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disable constraints when they exceed a breaking threshold, control it with new methods in btTypedConstraint: get/setBreakingImpulseThreshold and get/setEnabled

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Disabled constraints are not removed from the world and they use negligible CPU cycles
This commit is contained in:
erwin.coumans
2011-04-02 19:01:23 +00:00
parent d198451909
commit b16b61d9d6
6 changed files with 91 additions and 42 deletions
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34
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -805,7 +805,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
for (i=0;i<numConstraints;i++)
{
btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
constraints[i]->getInfo1(&info1);
if (constraints[i]->isEnabled())
{
constraints[i]->getInfo1(&info1);
} else
{
info1.m_numConstraintRows = 0;
info1.nub = 0;
}
totalNumRows += info1.m_numConstraintRows;
}
m_tmpSolverNonContactConstraintPool.resize(totalNumRows);
@@ -826,7 +833,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btTypedConstraint* constraint = constraints[i];
btRigidBody& rbA = constraint->getRigidBodyA();
btRigidBody& rbB = constraint->getRigidBodyB();
@@ -835,8 +841,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
for ( j=0;j<info1.m_numConstraintRows;j++)
{
memset(&currentConstraintRow[j],0,sizeof(btSolverConstraint));
currentConstraintRow[j].m_lowerLimit = -FLT_MAX;
currentConstraintRow[j].m_upperLimit = FLT_MAX;
currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY;
currentConstraintRow[j].m_upperLimit = SIMD_INFINITY;
currentConstraintRow[j].m_appliedImpulse = 0.f;
currentConstraintRow[j].m_appliedPushImpulse = 0.f;
currentConstraintRow[j].m_solverBodyA = &rbA;
@@ -869,6 +875,18 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
info2.m_numIterations = infoGlobal.m_numIterations;
constraints[i]->getInfo2(&info2);
if (currentConstraintRow->m_upperLimit>constraints[i]->getBreakingImpulseThreshold())
{
currentConstraintRow->m_upperLimit = constraints[i]->getBreakingImpulseThreshold();
}
if (currentConstraintRow->m_lowerLimit<-constraints[i]->getBreakingImpulseThreshold())
{
currentConstraintRow->m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold();
}
///finalize the constraint setup
for ( j=0;j<info1.m_numConstraintRows;j++)
{
@@ -1153,9 +1171,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
{
const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
btScalar sum = constr->internalGetAppliedImpulse();
sum += solverConstr.m_appliedImpulse;
constr->internalSetAppliedImpulse(sum);
constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse);
if (solverConstr.m_appliedImpulse>constr->getBreakingImpulseThreshold())
{
constr->setEnabled(false);
}
}

8
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
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@@ -29,7 +29,9 @@ m_needsFeedback(false),
m_rbA(rbA),
m_rbB(getFixedBody()),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
m_breakingImpulseThreshold(SIMD_INFINITY),
m_isEnabled(true)
{
}
@@ -42,7 +44,9 @@ m_needsFeedback(false),
m_rbA(rbA),
m_rbB(rbB),
m_appliedImpulse(btScalar(0.)),
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE),
m_breakingImpulseThreshold(SIMD_INFINITY),
m_isEnabled(true)
{
}

26
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
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@@ -62,6 +62,10 @@ class btTypedConstraint : public btTypedObject
void* m_userConstraintPtr;
};
btScalar m_breakingImpulseThreshold;
bool m_isEnabled;
bool m_needsFeedback;
btTypedConstraint& operator=(btTypedConstraint& other)
@@ -155,6 +159,28 @@ public:
return m_appliedImpulse;
}
btScalar getBreakingImpulseThreshold() const
{
return m_breakingImpulseThreshold;
}
void setBreakingImpulseThreshold(btScalar threshold)
{
m_breakingImpulseThreshold = threshold;
}
bool isEnabled() const
{
return m_isEnabled;
}
void setEnabled(bool enabled)
{
m_isEnabled=enabled;
}
///internal method used by the constraint solver, don't use them directly
virtual void solveConstraintObsolete(btRigidBody& /*bodyA*/,btRigidBody& /*bodyB*/,btScalar /*timeStep*/) {};