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add option to terminate PGS constraint solvers based on a least square residual threshold

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(for example solverInfo().m_leastSquaresResidualThreshold = 1e-7 and use large m_numSolverIterations
disable sphere-sphere contact cache, it is buggy (some contact point stay in the cache, when sphere penetrates more than total margins)
tweak some gpu demo settings
This commit is contained in:
Erwin Coumans
2016-12-16 18:09:52 -08:00
parent 38b10137c9
commit dcd02a1e15
11 changed files with 111 additions and 37 deletions
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25
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -26,7 +26,7 @@ subject to the following restrictions:
btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btScalar val = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
btScalar leastSquaredResidual = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
//solve featherstone non-contact constraints
@@ -38,7 +38,9 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
resolveSingleConstraintRowGeneric(constraint);
btScalar residual = resolveSingleConstraintRowGeneric(constraint);
leastSquaredResidual += residual*residual;
if(constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false);
if(constraint.m_multiBodyB)
@@ -49,9 +51,15 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
for (int j=0;j<m_multiBodyNormalContactConstraints.size();j++)
{
btMultiBodySolverConstraint& constraint = m_multiBodyNormalContactConstraints[j];
if (iteration < infoGlobal.m_numIterations)
resolveSingleConstraintRowGeneric(constraint);
btScalar residual = 0.f;
if (iteration < infoGlobal.m_numIterations)
{
residual = resolveSingleConstraintRowGeneric(constraint);
}
leastSquaredResidual += residual*residual;
if(constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false);
if(constraint.m_multiBodyB)
@@ -71,7 +79,8 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
{
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
resolveSingleConstraintRowGeneric(frictionConstraint);
btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
leastSquaredResidual += residual*residual;
if(frictionConstraint.m_multiBodyA)
frictionConstraint.m_multiBodyA->setPosUpdated(false);
@@ -80,7 +89,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
}
}
}
return val;
return leastSquaredResidual;
}
btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
@@ -112,7 +121,7 @@ void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar im
m_data.m_deltaVelocities[velocityIndex+i] += delta_vee[i] * impulse;
}
void btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c)
btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
@@ -190,7 +199,7 @@ void btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMult
{
bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
}
return deltaImpulse;
}

2
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
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@@ -43,7 +43,7 @@ protected:
btMultiBodyConstraint** m_tmpMultiBodyConstraints;
int m_tmpNumMultiBodyConstraints;
void resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);