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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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54
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define TEST_SERIALIZATION 1
@@ -29,12 +28,6 @@ subject to the following restrictions:
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#ifdef TEST_SERIALIZATION
#include "LinearMath/btSerializer.h"
#include "btBulletFile.h"
#include "btBulletWorldImporter.h"
#endif //TEST_SERIALIZATION
const int numObjects = 3;
@@ -121,6 +114,30 @@ void ConstraintDemo::initPhysics()
trans.setOrigin(btVector3(0,20,0));
float mass = 1.f;
#if ENABLE_ALL_DEMOS
//point to point constraint with a breaking threshold
{
trans.setIdentity();
trans.setOrigin(btVector3(1,30,-5));
localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(0,0,-5));
btRigidBody* body0 = localCreateRigidBody( mass,trans,shape);
trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
mass = 1.f;
btRigidBody* body1 = 0;//localCreateRigidBody( mass,trans,shape);
btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
m_dynamicsWorld->addConstraint(p2p);
p2p ->setBreakingImpulseThreshold(10.2);
p2p->setDbgDrawSize(btScalar(5.f));
}
#endif
#if ENABLE_ALL_DEMOS
//point to point constraint (ball socket)
{
@@ -141,7 +158,7 @@ void ConstraintDemo::initPhysics()
(body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
body0->getCenterOfMassTransform().getBasis() * axisInA;
//#define P2P
#define P2P
#ifdef P2P
btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
@@ -518,27 +535,6 @@ void ConstraintDemo::initPhysics()
#endif
#ifdef TEST_SERIALIZATION
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
exitPhysics();
setupEmptyDynamicsWorld();
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
fileLoader->loadFile("testFile.bullet");
#endif //TEST_SERIALIZATION
}

5
Demos/OpenGL/DemoApplication.cpp
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@@ -1345,6 +1345,11 @@ void DemoApplication::clientResetScene()
if (m_dynamicsWorld)
{
int numConstraints = m_dynamicsWorld->getNumConstraints();
for (i=0;i<numConstraints;i++)
{
m_dynamicsWorld->getConstraint(0)->setEnabled(true);
}
numObjects = m_dynamicsWorld->getNumCollisionObjects();
///create a copy of the array, not a reference!

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*/) {};

6
src/BulletMultiThreaded/btParallelConstraintSolver.cpp
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@@ -1165,11 +1165,8 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
if (info1.m_numConstraintRows)
{
btAssert(currentRow<totalNumRows);
btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
btTypedConstraint* constraint = constraints[i];
btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
btRigidBody& rbA = constraint->getRigidBodyA();
btRigidBody& rbB = constraint->getRigidBodyB();
@@ -1212,6 +1209,7 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
info2.m_numIterations = infoGlobal.m_numIterations;
constraints[i]->getInfo2(&info2);
int idA = constraint->getRigidBodyA().getCompanionId();
int idB = constraint->getRigidBodyB().getCompanionId();