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more bt* to b3*

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This commit is contained in:
erwin coumans
2013-04-16 17:08:59 -07:00
parent faabffc23d
commit e646754228
116 changed files with 2466 additions and 3034 deletions
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94
opencl/gpu_rigidbody/host/b3Solver.cpp
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@@ -39,9 +39,9 @@ bool useNewBatchingKernel = false;
#include "../kernels/batchingKernelsNew.h"
#include "BulletCommon/btQuickprof.h"
#include "BulletCommon/b3Quickprof.h"
#include "../../parallel_primitives/host/btLauncherCL.h"
#include "BulletCommon/btVector3.h"
#include "BulletCommon/b3Vector3.h"
struct SolverDebugInfo
{
@@ -282,8 +282,8 @@ b3Solver::~b3Solver()
static
inline
float calcRelVel(const btVector3& l0, const btVector3& l1, const btVector3& a0, const btVector3& a1,
const btVector3& linVel0, const btVector3& angVel0, const btVector3& linVel1, const btVector3& angVel1)
float calcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1,
const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1)
{
return btDot(l0, linVel0) + btDot(a0, angVel0) + btDot(l1, linVel1) + btDot(a1, angVel1);
}
@@ -291,8 +291,8 @@ b3Solver::~b3Solver()
static
inline
void setLinearAndAngular(const btVector3& n, const btVector3& r0, const btVector3& r1,
btVector3& linear, btVector3& angular0, btVector3& angular1)
void setLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1,
b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1)
{
linear = -n;
angular0 = -btCross(r0, n);
@@ -304,15 +304,15 @@ template<bool JACOBI>
static
__inline
void solveContact(b3GpuConstraint4& cs,
const btVector3& posA, btVector3& linVelA, btVector3& angVelA, float invMassA, const btMatrix3x3& invInertiaA,
const btVector3& posB, btVector3& linVelB, btVector3& angVelB, float invMassB, const btMatrix3x3& invInertiaB,
const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
float maxRambdaDt[4], float minRambdaDt[4])
{
btVector3 dLinVelA; dLinVelA.setZero();
btVector3 dAngVelA; dAngVelA.setZero();
btVector3 dLinVelB; dLinVelB.setZero();
btVector3 dAngVelB; dAngVelB.setZero();
b3Vector3 dLinVelA; dLinVelA.setZero();
b3Vector3 dAngVelA; dAngVelA.setZero();
b3Vector3 dLinVelB; dLinVelB.setZero();
b3Vector3 dAngVelB; dAngVelB.setZero();
for(int ic=0; ic<4; ic++)
{
@@ -320,12 +320,12 @@ void solveContact(b3GpuConstraint4& cs,
if( cs.m_jacCoeffInv[ic] == 0.f ) continue;
{
btVector3 angular0, angular1, linear;
btVector3 r0 = cs.m_worldPos[ic] - (btVector3&)posA;
btVector3 r1 = cs.m_worldPos[ic] - (btVector3&)posB;
setLinearAndAngular( (const btVector3 &)-cs.m_linear, (const btVector3 &)r0, (const btVector3 &)r1, linear, angular0, angular1 );
b3Vector3 angular0, angular1, linear;
b3Vector3 r0 = cs.m_worldPos[ic] - (b3Vector3&)posA;
b3Vector3 r1 = cs.m_worldPos[ic] - (b3Vector3&)posB;
setLinearAndAngular( (const b3Vector3 &)-cs.m_linear, (const b3Vector3 &)r0, (const b3Vector3 &)r1, linear, angular0, angular1 );
float rambdaDt = calcRelVel((const btVector3 &)cs.m_linear,(const btVector3 &) -cs.m_linear, angular0, angular1,
float rambdaDt = calcRelVel((const b3Vector3 &)cs.m_linear,(const b3Vector3 &) -cs.m_linear, angular0, angular1,
linVelA, angVelA, linVelB, angVelB ) + cs.m_b[ic];
rambdaDt *= cs.m_jacCoeffInv[ic];
@@ -339,10 +339,10 @@ void solveContact(b3GpuConstraint4& cs,
cs.m_appliedRambdaDt[ic] = updated;
}
btVector3 linImp0 = invMassA*linear*rambdaDt;
btVector3 linImp1 = invMassB*(-linear)*rambdaDt;
btVector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
btVector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
b3Vector3 linImp0 = invMassA*linear*rambdaDt;
b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
#ifdef _WIN32
btAssert(_finite(linImp0.getX()));
btAssert(_finite(linImp1.getX()));
@@ -381,30 +381,30 @@ void solveContact(b3GpuConstraint4& cs,
static
__inline
void solveFriction(b3GpuConstraint4& cs,
const btVector3& posA, btVector3& linVelA, btVector3& angVelA, float invMassA, const btMatrix3x3& invInertiaA,
const btVector3& posB, btVector3& linVelB, btVector3& angVelB, float invMassB, const btMatrix3x3& invInertiaB,
const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA,
const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB,
float maxRambdaDt[4], float minRambdaDt[4])
{
if( cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0 ) return;
const btVector3& center = (const btVector3&)cs.m_center;
const b3Vector3& center = (const b3Vector3&)cs.m_center;
btVector3 n = -(const btVector3&)cs.m_linear;
b3Vector3 n = -(const b3Vector3&)cs.m_linear;
btVector3 tangent[2];
b3Vector3 tangent[2];
#if 1
btPlaneSpace1 (n, tangent[0],tangent[1]);
#else
btVector3 r = cs.m_worldPos[0]-center;
b3Vector3 r = cs.m_worldPos[0]-center;
tangent[0] = cross3( n, r );
tangent[1] = cross3( tangent[0], n );
tangent[0] = normalize3( tangent[0] );
tangent[1] = normalize3( tangent[1] );
#endif
btVector3 angular0, angular1, linear;
btVector3 r0 = center - posA;
btVector3 r1 = center - posB;
b3Vector3 angular0, angular1, linear;
b3Vector3 r0 = center - posA;
b3Vector3 r1 = center - posB;
for(int i=0; i<2; i++)
{
setLinearAndAngular( tangent[i], r0, r1, linear, angular0, angular1 );
@@ -422,10 +422,10 @@ void solveContact(b3GpuConstraint4& cs,
cs.m_fAppliedRambdaDt[i] = updated;
}
btVector3 linImp0 = invMassA*linear*rambdaDt;
btVector3 linImp1 = invMassB*(-linear)*rambdaDt;
btVector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
btVector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
b3Vector3 linImp0 = invMassA*linear*rambdaDt;
b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt;
b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt;
b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt;
#ifdef _WIN32
btAssert(_finite(linImp0.getX()));
btAssert(_finite(linImp1.getX()));
@@ -437,8 +437,8 @@ void solveContact(b3GpuConstraint4& cs,
}
{ // angular damping for point constraint
btVector3 ab = ( posB - posA ).normalized();
btVector3 ac = ( center - posA ).normalized();
b3Vector3 ab = ( posB - posA ).normalized();
b3Vector3 ac = ( center - posA ).normalized();
if( btDot( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f))
{
float angNA = btDot( n, angVelA );
@@ -454,7 +454,7 @@ void solveContact(b3GpuConstraint4& cs,
struct SolveTask// : public ThreadPool::Task
{
SolveTask(btAlignedObjectArray<b3RigidBodyCL>& bodies, btAlignedObjectArray<btInertiaCL>& shapes, btAlignedObjectArray<b3GpuConstraint4>& constraints,
SolveTask(b3AlignedObjectArray<b3RigidBodyCL>& bodies, b3AlignedObjectArray<btInertiaCL>& shapes, b3AlignedObjectArray<b3GpuConstraint4>& constraints,
int start, int nConstraints)
: m_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ), m_start( start ), m_nConstraints( nConstraints ),
m_solveFriction( true ){}
@@ -480,8 +480,8 @@ struct SolveTask// : public ThreadPool::Task
float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX};
float minRambdaDt[4] = {0.f,0.f,0.f,0.f};
solveContact<false>( m_constraints[i], (btVector3&)bodyA.m_pos, (btVector3&)bodyA.m_linVel, (btVector3&)bodyA.m_angVel, bodyA.m_invMass, (const btMatrix3x3 &)m_shapes[aIdx].m_invInertiaWorld,
(btVector3&)bodyB.m_pos, (btVector3&)bodyB.m_linVel, (btVector3&)bodyB.m_angVel, bodyB.m_invMass, (const btMatrix3x3 &)m_shapes[bIdx].m_invInertiaWorld,
solveContact<false>( m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3 &)m_shapes[aIdx].m_invInertiaWorld,
(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3 &)m_shapes[bIdx].m_invInertiaWorld,
maxRambdaDt, minRambdaDt );
}
@@ -502,8 +502,8 @@ struct SolveTask// : public ThreadPool::Task
minRambdaDt[j] = -maxRambdaDt[j];
}
solveFriction( m_constraints[i], (btVector3&)bodyA.m_pos, (btVector3&)bodyA.m_linVel, (btVector3&)bodyA.m_angVel, bodyA.m_invMass,(const btMatrix3x3 &) m_shapes[aIdx].m_invInertiaWorld,
(btVector3&)bodyB.m_pos, (btVector3&)bodyB.m_linVel, (btVector3&)bodyB.m_angVel, bodyB.m_invMass,(const btMatrix3x3 &) m_shapes[bIdx].m_invInertiaWorld,
solveFriction( m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass,(const b3Matrix3x3 &) m_shapes[aIdx].m_invInertiaWorld,
(b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass,(const b3Matrix3x3 &) m_shapes[bIdx].m_invInertiaWorld,
maxRambdaDt, minRambdaDt );
}
@@ -512,9 +512,9 @@ struct SolveTask// : public ThreadPool::Task
}
btAlignedObjectArray<b3RigidBodyCL>& m_bodies;
btAlignedObjectArray<btInertiaCL>& m_shapes;
btAlignedObjectArray<b3GpuConstraint4>& m_constraints;
b3AlignedObjectArray<b3RigidBodyCL>& m_bodies;
b3AlignedObjectArray<btInertiaCL>& m_shapes;
b3AlignedObjectArray<b3GpuConstraint4>& m_constraints;
int m_start;
int m_nConstraints;
bool m_solveFriction;
@@ -525,11 +525,11 @@ void b3Solver::solveContactConstraintHost( btOpenCLArray<b3RigidBodyCL>* bodyBu
btOpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches)
{
btAlignedObjectArray<b3RigidBodyCL> bodyNative;
b3AlignedObjectArray<b3RigidBodyCL> bodyNative;
bodyBuf->copyToHost(bodyNative);
btAlignedObjectArray<btInertiaCL> shapeNative;
b3AlignedObjectArray<btInertiaCL> shapeNative;
shapeBuf->copyToHost(shapeNative);
btAlignedObjectArray<b3GpuConstraint4> constraintNative;
b3AlignedObjectArray<b3GpuConstraint4> constraintNative;
constraint->copyToHost(constraintNative);
for(int iter=0; iter<m_nIterations; iter++)