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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
Erwin Coumans
2018-05-18 16:25:40 -07:00
parent 701b50ec12 f90bd1f713
commit bcd209fd93
8 changed files with 59 additions and 29 deletions
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18
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -649,6 +649,24 @@ B3_SHARED_API int b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandl
return 0;
}
B3_SHARED_API int b3PhysicsParamSetDefaultGlobalCFM(b3SharedMemoryCommandHandle commandHandle, double defaultGlobalCFM)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM;
command->m_physSimParamArgs.m_defaultGlobalCFM = defaultGlobalCFM;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandle commandHandle, double frictionCFM)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM;
command->m_physSimParamArgs.m_frictionCFM = frictionCFM;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -283,6 +283,8 @@ B3_SHARED_API int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandH
B3_SHARED_API int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
B3_SHARED_API int b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultNonContactERP);
B3_SHARED_API int b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandle, double frictionERP);
B3_SHARED_API int b3PhysicsParamSetDefaultGlobalCFM(b3SharedMemoryCommandHandle commandHandle, double defaultGlobalCFM);
B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandle commandHandle, double frictionCFM);
B3_SHARED_API int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);

11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6735,7 +6735,16 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
{
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionERP;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM)
{
m_data->m_dynamicsWorld->getSolverInfo().m_globalCfm = clientCmd.m_physSimParamArgs.m_defaultGlobalCFM;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM)
{
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionCFM;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
{

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -448,6 +448,8 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536,
SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 131072,
SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE = 262144,
SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM = 524288,
SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM = 1048576,
};
enum EnumLoadSoftBodyUpdateFlags

4
examples/SharedMemory/SharedMemoryPublic.h
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@@ -747,8 +747,10 @@ struct b3PhysicsSimulationParameters
int m_collisionFilterMode;
int m_enableFileCaching;
double m_restitutionVelocityThreshold;
double m_defaultNonContactERP;
double m_defaultNonContactERP;
double m_frictionERP;
double m_defaultGlobalCFM;
double m_frictionCFM;
int m_enableConeFriction;
int m_deterministicOverlappingPairs;
double m_allowedCcdPenetration;

21
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -738,23 +738,21 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{
#if BT_THREADSAFE
int solverBodyId = -1;
if ( !body.isStaticOrKinematicObject() )
bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL;
if ( isRigidBodyType && !body.isStaticOrKinematicObject() )
{
// dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId
solverBodyId = body.getCompanionId();
if ( solverBodyId < 0 )
{
if ( btRigidBody* rb = btRigidBody::upcast( &body ) )
{
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
body.setCompanionId( solverBodyId );
}
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
body.setCompanionId( solverBodyId );
}
}
else if (body.isKinematicObject())
else if (isRigidBodyType && body.isKinematicObject())
{
//
// NOTE: must test for kinematic before static because some kinematic objects also
@@ -774,7 +772,6 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
if ( solverBodyId == INVALID_SOLVER_BODY_ID )
{
// create a table entry for this body
btRigidBody* rb = btRigidBody::upcast( &body );
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
@@ -783,6 +780,8 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
}
else
{
// Incorrectly set collision object flags can degrade performance in various ways.
btAssert( body.isStaticOrKinematicObject() );
// all fixed bodies (inf mass) get mapped to a single solver id
if ( m_fixedBodyId < 0 )
{
@@ -792,7 +791,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
}
solverBodyId = m_fixedBodyId;
}
btAssert( solverBodyId < m_tmpSolverBodyPool.size() );
btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() );
return solverBodyId;
#else // BT_THREADSAFE

26
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
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@@ -317,7 +317,8 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
// getOrInitSolverBodyThreadsafe -- attempts to be fully threadsafe (however may affect determinism)
//
int solverBodyId = -1;
if ( !body.isStaticOrKinematicObject() )
bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL;
if ( isRigidBodyType && !body.isStaticOrKinematicObject() )
{
// dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId
@@ -329,18 +330,15 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
solverBodyId = body.getCompanionId();
if ( solverBodyId < 0 )
{
if ( btRigidBody* rb = btRigidBody::upcast( &body ) )
{
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
body.setCompanionId( solverBodyId );
}
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
body.setCompanionId( solverBodyId );
}
m_bodySolverArrayMutex.unlock();
}
}
else if (body.isKinematicObject())
else if (isRigidBodyType && body.isKinematicObject())
{
//
// NOTE: must test for kinematic before static because some kinematic objects also
@@ -373,7 +371,6 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
if ( INVALID_SOLVER_BODY_ID == solverBodyId )
{
// create a table entry for this body
btRigidBody* rb = btRigidBody::upcast( &body );
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
@@ -400,7 +397,7 @@ int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btColli
}
solverBodyId = m_fixedBodyId;
}
btAssert( solverBodyId < m_tmpSolverBodyPool.size() );
btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() );
return solverBodyId;
}
@@ -425,9 +422,10 @@ void btSequentialImpulseConstraintSolverMt::internalCollectContactManifoldCached
btSolverBody* solverBodyA = &m_tmpSolverBodyPool[ solverBodyIdA ];
btSolverBody* solverBodyB = &m_tmpSolverBodyPool[ solverBodyIdB ];
///avoid collision response between two static objects
if ( solverBodyA->m_invMass.fuzzyZero() && solverBodyB->m_invMass.fuzzyZero() )
break;
// A contact manifold between 2 static object should not exist!
// check the collision flags of your objects if this assert fires.
// Incorrectly set collision object flags can degrade performance in various ways.
btAssert( !m_tmpSolverBodyPool[ solverBodyIdA ].m_invMass.isZero() || !m_tmpSolverBodyPool[ solverBodyIdB ].m_invMass.isZero() );
int iContact = 0;
for ( int j = 0; j < manifold->getNumContacts(); j++ )

4
src/LinearMath/btMatrix3x3.h
View File

@@ -289,7 +289,7 @@ public:
/** @brief Set the matrix from euler angles YPR around ZYX axes
* @param eulerX Roll about X axis
* @param eulerY Pitch around Y axis
* @param eulerZ Yaw aboud Z axis
* @param eulerZ Yaw about Z axis
*
* These angles are used to produce a rotation matrix. The euler
* angles are applied in ZYX order. I.e a vector is first rotated
@@ -514,7 +514,7 @@ public:
/**@brief Get the matrix represented as euler angles around ZYX
* @param yaw Yaw around X axis
* @param yaw Yaw around Z axis
* @param pitch Pitch around Y axis
* @param roll around X axis
* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/