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by default, disable warmstarting, enable random ordering,

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user can override this using solver->setSolverMode(...)
This commit is contained in:
ejcoumans
2007-02-13 16:14:55 +00:00
parent c4a83539ca
commit bf68a742cc
2 changed files with 2 additions and 98 deletions
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90
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -102,14 +102,10 @@ bool MyContactDestroyedCallback(void* userPersistentData)
return true; return true;
} }
btSequentialImpulseConstraintSolver3::btSequentialImpulseConstraintSolver3()
{
setSolverMode(SOLVER_RANDMIZE_ORDER);
}
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver() btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_solverMode(SOLVER_USE_WARMSTARTING) :m_solverMode(SOLVER_RANDMIZE_ORDER) //not using SOLVER_USE_WARMSTARTING
{ {
gContactDestroyedCallback = &MyContactDestroyedCallback; gContactDestroyedCallback = &MyContactDestroyedCallback;
@@ -125,7 +121,7 @@ btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
} }
/// btSequentialImpulseConstraintSolver Sequentially applies impulses /// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) btScalar btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{ {
btContactSolverInfo info = infoGlobal; btContactSolverInfo info = infoGlobal;
@@ -213,88 +209,6 @@ btScalar btSequentialImpulseConstraintSolver3::solveGroup(btPersistentManifold**
} }
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btContactSolverInfo info = infoGlobal;
int numiter = infoGlobal.m_numIterations;
#ifdef USE_PROFILE
btProfiler::beginBlock("solve");
#endif //USE_PROFILE
{
int j;
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[j];
prepareConstraints(manifold,info,debugDrawer);
for (int p=0;p<manifoldPtr[j]->getNumContacts();p++)
{
//interleaving here gives better results
solve( (btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1()
,manifoldPtr[j]->getContactPoint(p),info,0,debugDrawer);
}
}
}
{
int j;
for (j=0;j<numConstraints;j++)
{
btTypedConstraint* constraint = constraints[j];
constraint->buildJacobian();
}
}
//should traverse the contacts random order...
int iteration;
for ( iteration = 0;iteration<numiter-1;iteration++)
{
int j;
for (j=0;j<numConstraints;j++)
{
btTypedConstraint* constraint = constraints[j];
constraint->solveConstraint(info.m_timeStep);
}
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[j];
for (int p=0;p<manifold->getNumContacts();p++)
{
solve( (btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1()
,manifold->getContactPoint(p),info,iteration,debugDrawer);
}
}
}
for ( iteration = 0;iteration<numiter-1;iteration++)
{
int j;
for (j=0;j<numManifolds;j++)
{
btPersistentManifold* manifold = manifoldPtr[j];
for (int p=0;p<manifold->getNumContacts();p++)
{
solveFriction((btRigidBody*)manifold->getBody0(),
(btRigidBody*)manifold->getBody1(),manifold->getContactPoint(p),info,iteration,debugDrawer);
}
}
}
#ifdef USE_PROFILE
btProfiler::endBlock("solve");
#endif //USE_PROFILE
return btScalar(0.);
}
btScalar penetrationResolveFactor = btScalar(0.9); btScalar penetrationResolveFactor = btScalar(0.9);

10
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -80,17 +80,7 @@ public:
} }
}; };
/// Small variation on btSequentialImpulseConstraintSolver: warmstarting, separate friction, non-randomized ordering
class btSequentialImpulseConstraintSolver3 : public btSequentialImpulseConstraintSolver
{
public:
btSequentialImpulseConstraintSolver3();
virtual btScalar solveGroup(btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer=0);
};
#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H #endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H