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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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37
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
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@@ -1,4 +1,3 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
@@ -26,6 +25,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h"
#include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
@@ -35,17 +35,24 @@ subject to the following restrictions:
#define DEFAULT_MAX_OVERLAPPING_PAIRS 65535
#define DEFAULT_STACK_ALLOCATOR_SIZE (5*1024*1024)
btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo)
//btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool)
{
void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16);
m_simplexSolver = new (mem)btVoronoiSimplexSolver();
#define USE_EPA 1
#ifdef USE_EPA
mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16);
m_pdSolver = new (mem)btGjkEpaPenetrationDepthSolver;
#else
mem = btAlignedAlloc(sizeof(btMinkowskiPenetrationDepthSolver),16);
m_pdSolver = new (mem)btMinkowskiPenetrationDepthSolver;
#endif//USE_EPA
//default CreationFunctions, filling the m_doubleDispatch table
mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16);
@@ -94,37 +101,37 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* s
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize4);
if (stackAlloc)
if (constructionInfo.m_stackAlloc)
{
m_ownsStackAllocator = false;
this->m_stackAlloc = stackAlloc;
this->m_stackAlloc = constructionInfo.m_stackAlloc;
} else
{
m_ownsStackAllocator = true;
void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
m_stackAlloc = new(mem)btStackAlloc(DEFAULT_STACK_ALLOCATOR_SIZE);
m_stackAlloc = new(mem)btStackAlloc(constructionInfo.m_defaultStackAllocatorSize);
}
if (persistentManifoldPool)
if (constructionInfo.m_persistentManifoldPool)
{
m_ownsPersistentManifoldPool = false;
m_persistentManifoldPool = persistentManifoldPool;
m_persistentManifoldPool = constructionInfo.m_persistentManifoldPool;
} else
{
m_ownsPersistentManifoldPool = true;
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),DEFAULT_MAX_OVERLAPPING_PAIRS);
m_persistentManifoldPool = new (mem) btPoolAllocator(sizeof(btPersistentManifold),constructionInfo.m_defaultMaxPersistentManifoldPoolSize);
}
if (collisionAlgorithmPool)
if (constructionInfo.m_collisionAlgorithmPool)
{
m_ownsCollisionAlgorithmPool = false;
m_collisionAlgorithmPool = collisionAlgorithmPool;
m_collisionAlgorithmPool = constructionInfo.m_collisionAlgorithmPool;
} else
{
m_ownsCollisionAlgorithmPool = true;
void* mem = btAlignedAlloc(sizeof(btPoolAllocator),16);
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,DEFAULT_MAX_OVERLAPPING_PAIRS);
m_collisionAlgorithmPool = new(mem) btPoolAllocator(collisionAlgorithmMaxElementSize,constructionInfo.m_defaultMaxCollisionAlgorithmPoolSize);
}
@@ -187,7 +194,9 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
m_simplexSolver->~btVoronoiSimplexSolver();
btAlignedFree(m_simplexSolver);
m_pdSolver->~btGjkEpaPenetrationDepthSolver();
m_pdSolver->~btConvexPenetrationDepthSolver();
btAlignedFree(m_pdSolver);

28
src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
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@@ -18,7 +18,28 @@ subject to the following restrictions:
#include "btCollisionConfiguration.h"
class btVoronoiSimplexSolver;
class btGjkEpaPenetrationDepthSolver;
class btConvexPenetrationDepthSolver;
struct btDefaultCollisionConstructionInfo
{
btStackAlloc* m_stackAlloc;
btPoolAllocator* m_persistentManifoldPool;
btPoolAllocator* m_collisionAlgorithmPool;
int m_defaultMaxPersistentManifoldPoolSize;
int m_defaultMaxCollisionAlgorithmPoolSize;
int m_defaultStackAllocatorSize;
btDefaultCollisionConstructionInfo()
:m_stackAlloc(0),
m_persistentManifoldPool(0),
m_collisionAlgorithmPool(0),
m_defaultMaxPersistentManifoldPoolSize(65535),
m_defaultMaxCollisionAlgorithmPoolSize(65535),
m_defaultStackAllocatorSize(5*1024*1024)
{
}
};
///btCollisionConfiguration allows to configure Bullet collision detection
@@ -40,7 +61,7 @@ class btDefaultCollisionConfiguration : public btCollisionConfiguration
//default simplex/penetration depth solvers
btVoronoiSimplexSolver* m_simplexSolver;
btGjkEpaPenetrationDepthSolver* m_pdSolver;
btConvexPenetrationDepthSolver* m_pdSolver;
//default CreationFunctions, filling the m_doubleDispatch table
btCollisionAlgorithmCreateFunc* m_convexConvexCreateFunc;
@@ -60,7 +81,8 @@ class btDefaultCollisionConfiguration : public btCollisionConfiguration
public:
btDefaultCollisionConfiguration(btStackAlloc* stackAlloc=0,btPoolAllocator* persistentManifoldPool=0,btPoolAllocator* collisionAlgorithmPool=0);
btDefaultCollisionConfiguration(const btDefaultCollisionConstructionInfo& constructionInfo = btDefaultCollisionConstructionInfo());
virtual ~btDefaultCollisionConfiguration();

12
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -31,6 +31,7 @@ class btManifoldPoint
btManifoldPoint()
:m_userPersistentData(0),
m_appliedImpulse(0.f),
m_lateralFrictionInitialized(false),
m_lifeTime(0)
{
}
@@ -46,6 +47,9 @@ class btManifoldPoint
m_combinedRestitution(btScalar(0.)),
m_userPersistentData(0),
m_appliedImpulse(0.f),
m_lateralFrictionInitialized(false),
m_appliedImpulseLateral1(0.f),
m_appliedImpulseLateral2(0.f),
m_lifeTime(0)
{
@@ -74,8 +78,14 @@ class btManifoldPoint
mutable void* m_userPersistentData;
btScalar m_appliedImpulse;
int m_lifeTime;//lifetime of the contactpoint in frames
bool m_lateralFrictionInitialized;
btScalar m_appliedImpulseLateral1;
btScalar m_appliedImpulseLateral2;
int m_lifeTime;//lifetime of the contactpoint in frames
btVector3 m_lateralFrictionDir1;
btVector3 m_lateralFrictionDir2;
btScalar getDistance() const
{
return m_distance1;

9
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -125,6 +125,9 @@ public:
//get rid of duplicated userPersistentData pointer
m_pointCache[lastUsedIndex].m_userPersistentData = 0;
m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
m_pointCache[lastUsedIndex].m_lifeTime = 0;
}
@@ -139,6 +142,9 @@ public:
#ifdef MAINTAIN_PERSISTENCY
int lifeTime = m_pointCache[insertIndex].getLifeTime();
btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
btAssert(lifeTime>=0);
void* cache = m_pointCache[insertIndex].m_userPersistentData;
@@ -146,6 +152,9 @@ public:
m_pointCache[insertIndex].m_userPersistentData = cache;
m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
m_pointCache[insertIndex].m_lifeTime = lifeTime;
#else
clearUserCache(m_pointCache[insertIndex]);