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Use the rigid body angular factor in the parallel solver.

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This commit is contained in:
johnmccutchan
2008-02-08 20:02:26 +00:00
parent d70a25ff6d
commit c374217953
2 changed files with 18 additions and 17 deletions
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33
Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
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@@ -218,6 +218,7 @@ static void setupSpuBody (btRigidBody* rb, SpuSolverBody* spuBody)
spuBody->m_angularVelocity = rb->getAngularVelocity(); spuBody->m_angularVelocity = rb->getAngularVelocity();
spuBody->m_worldInvInertiaTensor = rb->getInvInertiaTensorWorld(); spuBody->m_worldInvInertiaTensor = rb->getInvInertiaTensorWorld();
spuBody->m_invertedMass = rb->getInvMass(); spuBody->m_invertedMass = rb->getInvMass();
spuBody->m_angularFactor = rb->getAngularFactor ();
} }
//-- RB HANDLING END //-- RB HANDLING END
@@ -439,12 +440,12 @@ static void solveContact (SpuSolverInternalConstraint& constraint, SpuSolverBody
if (bodyA.m_invertedMass > 0) if (bodyA.m_invertedMass > 0)
{ {
bodyA.m_linearVelocity += constraint.m_normal*bodyA.m_invertedMass*normalImpulse; bodyA.m_linearVelocity += constraint.m_normal*bodyA.m_invertedMass*normalImpulse;
bodyA.m_angularVelocity += constraint.m_angularComponentA*normalImpulse; bodyA.m_angularVelocity += bodyA.m_angularFactor * constraint.m_angularComponentA*normalImpulse;
} }
if (bodyB.m_invertedMass > 0) if (bodyB.m_invertedMass > 0)
{ {
bodyB.m_linearVelocity -= constraint.m_normal*bodyB.m_invertedMass*normalImpulse; bodyB.m_linearVelocity -= constraint.m_normal*bodyB.m_invertedMass*normalImpulse;
bodyB.m_angularVelocity -= constraint.m_angularComponentB*normalImpulse; bodyB.m_angularVelocity -= bodyB.m_angularFactor * constraint.m_angularComponentB*normalImpulse;
} }
} }
@@ -483,12 +484,12 @@ static void solveFriction (SpuSolverInternalConstraint& constraint, SpuSolverBod
if (bodyA.m_invertedMass > 0) if (bodyA.m_invertedMass > 0)
{ {
bodyA.m_linearVelocity += constraint.m_normal*bodyA.m_invertedMass*j1; bodyA.m_linearVelocity += constraint.m_normal*bodyA.m_invertedMass*j1;
bodyA.m_angularVelocity += constraint.m_angularComponentA*j1; bodyA.m_angularVelocity += bodyA.m_angularFactor * constraint.m_angularComponentA*j1;
} }
if (bodyB.m_invertedMass > 0) if (bodyB.m_invertedMass > 0)
{ {
bodyB.m_linearVelocity -= constraint.m_normal*bodyB.m_invertedMass*j1; bodyB.m_linearVelocity -= constraint.m_normal*bodyB.m_invertedMass*j1;
bodyB.m_angularVelocity -= constraint.m_angularComponentB*j1; bodyB.m_angularVelocity -= bodyB.m_angularFactor * constraint.m_angularComponentB*j1;
} }
} }
@@ -529,12 +530,12 @@ static void solveConstraint (SpuSolverConstraint& constraint, SpuSolverBody& bod
if (bodyA.m_invertedMass > 0) if (bodyA.m_invertedMass > 0)
{ {
bodyA.m_linearVelocity += impNormal*bodyA.m_invertedMass; bodyA.m_linearVelocity += impNormal*bodyA.m_invertedMass;
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * (btVector3(constraint.m_relPos1).cross(impNormal)); bodyA.m_angularVelocity += bodyA.m_angularFactor * (bodyA.m_worldInvInertiaTensor * (btVector3(constraint.m_relPos1).cross(impNormal)));
} }
if (bodyB.m_invertedMass > 0) if (bodyB.m_invertedMass > 0)
{ {
bodyB.m_linearVelocity -= impNormal*bodyB.m_invertedMass; bodyB.m_linearVelocity -= impNormal*bodyB.m_invertedMass;
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * (btVector3(constraint.m_relPos2).cross(impNormal)); bodyB.m_angularVelocity -= bodyB.m_angularFactor * (bodyB.m_worldInvInertiaTensor * (btVector3(constraint.m_relPos2).cross(impNormal)));
} }
normal[i] = 0; normal[i] = 0;
@@ -573,11 +574,11 @@ static void solveConstraint (SpuSolverConstraint& constraint, SpuSolverBody& bod
// Apply // Apply
if (bodyA.m_invertedMass > 0) if (bodyA.m_invertedMass > 0)
{ {
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * impAxis; bodyA.m_angularVelocity += bodyA.m_angularFactor * (bodyA.m_worldInvInertiaTensor * impAxis);
} }
if (bodyB.m_invertedMass > 0) if (bodyB.m_invertedMass > 0)
{ {
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * impAxis; bodyB.m_angularVelocity -= bodyB.m_angularFactor * (bodyB.m_worldInvInertiaTensor * impAxis);
} }
} }
@@ -603,11 +604,11 @@ static void solveConstraint (SpuSolverConstraint& constraint, SpuSolverBody& bod
// Apply // Apply
if (bodyA.m_invertedMass > 0) if (bodyA.m_invertedMass > 0)
{ {
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * impAxis; bodyA.m_angularVelocity += bodyA.m_angularFactor * (bodyA.m_worldInvInertiaTensor * impAxis);
} }
if (bodyB.m_invertedMass > 0) if (bodyB.m_invertedMass > 0)
{ {
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * impAxis; bodyB.m_angularVelocity -= bodyB.m_angularFactor * (bodyB.m_worldInvInertiaTensor * impAxis);
} }
} }
@@ -633,11 +634,11 @@ static void solveConstraint (SpuSolverConstraint& constraint, SpuSolverBody& bod
// Apply // Apply
if (bodyA.m_invertedMass > 0) if (bodyA.m_invertedMass > 0)
{ {
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * impAxis; bodyA.m_angularVelocity += bodyA.m_angularFactor * (bodyA.m_worldInvInertiaTensor * impAxis);
} }
if (bodyB.m_invertedMass > 0) if (bodyB.m_invertedMass > 0)
{ {
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * impAxis; bodyB.m_angularVelocity -= bodyB.m_angularFactor * (bodyB.m_worldInvInertiaTensor * impAxis);
} }
} }
} }
@@ -666,11 +667,11 @@ static void solveConstraint (SpuSolverConstraint& constraint, SpuSolverBody& bod
// Apply // Apply
if (bodyA.m_invertedMass > 0) if (bodyA.m_invertedMass > 0)
{ {
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * impAxis; bodyA.m_angularVelocity += bodyA.m_angularFactor * (bodyA.m_worldInvInertiaTensor * impAxis);
} }
if (bodyB.m_invertedMass > 0) if (bodyB.m_invertedMass > 0)
{ {
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * impAxis; bodyB.m_angularVelocity -= bodyB.m_angularFactor * (bodyB.m_worldInvInertiaTensor * impAxis);
} }
} }
@@ -696,11 +697,11 @@ static void solveConstraint (SpuSolverConstraint& constraint, SpuSolverBody& bod
// Apply // Apply
if (bodyA.m_invertedMass > 0) if (bodyA.m_invertedMass > 0)
{ {
bodyA.m_angularVelocity += bodyA.m_worldInvInertiaTensor * impAxis; bodyA.m_angularVelocity += bodyA.m_angularFactor * (bodyA.m_worldInvInertiaTensor * impAxis);
} }
if (bodyB.m_invertedMass > 0) if (bodyB.m_invertedMass > 0)
{ {
bodyB.m_angularVelocity -= bodyB.m_worldInvInertiaTensor * impAxis; bodyB.m_angularVelocity -= bodyB.m_angularFactor * (bodyB.m_worldInvInertiaTensor * impAxis);
} }
} }
} }

2
Extras/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h
View File

@@ -114,7 +114,7 @@ ATTRIBUTE_ALIGNED16(struct) SpuSolverBody
btVector3 m_angularVelocity; btVector3 m_angularVelocity;
btMatrix3x3 m_worldInvInertiaTensor; btMatrix3x3 m_worldInvInertiaTensor;
btScalar m_angularFactor;
btScalar m_invertedMass; btScalar m_invertedMass;
}; };