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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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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
View File

@@ -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]);