Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

prepare small experiment with block solver

Browse Source
This commit is contained in:
erwincoumans
2019-02-26 23:27:05 -08:00
parent c44471c38c
commit d7e087de16
20 changed files with 2877 additions and 800 deletions
Download Patch File Download Diff File Expand all files Collapse all files

83
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -931,10 +931,32 @@ int btSISolverSingleIterationData::getSolverBody(btCollisionObject& body) const
return solverBodyId;
#else // BT_THREADSAFE
int solverBodyIdA = -1;
btAssert(body.getCompanionId() >= 0);
//body has already been converted
solverBodyIdA = body.getCompanionId();
btAssert(solverBodyIdA < m_tmpSolverBodyPool.size());
if (body.getCompanionId() >= 0)
{
//body has already been converted
solverBodyIdA = body.getCompanionId();
btAssert(solverBodyIdA < m_tmpSolverBodyPool.size());
}
else
{
btRigidBody* rb = btRigidBody::upcast(&body);
//convert both active and kinematic objects (for their velocity)
if (rb && (rb->getInvMass() || rb->isKinematicObject()))
{
btAssert(0);
}
else
{
if (m_fixedBodyId < 0)
{
btAssert(0);
}
return m_fixedBodyId;
// return 0;//assume first one is a fixed solver body
}
}
return solverBodyIdA;
#endif // BT_THREADSAFE
}
@@ -1822,7 +1844,16 @@ void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodi
convertBodiesInternal(siData, bodies, numBodies, infoGlobal);
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
{
solveGroupConvertConstraintPrestep(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
solveGroupConvertConstraints(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
solveGroupConvertConstraintPoststep(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
return 0.;
}
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraints(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
{
m_fixedBodyId = -1;
BT_PROFILE("solveGroupCacheFriendlySetup");
@@ -1912,6 +1943,17 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
convertContacts(manifoldPtr, numManifolds, infoGlobal);
return 0.f;
}
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraintPrestep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& /*infoGlobal*/, btIDebugDraw* /*debugDrawer*/)
{
return 0;
}
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertConstraintPoststep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/)
{
// btContactSolverInfo info = infoGlobal;
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
@@ -1942,9 +1984,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
}
return 0.f;
return 0;
}
btScalar btSequentialImpulseConstraintSolver::solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal)
{
BT_PROFILE("solveSingleIteration");
@@ -2372,3 +2413,33 @@ void btSequentialImpulseConstraintSolver::reset()
{
m_btSeed2 = 0;
}
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertBackPrestep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
{
return btScalar(0);
}
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertBack(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
{
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal);
}
writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal);
writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal);
return btScalar(0);
}
btScalar btSequentialImpulseConstraintSolver::solveGroupConvertBackPoststep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
{
m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
m_tmpSolverBodyPool.resizeNoInitialize(0);
return btScalar(0);
}

10
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -185,7 +185,7 @@ protected:
return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
}
protected:
public:
void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
@@ -296,6 +296,14 @@ public:
static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric();
static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric();
virtual btScalar solveGroupConvertConstraintPrestep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& /*infoGlobal*/, btIDebugDraw* /*debugDrawer*/);
virtual btScalar solveGroupConvertConstraintPoststep(btCollisionObject** /*bodies*/, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** /*constraints*/, int /*numConstraints*/, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/);
virtual btScalar solveGroupConvertConstraints(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
virtual btScalar solveGroupConvertBackPrestep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
virtual btScalar solveGroupConvertBack(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
virtual btScalar solveGroupConvertBackPoststep(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
};
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H