remove a lot of warnings (more todo in demos and serialization code)
This commit is contained in:
Erwin Coumans
@@ -540,8 +540,8 @@ void btConeTwistConstraint::calcAngleInfo()
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m_solveTwistLimit = false;
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m_solveSwingLimit = false;
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btVector3 b1Axis1,b1Axis2,b1Axis3;
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btVector3 b2Axis1,b2Axis2;
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btVector3 b1Axis1(0,0,0),b1Axis2(0,0,0),b1Axis3(0,0,0);
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btVector3 b2Axis1(0,0,0),b2Axis2(0,0,0);
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b1Axis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * this->m_rbAFrame.getBasis().getColumn(0);
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b2Axis1 = getRigidBodyB().getCenterOfMassTransform().getBasis() * this->m_rbBFrame.getBasis().getColumn(0);
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@@ -983,8 +983,8 @@ void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal(btVector3& vSwingA
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void btConeTwistConstraint::setMotorTarget(const btQuaternion &q)
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{
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btTransform trACur = m_rbA.getCenterOfMassTransform();
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btTransform trBCur = m_rbB.getCenterOfMassTransform();
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//btTransform trACur = m_rbA.getCenterOfMassTransform();
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//btTransform trBCur = m_rbB.getCenterOfMassTransform();
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// btTransform trABCur = trBCur.inverse() * trACur;
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// btQuaternion qABCur = trABCur.getRotation();
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// btTransform trConstraintCur = (trBCur * m_rbBFrame).inverse() * (trACur * m_rbAFrame);
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@@ -155,8 +155,7 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
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body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
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body2.getLinearVelocity(),
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body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
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btScalar a;
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a=jacDiagABInv;
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rel_vel = normal.dot(vel);
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@@ -1,186 +1,186 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btFixedConstraint.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btTransformUtil.h"
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#include <new>
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btFixedConstraint::btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB)
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:btTypedConstraint(FIXED_CONSTRAINT_TYPE,rbA,rbB)
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{
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m_frameInA = frameInA;
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m_frameInB = frameInB;
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}
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btFixedConstraint::~btFixedConstraint ()
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{
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}
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void btFixedConstraint::getInfo1 (btConstraintInfo1* info)
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{
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info->m_numConstraintRows = 6;
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info->nub = 0;
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}
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void btFixedConstraint::getInfo2 (btConstraintInfo2* info)
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{
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//fix the 3 linear degrees of freedom
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const btTransform& transA = m_rbA.getCenterOfMassTransform();
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const btTransform& transB = m_rbB.getCenterOfMassTransform();
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const btVector3& worldPosA = m_rbA.getCenterOfMassTransform().getOrigin();
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const btMatrix3x3& worldOrnA = m_rbA.getCenterOfMassTransform().getBasis();
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const btVector3& worldPosB= m_rbB.getCenterOfMassTransform().getOrigin();
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const btMatrix3x3& worldOrnB = m_rbB.getCenterOfMassTransform().getBasis();
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info->m_J1linearAxis[0] = 1;
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info->m_J1linearAxis[info->rowskip+1] = 1;
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info->m_J1linearAxis[2*info->rowskip+2] = 1;
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btVector3 a1 = worldOrnA * m_frameInA.getOrigin();
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{
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btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
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btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
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btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
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btVector3 a1neg = -a1;
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a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
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}
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if (info->m_J2linearAxis)
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{
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info->m_J2linearAxis[0] = -1;
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info->m_J2linearAxis[info->rowskip+1] = -1;
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info->m_J2linearAxis[2*info->rowskip+2] = -1;
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}
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btVector3 a2 = worldOrnB*m_frameInB.getOrigin();
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{
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btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
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btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
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btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
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a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
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}
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// set right hand side for the linear dofs
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btScalar k = info->fps * info->erp;
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btVector3 linearError = k*(a2+worldPosB-a1-worldPosA);
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int j;
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for (j=0; j<3; j++)
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{
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info->m_constraintError[j*info->rowskip] = linearError[j];
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//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
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}
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btVector3 ivA = transA.getBasis() * m_frameInA.getBasis().getColumn(0);
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btVector3 jvA = transA.getBasis() * m_frameInA.getBasis().getColumn(1);
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btVector3 kvA = transA.getBasis() * m_frameInA.getBasis().getColumn(2);
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btVector3 ivB = transB.getBasis() * m_frameInB.getBasis().getColumn(0);
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btVector3 target;
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btScalar x = ivB.dot(ivA);
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btScalar y = ivB.dot(jvA);
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btScalar z = ivB.dot(kvA);
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btVector3 swingAxis(0,0,0);
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{
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if((!btFuzzyZero(y)) || (!(btFuzzyZero(z))))
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{
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swingAxis = -ivB.cross(ivA);
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}
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}
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btVector3 vTwist(1,0,0);
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// compute rotation of A wrt B (in constraint space)
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btQuaternion qA = transA.getRotation() * m_frameInA.getRotation();
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btQuaternion qB = transB.getRotation() * m_frameInB.getRotation();
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btQuaternion qAB = qB.inverse() * qA;
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// split rotation into cone and twist
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// (all this is done from B's perspective. Maybe I should be averaging axes...)
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btVector3 vConeNoTwist = quatRotate(qAB, vTwist); vConeNoTwist.normalize();
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btQuaternion qABCone = shortestArcQuat(vTwist, vConeNoTwist); qABCone.normalize();
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btQuaternion qABTwist = qABCone.inverse() * qAB; qABTwist.normalize();
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int row = 3;
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int srow = row * info->rowskip;
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btVector3 ax1;
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// angular limits
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{
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btScalar *J1 = info->m_J1angularAxis;
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btScalar *J2 = info->m_J2angularAxis;
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btTransform trA = transA*m_frameInA;
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btVector3 twistAxis = trA.getBasis().getColumn(0);
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btVector3 p = trA.getBasis().getColumn(1);
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btVector3 q = trA.getBasis().getColumn(2);
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int srow1 = srow + info->rowskip;
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J1[srow+0] = p[0];
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J1[srow+1] = p[1];
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J1[srow+2] = p[2];
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J1[srow1+0] = q[0];
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J1[srow1+1] = q[1];
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J1[srow1+2] = q[2];
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J2[srow+0] = -p[0];
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J2[srow+1] = -p[1];
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J2[srow+2] = -p[2];
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J2[srow1+0] = -q[0];
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J2[srow1+1] = -q[1];
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J2[srow1+2] = -q[2];
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btScalar fact = info->fps;
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info->m_constraintError[srow] = fact * swingAxis.dot(p);
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info->m_constraintError[srow1] = fact * swingAxis.dot(q);
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info->m_lowerLimit[srow] = -SIMD_INFINITY;
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info->m_upperLimit[srow] = SIMD_INFINITY;
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info->m_lowerLimit[srow1] = -SIMD_INFINITY;
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info->m_upperLimit[srow1] = SIMD_INFINITY;
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srow = srow1 + info->rowskip;
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{
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btQuaternion qMinTwist = qABTwist;
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btScalar twistAngle = qABTwist.getAngle();
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if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate.
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{
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qMinTwist = -(qABTwist);
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twistAngle = qMinTwist.getAngle();
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}
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if (twistAngle > SIMD_EPSILON)
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{
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twistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z());
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twistAxis.normalize();
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twistAxis = quatRotate(qB, -twistAxis);
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}
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ax1 = twistAxis;
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btScalar *J1 = info->m_J1angularAxis;
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btScalar *J2 = info->m_J2angularAxis;
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J1[srow+0] = ax1[0];
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J1[srow+1] = ax1[1];
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J1[srow+2] = ax1[2];
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J2[srow+0] = -ax1[0];
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J2[srow+1] = -ax1[1];
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J2[srow+2] = -ax1[2];
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btScalar k = info->fps;
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info->m_constraintError[srow] = k * twistAngle;
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info->m_lowerLimit[srow] = -SIMD_INFINITY;
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info->m_upperLimit[srow] = SIMD_INFINITY;
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}
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}
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
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#include "btFixedConstraint.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btTransformUtil.h"
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#include <new>
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btFixedConstraint::btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB)
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:btTypedConstraint(FIXED_CONSTRAINT_TYPE,rbA,rbB)
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{
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m_frameInA = frameInA;
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m_frameInB = frameInB;
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}
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btFixedConstraint::~btFixedConstraint ()
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{
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}
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void btFixedConstraint::getInfo1 (btConstraintInfo1* info)
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{
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info->m_numConstraintRows = 6;
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info->nub = 0;
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}
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void btFixedConstraint::getInfo2 (btConstraintInfo2* info)
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{
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//fix the 3 linear degrees of freedom
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const btTransform& transA = m_rbA.getCenterOfMassTransform();
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const btTransform& transB = m_rbB.getCenterOfMassTransform();
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const btVector3& worldPosA = m_rbA.getCenterOfMassTransform().getOrigin();
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const btMatrix3x3& worldOrnA = m_rbA.getCenterOfMassTransform().getBasis();
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const btVector3& worldPosB= m_rbB.getCenterOfMassTransform().getOrigin();
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const btMatrix3x3& worldOrnB = m_rbB.getCenterOfMassTransform().getBasis();
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info->m_J1linearAxis[0] = 1;
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info->m_J1linearAxis[info->rowskip+1] = 1;
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info->m_J1linearAxis[2*info->rowskip+2] = 1;
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btVector3 a1 = worldOrnA * m_frameInA.getOrigin();
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{
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btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
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btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
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btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
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btVector3 a1neg = -a1;
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a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
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}
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if (info->m_J2linearAxis)
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{
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info->m_J2linearAxis[0] = -1;
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info->m_J2linearAxis[info->rowskip+1] = -1;
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info->m_J2linearAxis[2*info->rowskip+2] = -1;
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}
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btVector3 a2 = worldOrnB*m_frameInB.getOrigin();
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{
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btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
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btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
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btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
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a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
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}
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// set right hand side for the linear dofs
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btScalar k = info->fps * info->erp;
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btVector3 linearError = k*(a2+worldPosB-a1-worldPosA);
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int j;
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for (j=0; j<3; j++)
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{
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info->m_constraintError[j*info->rowskip] = linearError[j];
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//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
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}
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btVector3 ivA = transA.getBasis() * m_frameInA.getBasis().getColumn(0);
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btVector3 jvA = transA.getBasis() * m_frameInA.getBasis().getColumn(1);
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btVector3 kvA = transA.getBasis() * m_frameInA.getBasis().getColumn(2);
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btVector3 ivB = transB.getBasis() * m_frameInB.getBasis().getColumn(0);
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btVector3 target;
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//btScalar x = ivB.dot(ivA);//??
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btScalar y = ivB.dot(jvA);
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btScalar z = ivB.dot(kvA);
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btVector3 swingAxis(0,0,0);
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{
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if((!btFuzzyZero(y)) || (!(btFuzzyZero(z))))
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{
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swingAxis = -ivB.cross(ivA);
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}
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}
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btVector3 vTwist(1,0,0);
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// compute rotation of A wrt B (in constraint space)
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btQuaternion qA = transA.getRotation() * m_frameInA.getRotation();
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btQuaternion qB = transB.getRotation() * m_frameInB.getRotation();
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btQuaternion qAB = qB.inverse() * qA;
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// split rotation into cone and twist
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// (all this is done from B's perspective. Maybe I should be averaging axes...)
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btVector3 vConeNoTwist = quatRotate(qAB, vTwist); vConeNoTwist.normalize();
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btQuaternion qABCone = shortestArcQuat(vTwist, vConeNoTwist); qABCone.normalize();
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btQuaternion qABTwist = qABCone.inverse() * qAB; qABTwist.normalize();
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int row = 3;
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int srow = row * info->rowskip;
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btVector3 ax1;
|
||||
// angular limits
|
||||
{
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||||
btScalar *J1 = info->m_J1angularAxis;
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btScalar *J2 = info->m_J2angularAxis;
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btTransform trA = transA*m_frameInA;
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btVector3 twistAxis = trA.getBasis().getColumn(0);
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btVector3 p = trA.getBasis().getColumn(1);
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btVector3 q = trA.getBasis().getColumn(2);
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int srow1 = srow + info->rowskip;
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J1[srow+0] = p[0];
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J1[srow+1] = p[1];
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J1[srow+2] = p[2];
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J1[srow1+0] = q[0];
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J1[srow1+1] = q[1];
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J1[srow1+2] = q[2];
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J2[srow+0] = -p[0];
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J2[srow+1] = -p[1];
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J2[srow+2] = -p[2];
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J2[srow1+0] = -q[0];
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J2[srow1+1] = -q[1];
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J2[srow1+2] = -q[2];
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btScalar fact = info->fps;
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info->m_constraintError[srow] = fact * swingAxis.dot(p);
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info->m_constraintError[srow1] = fact * swingAxis.dot(q);
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info->m_lowerLimit[srow] = -SIMD_INFINITY;
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info->m_upperLimit[srow] = SIMD_INFINITY;
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info->m_lowerLimit[srow1] = -SIMD_INFINITY;
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||||
info->m_upperLimit[srow1] = SIMD_INFINITY;
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srow = srow1 + info->rowskip;
|
||||
|
||||
{
|
||||
btQuaternion qMinTwist = qABTwist;
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btScalar twistAngle = qABTwist.getAngle();
|
||||
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||||
if (twistAngle > SIMD_PI) // long way around. flip quat and recalculate.
|
||||
{
|
||||
qMinTwist = -(qABTwist);
|
||||
twistAngle = qMinTwist.getAngle();
|
||||
}
|
||||
|
||||
if (twistAngle > SIMD_EPSILON)
|
||||
{
|
||||
twistAxis = btVector3(qMinTwist.x(), qMinTwist.y(), qMinTwist.z());
|
||||
twistAxis.normalize();
|
||||
twistAxis = quatRotate(qB, -twistAxis);
|
||||
}
|
||||
ax1 = twistAxis;
|
||||
btScalar *J1 = info->m_J1angularAxis;
|
||||
btScalar *J2 = info->m_J2angularAxis;
|
||||
J1[srow+0] = ax1[0];
|
||||
J1[srow+1] = ax1[1];
|
||||
J1[srow+2] = ax1[2];
|
||||
J2[srow+0] = -ax1[0];
|
||||
J2[srow+1] = -ax1[1];
|
||||
J2[srow+2] = -ax1[2];
|
||||
btScalar k = info->fps;
|
||||
info->m_constraintError[srow] = k * twistAngle;
|
||||
info->m_lowerLimit[srow] = -SIMD_INFINITY;
|
||||
info->m_upperLimit[srow] = SIMD_INFINITY;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,48 +1,48 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BT_FIXED_CONSTRAINT_H
|
||||
#define BT_FIXED_CONSTRAINT_H
|
||||
|
||||
#include "btTypedConstraint.h"
|
||||
|
||||
ATTRIBUTE_ALIGNED16(class) btFixedConstraint : public btTypedConstraint
|
||||
{
|
||||
|
||||
btTransform m_frameInA;
|
||||
btTransform m_frameInB;
|
||||
public:
|
||||
btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB);
|
||||
|
||||
virtual ~btFixedConstraint();
|
||||
|
||||
|
||||
virtual void getInfo1 (btConstraintInfo1* info);
|
||||
|
||||
virtual void getInfo2 (btConstraintInfo2* info);
|
||||
|
||||
virtual void setParam(int num, btScalar value, int axis = -1)
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
virtual btScalar getParam(int num, int axis = -1) const
|
||||
{
|
||||
btAssert(0);
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_FIXED_CONSTRAINT_H
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BT_FIXED_CONSTRAINT_H
|
||||
#define BT_FIXED_CONSTRAINT_H
|
||||
|
||||
#include "btTypedConstraint.h"
|
||||
|
||||
ATTRIBUTE_ALIGNED16(class) btFixedConstraint : public btTypedConstraint
|
||||
{
|
||||
|
||||
btTransform m_frameInA;
|
||||
btTransform m_frameInB;
|
||||
public:
|
||||
btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB);
|
||||
|
||||
virtual ~btFixedConstraint();
|
||||
|
||||
|
||||
virtual void getInfo1 (btConstraintInfo1* info);
|
||||
|
||||
virtual void getInfo2 (btConstraintInfo2* info);
|
||||
|
||||
virtual void setParam(int num, btScalar value, int axis = -1)
|
||||
{
|
||||
btAssert(0);
|
||||
}
|
||||
virtual btScalar getParam(int num, int axis = -1) const
|
||||
{
|
||||
btAssert(0);
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif //BT_FIXED_CONSTRAINT_H
|
||||
|
||||
@@ -1,54 +1,54 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
/// Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.
|
||||
|
||||
#include "btGearConstraint.h"
|
||||
|
||||
btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio)
|
||||
:btTypedConstraint(GEAR_CONSTRAINT_TYPE,rbA,rbB),
|
||||
m_axisInA(axisInA),
|
||||
m_axisInB(axisInB),
|
||||
m_ratio(ratio)
|
||||
{
|
||||
}
|
||||
|
||||
btGearConstraint::~btGearConstraint ()
|
||||
{
|
||||
}
|
||||
|
||||
void btGearConstraint::getInfo1 (btConstraintInfo1* info)
|
||||
{
|
||||
info->m_numConstraintRows = 1;
|
||||
info->nub = 1;
|
||||
}
|
||||
|
||||
void btGearConstraint::getInfo2 (btConstraintInfo2* info)
|
||||
{
|
||||
btVector3 globalAxisA, globalAxisB;
|
||||
|
||||
globalAxisA = m_rbA.getWorldTransform().getBasis()*this->m_axisInA;
|
||||
globalAxisB = m_rbB.getWorldTransform().getBasis()*this->m_axisInB;
|
||||
|
||||
info->m_J1angularAxis[0] = globalAxisA[0];
|
||||
info->m_J1angularAxis[1] = globalAxisA[1];
|
||||
info->m_J1angularAxis[2] = globalAxisA[2];
|
||||
|
||||
info->m_J2angularAxis[0] = m_ratio*globalAxisB[0];
|
||||
info->m_J2angularAxis[1] = m_ratio*globalAxisB[1];
|
||||
info->m_J2angularAxis[2] = m_ratio*globalAxisB[2];
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
/// Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.
|
||||
|
||||
#include "btGearConstraint.h"
|
||||
|
||||
btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio)
|
||||
:btTypedConstraint(GEAR_CONSTRAINT_TYPE,rbA,rbB),
|
||||
m_axisInA(axisInA),
|
||||
m_axisInB(axisInB),
|
||||
m_ratio(ratio)
|
||||
{
|
||||
}
|
||||
|
||||
btGearConstraint::~btGearConstraint ()
|
||||
{
|
||||
}
|
||||
|
||||
void btGearConstraint::getInfo1 (btConstraintInfo1* info)
|
||||
{
|
||||
info->m_numConstraintRows = 1;
|
||||
info->nub = 1;
|
||||
}
|
||||
|
||||
void btGearConstraint::getInfo2 (btConstraintInfo2* info)
|
||||
{
|
||||
btVector3 globalAxisA, globalAxisB;
|
||||
|
||||
globalAxisA = m_rbA.getWorldTransform().getBasis()*this->m_axisInA;
|
||||
globalAxisB = m_rbB.getWorldTransform().getBasis()*this->m_axisInB;
|
||||
|
||||
info->m_J1angularAxis[0] = globalAxisA[0];
|
||||
info->m_J1angularAxis[1] = globalAxisA[1];
|
||||
info->m_J1angularAxis[2] = globalAxisA[2];
|
||||
|
||||
info->m_J2angularAxis[0] = m_ratio*globalAxisB[0];
|
||||
info->m_J2angularAxis[1] = m_ratio*globalAxisB[1];
|
||||
info->m_J2angularAxis[2] = m_ratio*globalAxisB[2];
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -1,79 +1,79 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef BT_GEAR_CONSTRAINT_H
|
||||
#define BT_GEAR_CONSTRAINT_H
|
||||
|
||||
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
|
||||
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define btGearConstraintData btGearConstraintDoubleData
|
||||
#define btGearConstraintDataName "btGearConstraintDoubleData"
|
||||
#else
|
||||
#define btGearConstraintData btGearConstraintFloatData
|
||||
#define btGearConstraintDataName "btGearConstraintFloatData"
|
||||
#endif //BT_USE_DOUBLE_PRECISION
|
||||
|
||||
|
||||
|
||||
///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.
|
||||
///See Bullet/Demos/ConstraintDemo for an example use.
|
||||
class btGearConstraint : public btTypedConstraint
|
||||
{
|
||||
protected:
|
||||
btVector3 m_axisInA;
|
||||
btVector3 m_axisInB;
|
||||
bool m_useFrameA;
|
||||
btScalar m_ratio;
|
||||
|
||||
public:
|
||||
btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f);
|
||||
virtual ~btGearConstraint ();
|
||||
|
||||
///internal method used by the constraint solver, don't use them directly
|
||||
virtual void getInfo1 (btConstraintInfo1* info);
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef BT_GEAR_CONSTRAINT_H
|
||||
#define BT_GEAR_CONSTRAINT_H
|
||||
|
||||
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
|
||||
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define btGearConstraintData btGearConstraintDoubleData
|
||||
#define btGearConstraintDataName "btGearConstraintDoubleData"
|
||||
#else
|
||||
#define btGearConstraintData btGearConstraintFloatData
|
||||
#define btGearConstraintDataName "btGearConstraintFloatData"
|
||||
#endif //BT_USE_DOUBLE_PRECISION
|
||||
|
||||
|
||||
|
||||
///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.
|
||||
///See Bullet/Demos/ConstraintDemo for an example use.
|
||||
class btGearConstraint : public btTypedConstraint
|
||||
{
|
||||
protected:
|
||||
btVector3 m_axisInA;
|
||||
btVector3 m_axisInB;
|
||||
bool m_useFrameA;
|
||||
btScalar m_ratio;
|
||||
|
||||
public:
|
||||
btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f);
|
||||
virtual ~btGearConstraint ();
|
||||
|
||||
///internal method used by the constraint solver, don't use them directly
|
||||
virtual void getInfo1 (btConstraintInfo1* info);
|
||||
|
||||
///internal method used by the constraint solver, don't use them directly
|
||||
virtual void getInfo2 (btConstraintInfo2* info);
|
||||
|
||||
void setAxisA(btVector3& axisA)
|
||||
{
|
||||
m_axisInA = axisA;
|
||||
void setAxisA(btVector3& axisA)
|
||||
{
|
||||
m_axisInA = axisA;
|
||||
}
|
||||
void setAxisB(btVector3& axisB)
|
||||
{
|
||||
m_axisInB = axisB;
|
||||
void setAxisB(btVector3& axisB)
|
||||
{
|
||||
m_axisInB = axisB;
|
||||
}
|
||||
void setRatio(btScalar ratio)
|
||||
{
|
||||
m_ratio = ratio;
|
||||
void setRatio(btScalar ratio)
|
||||
{
|
||||
m_ratio = ratio;
|
||||
}
|
||||
const btVector3& getAxisA() const
|
||||
{
|
||||
return m_axisInA;
|
||||
const btVector3& getAxisA() const
|
||||
{
|
||||
return m_axisInA;
|
||||
}
|
||||
const btVector3& getAxisB() const
|
||||
{
|
||||
return m_axisInB;
|
||||
const btVector3& getAxisB() const
|
||||
{
|
||||
return m_axisInB;
|
||||
}
|
||||
btScalar getRatio() const
|
||||
{
|
||||
return m_ratio;
|
||||
btScalar getRatio() const
|
||||
{
|
||||
return m_ratio;
|
||||
}
|
||||
|
||||
|
||||
@@ -84,69 +84,69 @@ public:
|
||||
(void) axis;
|
||||
btAssert(0);
|
||||
}
|
||||
|
||||
///return the local value of parameter
|
||||
virtual btScalar getParam(int num, int axis = -1) const
|
||||
{
|
||||
(void) num;
|
||||
(void) axis;
|
||||
btAssert(0);
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
virtual int calculateSerializeBufferSize() const;
|
||||
|
||||
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
||||
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
||||
struct btGearConstraintFloatData
|
||||
{
|
||||
btTypedConstraintFloatData m_typeConstraintData;
|
||||
|
||||
btVector3FloatData m_axisInA;
|
||||
btVector3FloatData m_axisInB;
|
||||
|
||||
float m_ratio;
|
||||
char m_padding[4];
|
||||
};
|
||||
|
||||
struct btGearConstraintDoubleData
|
||||
{
|
||||
btTypedConstraintDoubleData m_typeConstraintData;
|
||||
|
||||
btVector3DoubleData m_axisInA;
|
||||
btVector3DoubleData m_axisInB;
|
||||
|
||||
double m_ratio;
|
||||
};
|
||||
|
||||
SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const
|
||||
{
|
||||
return sizeof(btGearConstraintData);
|
||||
}
|
||||
|
||||
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
||||
SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
|
||||
{
|
||||
btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
|
||||
btTypedConstraint::serialize(&gear->m_typeConstraintData,serializer);
|
||||
|
||||
m_axisInA.serialize( gear->m_axisInA );
|
||||
m_axisInB.serialize( gear->m_axisInB );
|
||||
|
||||
gear->m_ratio = m_ratio;
|
||||
|
||||
return btGearConstraintDataName;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_GEAR_CONSTRAINT_H
|
||||
|
||||
///return the local value of parameter
|
||||
virtual btScalar getParam(int num, int axis = -1) const
|
||||
{
|
||||
(void) num;
|
||||
(void) axis;
|
||||
btAssert(0);
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
virtual int calculateSerializeBufferSize() const;
|
||||
|
||||
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
||||
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
||||
struct btGearConstraintFloatData
|
||||
{
|
||||
btTypedConstraintFloatData m_typeConstraintData;
|
||||
|
||||
btVector3FloatData m_axisInA;
|
||||
btVector3FloatData m_axisInB;
|
||||
|
||||
float m_ratio;
|
||||
char m_padding[4];
|
||||
};
|
||||
|
||||
struct btGearConstraintDoubleData
|
||||
{
|
||||
btTypedConstraintDoubleData m_typeConstraintData;
|
||||
|
||||
btVector3DoubleData m_axisInA;
|
||||
btVector3DoubleData m_axisInB;
|
||||
|
||||
double m_ratio;
|
||||
};
|
||||
|
||||
SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const
|
||||
{
|
||||
return sizeof(btGearConstraintData);
|
||||
}
|
||||
|
||||
///fills the dataBuffer and returns the struct name (and 0 on failure)
|
||||
SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
|
||||
{
|
||||
btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
|
||||
btTypedConstraint::serialize(&gear->m_typeConstraintData,serializer);
|
||||
|
||||
m_axisInA.serialize( gear->m_axisInA );
|
||||
m_axisInB.serialize( gear->m_axisInB );
|
||||
|
||||
gear->m_ratio = m_ratio;
|
||||
|
||||
return btGearConstraintDataName;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_GEAR_CONSTRAINT_H
|
||||
|
||||
@@ -50,8 +50,8 @@ btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbA,
|
||||
: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, rbA, rbB)
|
||||
, m_frameInA(frameInA)
|
||||
, m_frameInB(frameInB)
|
||||
, m_rotateOrder(rotOrder)
|
||||
, m_flags(0)
|
||||
, m_rotateOrder(rotOrder)
|
||||
{
|
||||
calculateTransforms();
|
||||
}
|
||||
@@ -60,8 +60,8 @@ btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbA,
|
||||
btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint(btRigidBody& rbB, const btTransform& frameInB, RotateOrder rotOrder)
|
||||
: btTypedConstraint(D6_SPRING_2_CONSTRAINT_TYPE, getFixedBody(), rbB)
|
||||
, m_frameInB(frameInB)
|
||||
, m_flags(0)
|
||||
, m_rotateOrder(rotOrder)
|
||||
, m_flags(0)
|
||||
{
|
||||
///not providing rigidbody A means implicitly using worldspace for body A
|
||||
m_frameInA = rbB.getCenterOfMassTransform() * m_frameInB;
|
||||
@@ -776,7 +776,7 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
|
||||
btScalar kd = limot->m_springDamping;
|
||||
btScalar ks = limot->m_springStiffness;
|
||||
btScalar vel = rotational ? angVelA.dot(ax1) - angVelB.dot(ax1) : linVelA.dot(ax1) - linVelB.dot(ax1);
|
||||
btScalar erp = 0.1;
|
||||
// btScalar erp = 0.1;
|
||||
btScalar cfm = 0.0;
|
||||
btScalar mA = 1.0 / m_rbA.getInvMass();
|
||||
btScalar mB = 1.0 / m_rbB.getInvMass();
|
||||
|
||||
@@ -217,6 +217,14 @@ public:
|
||||
|
||||
}
|
||||
|
||||
bool hasLimit() const {
|
||||
#ifdef _BT_USE_CENTER_LIMIT_
|
||||
return m_limit.getHalfRange() > 0;
|
||||
#else
|
||||
return m_lowerLimit <= m_upperLimit;
|
||||
#endif
|
||||
}
|
||||
|
||||
btScalar getLowerLimit() const
|
||||
{
|
||||
#ifdef _BT_USE_CENTER_LIMIT_
|
||||
|
||||
@@ -1,463 +1,463 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "btNNCGConstraintSolver.h"
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
|
||||
{
|
||||
btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies,numBodies,manifoldPtr, numManifolds, constraints,numConstraints,infoGlobal,debugDrawer);
|
||||
|
||||
m_pNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size());
|
||||
m_pC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size());
|
||||
m_pCF.resizeNoInitialize(m_tmpSolverContactFrictionConstraintPool.size());
|
||||
m_pCRF.resizeNoInitialize(m_tmpSolverContactRollingFrictionConstraintPool.size());
|
||||
|
||||
m_deltafNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size());
|
||||
m_deltafC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size());
|
||||
m_deltafCF.resizeNoInitialize(m_tmpSolverContactFrictionConstraintPool.size());
|
||||
m_deltafCRF.resizeNoInitialize(m_tmpSolverContactRollingFrictionConstraintPool.size());
|
||||
|
||||
return val;
|
||||
}
|
||||
|
||||
btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
|
||||
{
|
||||
|
||||
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
|
||||
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
|
||||
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
|
||||
{
|
||||
if (1) // uncomment this for a bit less random ((iteration & 7) == 0)
|
||||
{
|
||||
|
||||
for (int j=0; j<numNonContactPool; ++j) {
|
||||
int tmp = m_orderNonContactConstraintPool[j];
|
||||
int swapi = btRandInt2(j+1);
|
||||
m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
|
||||
m_orderNonContactConstraintPool[swapi] = tmp;
|
||||
}
|
||||
|
||||
//contact/friction constraints are not solved more than
|
||||
if (iteration< infoGlobal.m_numIterations)
|
||||
{
|
||||
for (int j=0; j<numConstraintPool; ++j) {
|
||||
int tmp = m_orderTmpConstraintPool[j];
|
||||
int swapi = btRandInt2(j+1);
|
||||
m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
|
||||
m_orderTmpConstraintPool[swapi] = tmp;
|
||||
}
|
||||
|
||||
for (int j=0; j<numFrictionPool; ++j) {
|
||||
int tmp = m_orderFrictionConstraintPool[j];
|
||||
int swapi = btRandInt2(j+1);
|
||||
m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
|
||||
m_orderFrictionConstraintPool[swapi] = tmp;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
btScalar deltaflengthsqr = 0;
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_SIMD)
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations)
|
||||
{
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
|
||||
m_deltafNC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf * deltaf;
|
||||
}
|
||||
}
|
||||
} else
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations)
|
||||
{
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
|
||||
m_deltafNC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf * deltaf;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (m_onlyForNoneContact)
|
||||
{
|
||||
if (iteration==0)
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j];
|
||||
} else {
|
||||
// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
|
||||
btScalar beta = m_deltafLengthSqrPrev>0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
|
||||
if (beta>1)
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0;
|
||||
} else
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations)
|
||||
{
|
||||
btScalar additionaldeltaimpulse = beta * m_pNC[j];
|
||||
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
|
||||
m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j];
|
||||
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
|
||||
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
|
||||
const btSolverConstraint& c = constraint;
|
||||
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
|
||||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
m_deltafLengthSqrPrev = deltaflengthsqr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_SIMD)
|
||||
{
|
||||
|
||||
if (iteration< infoGlobal.m_numIterations)
|
||||
{
|
||||
for (int j=0;j<numConstraints;j++)
|
||||
{
|
||||
if (constraints[j]->isEnabled())
|
||||
{
|
||||
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
|
||||
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
|
||||
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
|
||||
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
|
||||
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
///solve all contact constraints using SIMD, if available
|
||||
if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
|
||||
{
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1;
|
||||
|
||||
for (int c=0;c<numPoolConstraints;c++)
|
||||
{
|
||||
btScalar totalImpulse =0;
|
||||
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
|
||||
btScalar deltaf = resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafC[c] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
totalImpulse = solveManifold.m_appliedImpulse;
|
||||
}
|
||||
bool applyFriction = true;
|
||||
if (applyFriction)
|
||||
{
|
||||
{
|
||||
|
||||
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]];
|
||||
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[c*multiplier] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCF[c*multiplier] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
|
||||
{
|
||||
|
||||
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]];
|
||||
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[c*multiplier+1] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCF[c*multiplier+1] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
|
||||
{
|
||||
//solve the friction constraints after all contact constraints, don't interleave them
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
int j;
|
||||
|
||||
for (j=0;j<numPoolConstraints;j++)
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
//resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
}
|
||||
|
||||
|
||||
|
||||
///solve all friction constraints, using SIMD, if available
|
||||
|
||||
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
for (j=0;j<numFrictionPoolConstraints;j++)
|
||||
{
|
||||
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
|
||||
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
|
||||
//resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCF[j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
|
||||
for (j=0;j<numRollingFrictionPoolConstraints;j++)
|
||||
{
|
||||
|
||||
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
|
||||
if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
|
||||
rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
|
||||
|
||||
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
|
||||
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
|
||||
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
|
||||
m_deltafCRF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCRF[j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
if (iteration< infoGlobal.m_numIterations)
|
||||
{
|
||||
for (int j=0;j<numConstraints;j++)
|
||||
{
|
||||
if (constraints[j]->isEnabled())
|
||||
{
|
||||
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
|
||||
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
|
||||
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
|
||||
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
|
||||
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
|
||||
}
|
||||
}
|
||||
///solve all contact constraints
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
for (int j=0;j<numPoolConstraints;j++)
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
}
|
||||
///solve all friction constraints
|
||||
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
for (int j=0;j<numFrictionPoolConstraints;j++)
|
||||
{
|
||||
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
|
||||
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCF[j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
|
||||
for (int j=0;j<numRollingFrictionPoolConstraints;j++)
|
||||
{
|
||||
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
|
||||
if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
|
||||
rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
|
||||
|
||||
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
|
||||
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
|
||||
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
|
||||
m_deltafCRF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCRF[j] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
if (!m_onlyForNoneContact)
|
||||
{
|
||||
if (iteration==0)
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j];
|
||||
for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = m_deltafC[j];
|
||||
for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = m_deltafCF[j];
|
||||
if ( (infoGlobal.m_solverMode & SOLVER_SIMD) ==0 || (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 )
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = m_deltafCRF[j];
|
||||
}
|
||||
} else
|
||||
{
|
||||
// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
|
||||
btScalar beta = m_deltafLengthSqrPrev>0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
|
||||
if (beta>1) {
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0;
|
||||
for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = 0;
|
||||
for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = 0;
|
||||
if ( (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) {
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = 0;
|
||||
}
|
||||
} else {
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations) {
|
||||
btScalar additionaldeltaimpulse = beta * m_pNC[j];
|
||||
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
|
||||
m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j];
|
||||
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
|
||||
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
|
||||
const btSolverConstraint& c = constraint;
|
||||
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
|
||||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
if (iteration< infoGlobal.m_numIterations) {
|
||||
btScalar additionaldeltaimpulse = beta * m_pC[j];
|
||||
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
|
||||
m_pC[j] = beta * m_pC[j] + m_deltafC[j];
|
||||
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
|
||||
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
|
||||
const btSolverConstraint& c = constraint;
|
||||
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
|
||||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
|
||||
if (iteration< infoGlobal.m_numIterations) {
|
||||
btScalar additionaldeltaimpulse = beta * m_pCF[j];
|
||||
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
|
||||
m_pCF[j] = beta * m_pCF[j] + m_deltafCF[j];
|
||||
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
|
||||
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
|
||||
const btSolverConstraint& c = constraint;
|
||||
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
|
||||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
if ( (infoGlobal.m_solverMode & SOLVER_SIMD) ==0 || (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) {
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
if (iteration< infoGlobal.m_numIterations) {
|
||||
btScalar additionaldeltaimpulse = beta * m_pCRF[j];
|
||||
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
|
||||
m_pCRF[j] = beta * m_pCRF[j] + m_deltafCRF[j];
|
||||
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
|
||||
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
|
||||
const btSolverConstraint& c = constraint;
|
||||
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
|
||||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
m_deltafLengthSqrPrev = deltaflengthsqr;
|
||||
}
|
||||
|
||||
return deltaflengthsqr;
|
||||
}
|
||||
|
||||
btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
m_pNC.resizeNoInitialize(0);
|
||||
m_pC.resizeNoInitialize(0);
|
||||
m_pCF.resizeNoInitialize(0);
|
||||
m_pCRF.resizeNoInitialize(0);
|
||||
|
||||
m_deltafNC.resizeNoInitialize(0);
|
||||
m_deltafC.resizeNoInitialize(0);
|
||||
m_deltafCF.resizeNoInitialize(0);
|
||||
m_deltafCRF.resizeNoInitialize(0);
|
||||
|
||||
return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#include "btNNCGConstraintSolver.h"
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
|
||||
{
|
||||
btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies,numBodies,manifoldPtr, numManifolds, constraints,numConstraints,infoGlobal,debugDrawer);
|
||||
|
||||
m_pNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size());
|
||||
m_pC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size());
|
||||
m_pCF.resizeNoInitialize(m_tmpSolverContactFrictionConstraintPool.size());
|
||||
m_pCRF.resizeNoInitialize(m_tmpSolverContactRollingFrictionConstraintPool.size());
|
||||
|
||||
m_deltafNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size());
|
||||
m_deltafC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size());
|
||||
m_deltafCF.resizeNoInitialize(m_tmpSolverContactFrictionConstraintPool.size());
|
||||
m_deltafCRF.resizeNoInitialize(m_tmpSolverContactRollingFrictionConstraintPool.size());
|
||||
|
||||
return val;
|
||||
}
|
||||
|
||||
btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
|
||||
{
|
||||
|
||||
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
|
||||
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
|
||||
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
|
||||
{
|
||||
if (1) // uncomment this for a bit less random ((iteration & 7) == 0)
|
||||
{
|
||||
|
||||
for (int j=0; j<numNonContactPool; ++j) {
|
||||
int tmp = m_orderNonContactConstraintPool[j];
|
||||
int swapi = btRandInt2(j+1);
|
||||
m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
|
||||
m_orderNonContactConstraintPool[swapi] = tmp;
|
||||
}
|
||||
|
||||
//contact/friction constraints are not solved more than
|
||||
if (iteration< infoGlobal.m_numIterations)
|
||||
{
|
||||
for (int j=0; j<numConstraintPool; ++j) {
|
||||
int tmp = m_orderTmpConstraintPool[j];
|
||||
int swapi = btRandInt2(j+1);
|
||||
m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
|
||||
m_orderTmpConstraintPool[swapi] = tmp;
|
||||
}
|
||||
|
||||
for (int j=0; j<numFrictionPool; ++j) {
|
||||
int tmp = m_orderFrictionConstraintPool[j];
|
||||
int swapi = btRandInt2(j+1);
|
||||
m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
|
||||
m_orderFrictionConstraintPool[swapi] = tmp;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
btScalar deltaflengthsqr = 0;
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_SIMD)
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations)
|
||||
{
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
|
||||
m_deltafNC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf * deltaf;
|
||||
}
|
||||
}
|
||||
} else
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations)
|
||||
{
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
|
||||
m_deltafNC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf * deltaf;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if (m_onlyForNoneContact)
|
||||
{
|
||||
if (iteration==0)
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j];
|
||||
} else {
|
||||
// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
|
||||
btScalar beta = m_deltafLengthSqrPrev>0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
|
||||
if (beta>1)
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0;
|
||||
} else
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations)
|
||||
{
|
||||
btScalar additionaldeltaimpulse = beta * m_pNC[j];
|
||||
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
|
||||
m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j];
|
||||
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
|
||||
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
|
||||
const btSolverConstraint& c = constraint;
|
||||
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
|
||||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
m_deltafLengthSqrPrev = deltaflengthsqr;
|
||||
}
|
||||
|
||||
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_SIMD)
|
||||
{
|
||||
|
||||
if (iteration< infoGlobal.m_numIterations)
|
||||
{
|
||||
for (int j=0;j<numConstraints;j++)
|
||||
{
|
||||
if (constraints[j]->isEnabled())
|
||||
{
|
||||
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
|
||||
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
|
||||
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
|
||||
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
|
||||
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
///solve all contact constraints using SIMD, if available
|
||||
if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
|
||||
{
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1;
|
||||
|
||||
for (int c=0;c<numPoolConstraints;c++)
|
||||
{
|
||||
btScalar totalImpulse =0;
|
||||
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
|
||||
btScalar deltaf = resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafC[c] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
totalImpulse = solveManifold.m_appliedImpulse;
|
||||
}
|
||||
bool applyFriction = true;
|
||||
if (applyFriction)
|
||||
{
|
||||
{
|
||||
|
||||
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]];
|
||||
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[c*multiplier] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCF[c*multiplier] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
|
||||
{
|
||||
|
||||
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]];
|
||||
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[c*multiplier+1] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCF[c*multiplier+1] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
|
||||
{
|
||||
//solve the friction constraints after all contact constraints, don't interleave them
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
int j;
|
||||
|
||||
for (j=0;j<numPoolConstraints;j++)
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
//resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
}
|
||||
|
||||
|
||||
|
||||
///solve all friction constraints, using SIMD, if available
|
||||
|
||||
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
for (j=0;j<numFrictionPoolConstraints;j++)
|
||||
{
|
||||
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
|
||||
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
|
||||
//resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCF[j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
|
||||
for (j=0;j<numRollingFrictionPoolConstraints;j++)
|
||||
{
|
||||
|
||||
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
|
||||
if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
|
||||
rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
|
||||
|
||||
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
|
||||
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
|
||||
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
|
||||
m_deltafCRF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCRF[j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
if (iteration< infoGlobal.m_numIterations)
|
||||
{
|
||||
for (int j=0;j<numConstraints;j++)
|
||||
{
|
||||
if (constraints[j]->isEnabled())
|
||||
{
|
||||
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
|
||||
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
|
||||
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
|
||||
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
|
||||
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
|
||||
}
|
||||
}
|
||||
///solve all contact constraints
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
for (int j=0;j<numPoolConstraints;j++)
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
}
|
||||
///solve all friction constraints
|
||||
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
for (int j=0;j<numFrictionPoolConstraints;j++)
|
||||
{
|
||||
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
|
||||
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCF[j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
|
||||
for (int j=0;j<numRollingFrictionPoolConstraints;j++)
|
||||
{
|
||||
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
|
||||
if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
|
||||
rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
|
||||
|
||||
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
|
||||
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
|
||||
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
|
||||
m_deltafCRF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCRF[j] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
if (!m_onlyForNoneContact)
|
||||
{
|
||||
if (iteration==0)
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j];
|
||||
for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = m_deltafC[j];
|
||||
for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = m_deltafCF[j];
|
||||
if ( (infoGlobal.m_solverMode & SOLVER_SIMD) ==0 || (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 )
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = m_deltafCRF[j];
|
||||
}
|
||||
} else
|
||||
{
|
||||
// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
|
||||
btScalar beta = m_deltafLengthSqrPrev>0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
|
||||
if (beta>1) {
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0;
|
||||
for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = 0;
|
||||
for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = 0;
|
||||
if ( (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) {
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = 0;
|
||||
}
|
||||
} else {
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations) {
|
||||
btScalar additionaldeltaimpulse = beta * m_pNC[j];
|
||||
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
|
||||
m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j];
|
||||
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
|
||||
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
|
||||
const btSolverConstraint& c = constraint;
|
||||
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
|
||||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
if (iteration< infoGlobal.m_numIterations) {
|
||||
btScalar additionaldeltaimpulse = beta * m_pC[j];
|
||||
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
|
||||
m_pC[j] = beta * m_pC[j] + m_deltafC[j];
|
||||
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
|
||||
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
|
||||
const btSolverConstraint& c = constraint;
|
||||
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
|
||||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
|
||||
if (iteration< infoGlobal.m_numIterations) {
|
||||
btScalar additionaldeltaimpulse = beta * m_pCF[j];
|
||||
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
|
||||
m_pCF[j] = beta * m_pCF[j] + m_deltafCF[j];
|
||||
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
|
||||
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
|
||||
const btSolverConstraint& c = constraint;
|
||||
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
|
||||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
if ( (infoGlobal.m_solverMode & SOLVER_SIMD) ==0 || (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) {
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
if (iteration< infoGlobal.m_numIterations) {
|
||||
btScalar additionaldeltaimpulse = beta * m_pCRF[j];
|
||||
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
|
||||
m_pCRF[j] = beta * m_pCRF[j] + m_deltafCRF[j];
|
||||
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
|
||||
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
|
||||
const btSolverConstraint& c = constraint;
|
||||
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
|
||||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
m_deltafLengthSqrPrev = deltaflengthsqr;
|
||||
}
|
||||
|
||||
return deltaflengthsqr;
|
||||
}
|
||||
|
||||
btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
m_pNC.resizeNoInitialize(0);
|
||||
m_pC.resizeNoInitialize(0);
|
||||
m_pCF.resizeNoInitialize(0);
|
||||
m_pCRF.resizeNoInitialize(0);
|
||||
|
||||
m_deltafNC.resizeNoInitialize(0);
|
||||
m_deltafC.resizeNoInitialize(0);
|
||||
m_deltafCF.resizeNoInitialize(0);
|
||||
m_deltafCRF.resizeNoInitialize(0);
|
||||
|
||||
return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,64 +1,64 @@
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BT_NNCG_CONSTRAINT_SOLVER_H
|
||||
#define BT_NNCG_CONSTRAINT_SOLVER_H
|
||||
|
||||
#include "btSequentialImpulseConstraintSolver.h"
|
||||
|
||||
ATTRIBUTE_ALIGNED16(class) btNNCGConstraintSolver : public btSequentialImpulseConstraintSolver
|
||||
{
|
||||
protected:
|
||||
|
||||
btScalar m_deltafLengthSqrPrev;
|
||||
|
||||
btAlignedObjectArray<btScalar> m_pNC; // p for None Contact constraints
|
||||
btAlignedObjectArray<btScalar> m_pC; // p for Contact constraints
|
||||
btAlignedObjectArray<btScalar> m_pCF; // p for ContactFriction constraints
|
||||
btAlignedObjectArray<btScalar> m_pCRF; // p for ContactRollingFriction constraints
|
||||
|
||||
//These are recalculated in every iterations. We just keep these to prevent reallocation in each iteration.
|
||||
btAlignedObjectArray<btScalar> m_deltafNC; // deltaf for NoneContact constraints
|
||||
btAlignedObjectArray<btScalar> m_deltafC; // deltaf for Contact constraints
|
||||
btAlignedObjectArray<btScalar> m_deltafCF; // deltaf for ContactFriction constraints
|
||||
btAlignedObjectArray<btScalar> m_deltafCRF; // deltaf for ContactRollingFriction constraints
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
|
||||
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
|
||||
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btNNCGConstraintSolver() : btSequentialImpulseConstraintSolver(), m_onlyForNoneContact(false) {}
|
||||
|
||||
virtual btConstraintSolverType getSolverType() const
|
||||
{
|
||||
return BT_NNCG_SOLVER;
|
||||
}
|
||||
|
||||
bool m_onlyForNoneContact;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_NNCG_CONSTRAINT_SOLVER_H
|
||||
|
||||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
#ifndef BT_NNCG_CONSTRAINT_SOLVER_H
|
||||
#define BT_NNCG_CONSTRAINT_SOLVER_H
|
||||
|
||||
#include "btSequentialImpulseConstraintSolver.h"
|
||||
|
||||
ATTRIBUTE_ALIGNED16(class) btNNCGConstraintSolver : public btSequentialImpulseConstraintSolver
|
||||
{
|
||||
protected:
|
||||
|
||||
btScalar m_deltafLengthSqrPrev;
|
||||
|
||||
btAlignedObjectArray<btScalar> m_pNC; // p for None Contact constraints
|
||||
btAlignedObjectArray<btScalar> m_pC; // p for Contact constraints
|
||||
btAlignedObjectArray<btScalar> m_pCF; // p for ContactFriction constraints
|
||||
btAlignedObjectArray<btScalar> m_pCRF; // p for ContactRollingFriction constraints
|
||||
|
||||
//These are recalculated in every iterations. We just keep these to prevent reallocation in each iteration.
|
||||
btAlignedObjectArray<btScalar> m_deltafNC; // deltaf for NoneContact constraints
|
||||
btAlignedObjectArray<btScalar> m_deltafC; // deltaf for Contact constraints
|
||||
btAlignedObjectArray<btScalar> m_deltafCF; // deltaf for ContactFriction constraints
|
||||
btAlignedObjectArray<btScalar> m_deltafCRF; // deltaf for ContactRollingFriction constraints
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
|
||||
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
|
||||
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
||||
|
||||
public:
|
||||
|
||||
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||||
|
||||
btNNCGConstraintSolver() : btSequentialImpulseConstraintSolver(), m_onlyForNoneContact(false) {}
|
||||
|
||||
virtual btConstraintSolverType getSolverType() const
|
||||
{
|
||||
return BT_NNCG_SOLVER;
|
||||
}
|
||||
|
||||
bool m_onlyForNoneContact;
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
#endif //BT_NNCG_CONSTRAINT_SOLVER_H
|
||||
|
||||
|
||||
@@ -364,9 +364,9 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
|
||||
|
||||
|
||||
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
|
||||
:m_btSeed2(0),
|
||||
m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_scalar_reference),
|
||||
m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_scalar_reference)
|
||||
: m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_scalar_reference),
|
||||
m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_scalar_reference),
|
||||
m_btSeed2(0)
|
||||
{
|
||||
|
||||
#ifdef USE_SIMD
|
||||
@@ -761,8 +761,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
|
||||
const btVector3& rel_pos1, const btVector3& rel_pos2)
|
||||
{
|
||||
|
||||
const btVector3& pos1 = cp.getPositionWorldOnA();
|
||||
const btVector3& pos2 = cp.getPositionWorldOnB();
|
||||
// const btVector3& pos1 = cp.getPositionWorldOnA();
|
||||
// const btVector3& pos2 = cp.getPositionWorldOnB();
|
||||
|
||||
btSolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
|
||||
btSolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
|
||||
|
||||
Reference in New Issue
Block a user