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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
View File

@@ -218,6 +218,7 @@ static void setupSpuBody (btRigidBody* rb, SpuSolverBody* spuBody)
spuBody->m_angularVelocity = rb->getAngularVelocity();
spuBody->m_worldInvInertiaTensor = rb->getInvInertiaTensorWorld();
spuBody->m_invertedMass = rb->getInvMass();
spuBody->m_angularFactor = rb->getAngularFactor ();
}
//-- RB HANDLING END
@@ -439,12 +440,12 @@ static void solveContact (SpuSolverInternalConstraint& constraint, SpuSolverBody
if (bodyA.m_invertedMass > 0)
{
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)
{
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)
{
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)
{
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)
{
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)
{
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;
@@ -573,11 +574,11 @@ static void solveConstraint (SpuSolverConstraint& constraint, SpuSolverBody& bod
// Apply
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)
{
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
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)
{
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
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)
{
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
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)
{
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
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)
{
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;
btMatrix3x3 m_worldInvInertiaTensor;
btScalar m_angularFactor;
btScalar m_invertedMass;
};