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Added preparation for GPU hardware accelerated solvers for BulletSoftBody (OpenCL and DirectCompute backends will follow)

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Added assert to check for positive masses in btCompoundShape::calculatePrincipalAxisTransform, see Issue 399
Fixes for LLVM/GCC compilation issue in btSequentialImpulseConstraintSolver
(Untested) fix for Linux 64bit compilation Issue 409
This commit is contained in:
erwin.coumans
2010-07-16 23:26:25 +00:00
parent 13d9441f30
commit b3f081fc85
21 changed files with 834 additions and 175 deletions
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75
src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
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@@ -20,14 +20,28 @@ subject to the following restrictions:
//softbody & helpers
#include "btSoftBody.h"
#include "btSoftBodyHelpers.h"
#include "btSoftBodySolvers.h"
#include "btDefaultSoftBodySolver.h"
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(
btDispatcher* dispatcher,
btBroadphaseInterface* pairCache,
btConstraintSolver* constraintSolver,
btCollisionConfiguration* collisionConfiguration,
btSoftBodySolver *softBodySolver ) :
btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration),
m_softBodySolver( softBodySolver ),
m_ownsSolver(false)
{
if( !m_softBodySolver )
{
void* ptr = btAlignedAlloc(sizeof(btDefaultSoftBodySolver),16);
m_softBodySolver = new(ptr) btDefaultSoftBodySolver();
m_ownsSolver = true;
}
m_drawFlags = fDrawFlags::Std;
m_drawNodeTree = true;
m_drawFaceTree = false;
@@ -41,27 +55,34 @@ btSoftRigidDynamicsWorld::btSoftRigidDynamicsWorld(btDispatcher* dispatcher,btBr
btSoftRigidDynamicsWorld::~btSoftRigidDynamicsWorld()
{
if (m_ownsSolver)
{
m_softBodySolver->~btSoftBodySolver();
btAlignedFree(m_softBodySolver);
}
}
void btSoftRigidDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep);
btDiscreteDynamicsWorld::predictUnconstraintMotion( timeStep );
for ( int i=0;i<m_softBodies.size();++i)
{
btSoftBody* psb= m_softBodies[i];
psb->predictMotion(timeStep);
}
m_softBodySolver->predictMotion( timeStep );
}
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep )
{
if( !m_softBodySolver->checkInitialized() )
{
btAssert( "Solver initialization failed\n" );
}
// Let the solver grab the soft bodies and if necessary optimize for it
m_softBodySolver->optimize( getSoftBodyArray() );
btDiscreteDynamicsWorld::internalSingleStepSimulation( timeStep );
///solve soft bodies constraints
solveSoftBodiesConstraints();
solveSoftBodiesConstraints( timeStep );
//self collisions
for ( int i=0;i<m_softBodies.size();i++)
@@ -71,22 +92,14 @@ void btSoftRigidDynamicsWorld::internalSingleStepSimulation( btScalar timeStep)
}
///update soft bodies
updateSoftBodies();
m_softBodySolver->updateSoftBodies( );
// End solver-wise simulation step
// ///////////////////////////////
}
void btSoftRigidDynamicsWorld::updateSoftBodies()
{
BT_PROFILE("updateSoftBodies");
for ( int i=0;i<m_softBodies.size();i++)
{
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
psb->integrateMotion();
}
}
void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints( btScalar timeStep )
{
BT_PROFILE("solveSoftConstraints");
@@ -95,11 +108,9 @@ void btSoftRigidDynamicsWorld::solveSoftBodiesConstraints()
btSoftBody::solveClusters(m_softBodies);
}
for(int i=0;i<m_softBodies.size();++i)
{
btSoftBody* psb=(btSoftBody*)m_softBodies[i];
psb->solveConstraints();
}
// Solve constraints solver-wise
m_softBodySolver->solveConstraints( timeStep * m_softBodySolver->getTimeScale() );
}
void btSoftRigidDynamicsWorld::addSoftBody(btSoftBody* body,short int collisionFilterGroup,short int collisionFilterMask)