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Add the option for the btSimulationIslandManager to avoid splitting islands (for constraint solving)

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Move the convertContact inside constraint solver to its own method
This commit is contained in:
erwin.coumans
2009-02-13 02:34:46 +00:00
parent 26d7757135
commit d886c06fa5
10 changed files with 452 additions and 363 deletions
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16
src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.cpp
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@@ -1238,7 +1238,7 @@ void processSolverTask(void* userPtr, void* lsMemory)
vel = vel1 - vel2;
rel_vel = cp.m_normalWorldOnB.dot(vel);
constraint.m_penetration = cp.getDistance();///btScalar(infoGlobal.m_numIterations);
btScalar penetration = cp.getDistance();///btScalar(infoGlobal.m_numIterations);
constraint.m_friction = cp.m_combinedFriction;
float rest = - rel_vel * cp.m_combinedRestitution;
if (rest <= btScalar(0.))
@@ -1251,7 +1251,7 @@ void processSolverTask(void* userPtr, void* lsMemory)
btScalar erp = taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_erp;
btScalar timeStep = taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_timeStep;
constraint.m_restitution = rest;
btScalar restitution = rest;
constraint.m_appliedImpulse = cp.m_appliedImpulse*taskDesc.m_commandData.m_manifoldSetup.m_solverInfo.m_warmstartingFactor;
if (constraint.m_appliedImpulse!= 0.f)
{
@@ -1271,8 +1271,8 @@ void processSolverTask(void* userPtr, void* lsMemory)
rel_vel = vel1Dotn-vel2Dotn;
btScalar positionalError = 0.f;
positionalError = -constraint.m_penetration * erp/timeStep;
btScalar velocityError = constraint.m_restitution - rel_vel;// * damping;
positionalError = -penetration * erp/timeStep;
btScalar velocityError = restitution - rel_vel;// * damping;
btScalar penetrationImpulse = positionalError*constraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *constraint.m_jacDiagABInv;
constraint.m_rhs = penetrationImpulse+velocityImpulse;
@@ -1339,9 +1339,9 @@ void processSolverTask(void* userPtr, void* lsMemory)
btScalar positionalError = 0.f;
positionalError = 0;
constraint.m_restitution=0.f;
btScalar restitution=0.f;
btSimdScalar velocityError = constraint.m_restitution - rel_vel;
btSimdScalar velocityError = restitution - rel_vel;
btSimdScalar velocityImpulse = velocityError * btSimdScalar(constraint.m_jacDiagABInv);
constraint.m_rhs = velocityImpulse;
constraint.m_cfm = 0.f;
@@ -1386,9 +1386,9 @@ void processSolverTask(void* userPtr, void* lsMemory)
btScalar positionalError = 0.f;
positionalError = 0;
constraint.m_restitution=0.f;
btScalar restitution=0.f;
btSimdScalar velocityError = constraint.m_restitution - rel_vel;
btSimdScalar velocityError = restitution - rel_vel;
btSimdScalar velocityImpulse = velocityError * btSimdScalar(constraint.m_jacDiagABInv);
constraint.m_rhs = velocityImpulse;
constraint.m_cfm = 0.f;