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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
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -16,8 +16,18 @@ subject to the following restrictions:
#ifndef CONTACT_SOLVER_INFO
#define CONTACT_SOLVER_INFO
enum btSolverMode
{
SOLVER_RANDMIZE_ORDER = 1,
SOLVER_FRICTION_SEPARATE = 2,
SOLVER_USE_WARMSTARTING = 4,
SOLVER_CACHE_FRIENDLY = 8
};
struct btContactSolverInfoData
{
btScalar m_tau;
btScalar m_damping;
btScalar m_friction;
@@ -27,10 +37,13 @@ struct btContactSolverInfoData
btScalar m_maxErrorReduction;
btScalar m_sor;
btScalar m_erp;//used as Baumgarte factor
bool m_splitImpulse;
btScalar m_erp2;//used in Split Impulse
int m_splitImpulse;
btScalar m_splitImpulsePenetrationThreshold;
btScalar m_linearSlop;
btScalar m_warmstartingFactor;
int m_solverMode;
};
@@ -38,6 +51,8 @@ struct btContactSolverInfoData
struct btContactSolverInfo : public btContactSolverInfoData
{
inline btContactSolverInfo()
{
m_tau = btScalar(0.6);
@@ -47,10 +62,13 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_maxErrorReduction = btScalar(20.);
m_numIterations = 10;
m_erp = btScalar(0.2);
m_erp2 = btScalar(0.1);
m_sor = btScalar(1.3);
m_splitImpulse = true;
m_splitImpulsePenetrationThreshold = 1.f;
m_linearSlop = 0.0002f;
m_splitImpulse = false;
m_splitImpulsePenetrationThreshold = -0.02f;
m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85);
m_solverMode = SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING;
}
};

12
src/BulletDynamics/ConstraintSolver/btOdeQuickstepConstraintSolver.cpp
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@@ -297,18 +297,6 @@ void btOdeQuickstepConstraintSolver::ConvertConstraint(btPersistentManifold* man
for (i=0;i<numContacts;i++)
{
if (debugDrawer)
{
const btManifoldPoint& cp = manifold->getContactPoint(i);
debugDrawer->drawContactPoint(
cp.m_positionWorldOnB,
cp.m_normalWorldOnB,
cp.getDistance(),
cp.getLifeTime(),
color);
}
//assert (m_CurJoint < ODE_MAX_SOLVER_JOINTS);
// if (manifold->getContactPoint(i).getDistance() < 0.0f)

107
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -106,8 +106,7 @@ bool MyContactDestroyedCallback(void* userPersistentData)
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
:m_solverMode(SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING ),
m_btSeed2(0)
:m_btSeed2(0)
{
gContactDestroyedCallback = &MyContactDestroyedCallback;
@@ -154,6 +153,8 @@ void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject
solverBody->m_turnVelocity.setValue(0.f,0.f,0.f);
}
int gNumSplitImpulseRecoveries = 0;
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
@@ -179,7 +180,7 @@ void resolveSplitPenetrationImpulseCacheFriendly(
{
(void)solverInfo;
if (contactConstraint.m_penetration > solverInfo.m_splitImpulsePenetrationThreshold)
if (contactConstraint.m_penetration < solverInfo.m_splitImpulsePenetrationThreshold)
{
gNumSplitImpulseRecoveries++;
@@ -200,7 +201,7 @@ void resolveSplitPenetrationImpulseCacheFriendly(
rel_vel = vel1Dotn-vel2Dotn;
btScalar positionalError = contactConstraint.m_penetration;
btScalar positionalError = -contactConstraint.m_penetration * solverInfo.m_erp2/solverInfo.m_timeStep;
// btScalar positionalError = contactConstraint.m_penetration;
btScalar velocityError = contactConstraint.m_restitution - rel_vel;// * damping;
@@ -264,9 +265,9 @@ btScalar resolveSingleCollisionCombinedCacheFriendly(
rel_vel = vel1Dotn-vel2Dotn;
btScalar positionalError = 0.f;
if (!solverInfo.m_splitImpulse || (contactConstraint.m_penetration<solverInfo.m_splitImpulsePenetrationThreshold))
if (!solverInfo.m_splitImpulse || (contactConstraint.m_penetration > solverInfo.m_splitImpulsePenetrationThreshold))
{
positionalError = contactConstraint.m_penetration;
positionalError = -contactConstraint.m_penetration * solverInfo.m_erp/solverInfo.m_timeStep;
}
btScalar velocityError = contactConstraint.m_restitution - rel_vel;// * damping;
@@ -725,8 +726,10 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_restitution = 0.f;
};
btScalar penVel = -solverConstraint.m_penetration/infoGlobal.m_timeStep;
solverConstraint.m_penetration *= -(infoGlobal.m_erp/infoGlobal.m_timeStep);
if (solverConstraint.m_restitution > penVel)
{
@@ -736,42 +739,78 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
///warm starting (or zero if disabled)
if (m_solverMode & SOLVER_USE_WARMSTARTING)
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
solverConstraint.m_appliedImpulse = cp.m_appliedImpulse;
solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (rb0)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass(),solverConstraint.m_angularComponentA,cp.m_appliedImpulse);
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
if (rb1)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass(),solverConstraint.m_angularComponentB,-cp.m_appliedImpulse);
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass(),solverConstraint.m_angularComponentB,-solverConstraint.m_appliedImpulse);
} else
{
solverConstraint.m_appliedImpulse = 0.f;
}
solverConstraint.m_appliedPushImpulse = 0.f;
}
{
btVector3 frictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = frictionDir1.length2();
if (lat_rel_vel > SIMD_EPSILON)//0.0f)
solverConstraint.m_frictionIndex = m_tmpSolverFrictionConstraintPool.size();
if (!cp.m_lateralFrictionInitialized)
{
frictionDir1 /= btSqrt(lat_rel_vel);
addFrictionConstraint(frictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
btVector3 frictionDir2 = frictionDir1.cross(cp.m_normalWorldOnB);
frictionDir2.normalize();//??
addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
if (lat_rel_vel > SIMD_EPSILON)//0.0f)
{
cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
cp.m_lateralFrictionDir2.normalize();//??
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
} else
{
//re-calculate friction direction every frame, todo: check if this is really needed
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
cp.m_lateralFrictionInitialized = true;
} else
{
//re-calculate friction direction every frame, todo: check if this is really needed
btVector3 frictionDir1,frictionDir2;
btPlaneSpace1(cp.m_normalWorldOnB,frictionDir1,frictionDir2);
addFrictionConstraint(frictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
addFrictionConstraint(frictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
{
btSolverConstraint& frictionConstraint1 = m_tmpSolverFrictionConstraintPool[solverConstraint.m_frictionIndex];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
if (rb0)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
if (rb1)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass(),frictionConstraint1.m_angularComponentB,-frictionConstraint1.m_appliedImpulse);
} else
{
frictionConstraint1.m_appliedImpulse = 0.f;
}
}
{
btSolverConstraint& frictionConstraint2 = m_tmpSolverFrictionConstraintPool[solverConstraint.m_frictionIndex+1];
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
if (rb0)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
if (rb1)
m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),frictionConstraint2.m_angularComponentB,-frictionConstraint2.m_appliedImpulse);
} else
{
frictionConstraint2.m_appliedImpulse = 0.f;
}
}
}
}
}
@@ -829,7 +868,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
{
int j;
if (m_solverMode & SOLVER_RANDMIZE_ORDER)
if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
{
if ((iteration & 7) == 0) {
for (j=0; j<numConstraintPool; ++j) {
@@ -907,6 +946,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
if (infoGlobal.m_splitImpulse)
{
for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
{
{
@@ -946,6 +986,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
btAssert(pt);
pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
pt->m_appliedImpulseLateral1 = m_tmpSolverFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse;
//do a callback here?
}
@@ -989,7 +1032,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendly(btCollisio
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
{
BT_PROFILE("solveGroup");
if (getSolverMode() & SOLVER_CACHE_FRIENDLY)
if (infoGlobal.m_solverMode & SOLVER_CACHE_FRIENDLY)
{
//you need to provide at least some bodies
//btSimpleDynamicsWorld needs to switch off SOLVER_CACHE_FRIENDLY
@@ -1040,7 +1083,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bod
for ( iteration = 0;iteration<numiter;iteration++)
{
int j;
if (m_solverMode & SOLVER_RANDMIZE_ORDER)
if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
{
if ((iteration & 7) == 0) {
for (j=0; j<totalPoints; ++j) {
@@ -1198,7 +1241,7 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
btScalar relaxation = info.m_damping;
if (m_solverMode & SOLVER_USE_WARMSTARTING)
if (info.m_solverMode & SOLVER_USE_WARMSTARTING)
{
cpd->m_appliedImpulse *= relaxation;
} else

23
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -46,21 +46,13 @@ protected:
ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
//choose between several modes, different friction model etc.
int m_solverMode;
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
unsigned long m_btSeed2;
public:
enum eSolverMode
{
SOLVER_RANDMIZE_ORDER = 1,
SOLVER_FRICTION_SEPARATE = 2,
SOLVER_USE_WARMSTARTING = 4,
SOLVER_CACHE_FRIENDLY = 8
};
btSequentialImpulseConstraintSolver();
///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
@@ -92,16 +84,7 @@ public:
btScalar solveCombinedContactFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
void setSolverMode(int mode)
{
m_solverMode = mode;
}
int getSolverMode() const
{
return m_solverMode;
}
unsigned long btRand2();
int btRandInt2 (int n);

2
src/BulletDynamics/ConstraintSolver/btSolverBody.h
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@@ -64,8 +64,8 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
}
}
void writebackVelocity()
{
if (m_invMass)

2
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -1,5 +1,3 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/