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+ improved split impulse constraint solver option

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+ improved friction warm starting
+ made constraint solver configuration more consistent (moved m_solverMode into btContactSolverInfo)
+ reset timing in CDTestFramework after initialization (SAP init destorts timings)
+ make it easier to change default sizes for stack allocator in btDefaultCollisionConfiguration
This commit is contained in:
erwin.coumans
2008-05-29 03:33:32 +00:00
parent 6457f5a961
commit d49aeb9dff
25 changed files with 386 additions and 149 deletions
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26
Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
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@@ -25,8 +25,9 @@ subject to the following restrictions:
//#define CENTER_OF_MASS_SHIFT 1
//#define VERBOSE_TIMESTEPPING_CONSOLEOUTPUT 1
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
//#define USE_PARALLEL_DISPATCHER 1
//#define USE_PARALLEL_SOLVER 1 //experimental parallel solver
//from Bullet 2.68 onwards ODE Quickstep constraint solver is optional part of Bullet, re-distributed under the ZLib license with permission of Russell L. Smith
//#define COMPARE_WITH_QUICKSTEP 1
@@ -338,6 +339,7 @@ void CcdPhysicsDemo::initPhysics()
#ifdef DO_BENCHMARK_PYRAMIDS
m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
#else
// m_collisionShapes.push_back(new btBoxShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
m_collisionShapes.push_back(new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)));
#endif
@@ -432,22 +434,24 @@ int maxNumOutstandingTasks = 4;
#else
btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
m_solver = solver;
//default solverMode is SOLVER_RANDMIZE_ORDER. Warmstarting seems not to improve convergence, see
//solver->setSolverMode(0);//btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
m_solver = solver;//new btOdeQuickstepConstraintSolver();
#endif //USE_PARALLEL_SOLVER
#endif
#ifdef USER_DEFINED_FRICTION_MODEL
//user defined friction model is not supported in 'cache friendly' solver yet, so switch to old solver
m_solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
#endif //USER_DEFINED_FRICTION_MODEL
btDiscreteDynamicsWorld* world = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
m_dynamicsWorld = world;
#ifdef USER_DEFINED_FRICTION_MODEL
//user defined friction model is not supported in 'cache friendly' solver yet, so switch to old solver
world->getSolverInfo().m_solverMode = SOLVER_RANDMIZE_ORDER;
#endif //USER_DEFINED_FRICTION_MODEL
#ifdef DO_BENCHMARK_PYRAMIDS
world->getSolverInfo().m_numIterations = 4;
#endif //DO_BENCHMARK_PYRAMIDS
@@ -460,9 +464,9 @@ int maxNumOutstandingTasks = 4;
#ifdef USER_DEFINED_FRICTION_MODEL
{
//m_solver->setContactSolverFunc(ContactSolverFunc func,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
m_solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
m_solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
m_solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,DEFAULT_CONTACT_SOLVER_TYPE);
solver->SetFrictionSolverFunc(myFrictionModel,DEFAULT_CONTACT_SOLVER_TYPE,USER_CONTACT_SOLVER_TYPE1);
solver->SetFrictionSolverFunc(myFrictionModel,USER_CONTACT_SOLVER_TYPE1,USER_CONTACT_SOLVER_TYPE1);
//m_physicsEnvironmentPtr->setNumIterations(2);
}
#endif //USER_DEFINED_FRICTION_MODEL