] - posB;
float4 r0 = src->m_worldPosB[ic] - posA;
float4 r1 = src->m_worldPosB[ic] - posB;
if( ic >= src->m_worldNormal.w )//npoints
if( ic >= src->m_worldNormalOnB.w )//npoints
{
dstC->m_jacCoeffInv[ic] = 0.f;
continue;
@@ -861,7 +861,7 @@ void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVe
float relVelN;
{
float4 linear, angular0, angular1;
setLinearAndAngular(src->m_worldNormal, r0, r1, &linear, &angular0, &angular1);
setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1);
dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1,
invMassA, &invInertiaA, invMassB, &invInertiaB , countA, countB);
@@ -873,21 +873,21 @@ void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVe
if( relVelN*relVelN < 0.004f ) e = 0.f;
dstC->m_b[ic] = e*relVelN;
//float penetration = src->m_worldPos[ic].w;
dstC->m_b[ic] += (src->m_worldPos[ic].w + positionDrift)*positionConstraintCoeff*dtInv;
//float penetration = src->m_worldPosB[ic].w;
dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv;
dstC->m_appliedRambdaDt[ic] = 0.f;
}
}
if( src->m_worldNormal.w > 0 )//npoints
if( src->m_worldNormalOnB.w > 0 )//npoints
{ // prepare friction
float4 center = make_float4(0.f);
for(int i=0; i<src->m_worldNormal.w; i++)
center += src->m_worldPos[i];
center /= (float)src->m_worldNormal.w;
for(int i=0; i<src->m_worldNormalOnB.w; i++)
center += src->m_worldPosB[i];
center /= (float)src->m_worldNormalOnB.w;
float4 tangent[2];
btPlaneSpace1(src->m_worldNormal,&tangent[0],&tangent[1]);
btPlaneSpace1(-src->m_worldNormalOnB,&tangent[0],&tangent[1]);
float4 r[2];
r[0] = center - posA;
@@ -907,9 +907,9 @@ void setConstraint4( const float4 posA, const float4 linVelA, const float4 angVe
for(int i=0; i<4; i++)
{
if( i<src->m_worldNormal.w )
if( i<src->m_worldNormalOnB.w )
{
dstC->m_worldPos[i] = src->m_worldPos[i];
dstC->m_worldPos[i] = src->m_worldPosB[i];
}
else
{