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added parallel solver (work in progress) and made modifications to demo/constraints to allow for getting the type without using virtual functions (needed on CELL SPU processors)

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This commit is contained in:
ejcoumans
2007-08-12 17:27:33 +00:00
parent 37e2b3db0a
commit ec22825e65
22 changed files with 1878 additions and 1018 deletions
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5
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
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@@ -23,13 +23,14 @@ Written by: Marcus Hennix
#include <new>
btConeTwistConstraint::btConeTwistConstraint()
:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE)
{
}
btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,
const btTransform& rbAFrame,const btTransform& rbBFrame)
:btTypedConstraint(rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
m_angularOnly(false)
{
// flip axis for correct angles
@@ -49,7 +50,7 @@ btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,
}
btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame)
:btTypedConstraint(rbA),m_rbAFrame(rbAFrame),
:btTypedConstraint(CONETWIST_CONSTRAINT_TYPE,rbA),m_rbAFrame(rbAFrame),
m_angularOnly(false)
{
m_rbBFrame = m_rbAFrame;

3
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
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@@ -30,6 +30,9 @@ class btRigidBody;
///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
class btConeTwistConstraint : public btTypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
#endif
btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
btTransform m_rbAFrame;

5
src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
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@@ -35,12 +35,15 @@ public:
virtual ~btConstraintSolver() {}
virtual void prepareSolve (int numBodies, int numManifolds) {;}
///solve a group of constraints
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc) = 0;
virtual void allSolved (const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc) {;}
///clear internal cached data and reset random seed
virtual void reset() = 0;
};

26
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -16,8 +16,21 @@ subject to the following restrictions:
#ifndef CONTACT_SOLVER_INFO
#define CONTACT_SOLVER_INFO
struct btContactSolverInfoData
{
btScalar m_tau;
btScalar m_damping;
btScalar m_friction;
btScalar m_timeStep;
btScalar m_restitution;
int m_numIterations;
btScalar m_maxErrorReduction;
btScalar m_sor;
btScalar m_erp;
struct btContactSolverInfo
};
struct btContactSolverInfo : public btContactSolverInfoData
{
inline btContactSolverInfo()
@@ -32,16 +45,7 @@ struct btContactSolverInfo
m_sor = btScalar(1.3);
}
btScalar m_tau;
btScalar m_damping;
btScalar m_friction;
btScalar m_timeStep;
btScalar m_restitution;
int m_numIterations;
btScalar m_maxErrorReduction;
btScalar m_sor;
btScalar m_erp;
};
#endif //CONTACT_SOLVER_INFO

3
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
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@@ -25,11 +25,12 @@ static const int kAxisB[] = { 2, 2, 1 };
#define GENERIC_D6_DISABLE_WARMSTARTING 1
btGeneric6DofConstraint::btGeneric6DofConstraint()
:btTypedConstraint(D6_CONSTRAINT_TYPE)
{
}
btGeneric6DofConstraint::btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB)
: btTypedConstraint(rbA, rbB)
: btTypedConstraint(D6_CONSTRAINT_TYPE, rbA, rbB)
, m_frameInA(frameInA)
, m_frameInB(frameInB)
{

11
src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
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@@ -21,14 +21,15 @@ subject to the following restrictions:
#include <new>
btHingeConstraint::btHingeConstraint():
btHingeConstraint::btHingeConstraint()
: btTypedConstraint (HINGE_CONSTRAINT_TYPE),
m_enableAngularMotor(false)
{
}
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,
btVector3& axisInA,btVector3& axisInB)
:btTypedConstraint(rbA,rbB),
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),
m_angularOnly(false),
m_enableAngularMotor(false)
{
@@ -70,7 +71,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const bt
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA)
:btTypedConstraint(rbA), m_angularOnly(false), m_enableAngularMotor(false)
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_angularOnly(false), m_enableAngularMotor(false)
{
// since no frame is given, assume this to be zero angle and just pick rb transform axis
@@ -113,7 +114,7 @@ btHingeConstraint::btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,
btHingeConstraint::btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB,
const btTransform& rbAFrame, const btTransform& rbBFrame)
:btTypedConstraint(rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA,rbB),m_rbAFrame(rbAFrame),m_rbBFrame(rbBFrame),
m_angularOnly(false),
m_enableAngularMotor(false)
{
@@ -134,7 +135,7 @@ m_enableAngularMotor(false)
btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame)
:btTypedConstraint(rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
:btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),m_rbAFrame(rbAFrame),m_rbBFrame(rbAFrame),
m_angularOnly(false),
m_enableAngularMotor(false)
{

3
src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
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@@ -28,6 +28,9 @@ class btRigidBody;
/// axis defines the orientation of the hinge axis
class btHingeConstraint : public btTypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
#endif
btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor

5
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
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@@ -21,18 +21,19 @@ subject to the following restrictions:
btPoint2PointConstraint::btPoint2PointConstraint()
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE)
{
}
btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
:btTypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
{
}
btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
:btTypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
:btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
{
}

3
src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
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@@ -36,6 +36,9 @@ struct btConstraintSetting
/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
class btPoint2PointConstraint : public btTypedConstraint
{
#ifdef IN_PARALLELL_SOLVER
public:
#endif
btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
btVector3 m_pivotInA;

4
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -105,7 +105,9 @@ public:
};
#ifndef BT_PREFER_SIMD
typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered;
#endif
#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H

15
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
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@@ -19,8 +19,9 @@ subject to the following restrictions:
static btRigidBody s_fixed(0, 0,0);
btTypedConstraint::btTypedConstraint()
: m_userConstraintType(-1),
btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
: m_constraintType (type),
m_userConstraintType(-1),
m_userConstraintId(-1),
m_rbA(s_fixed),
m_rbB(s_fixed),
@@ -28,8 +29,9 @@ m_appliedImpulse(btScalar(0.))
{
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
}
btTypedConstraint::btTypedConstraint(btRigidBody& rbA)
: m_userConstraintType(-1),
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
: m_constraintType (type),
m_userConstraintType(-1),
m_userConstraintId(-1),
m_rbA(rbA),
m_rbB(s_fixed),
@@ -40,8 +42,9 @@ m_appliedImpulse(btScalar(0.))
}
btTypedConstraint::btTypedConstraint(btRigidBody& rbA,btRigidBody& rbB)
: m_userConstraintType(-1),
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
: m_constraintType (type),
m_userConstraintType(-1),
m_userConstraintId(-1),
m_rbA(rbA),
m_rbB(rbB),

28
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
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@@ -19,12 +19,23 @@ subject to the following restrictions:
class btRigidBody;
#include "LinearMath/btScalar.h"
enum btTypedConstraintType
{
POINT2POINT_CONSTRAINT_TYPE,
HINGE_CONSTRAINT_TYPE,
CONETWIST_CONSTRAINT_TYPE,
D6_CONSTRAINT_TYPE,
VEHICLE_CONSTRAINT_TYPE
};
///TypedConstraint is the baseclass for Bullet constraints and vehicles
class btTypedConstraint
{
int m_userConstraintType;
int m_userConstraintId;
btTypedConstraintType m_constraintType;
btTypedConstraint& operator=(btTypedConstraint& other)
{
btAssert(0);
@@ -40,11 +51,11 @@ protected:
public:
btTypedConstraint();
btTypedConstraint(btTypedConstraintType type);
virtual ~btTypedConstraint() {};
btTypedConstraint(btRigidBody& rbA);
btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
btTypedConstraint(btRigidBody& rbA,btRigidBody& rbB);
btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
virtual void buildJacobian() = 0;
@@ -59,7 +70,7 @@ public:
return m_rbB;
}
btRigidBody& getRigidBodyA()
btRigidBody& getRigidBodyA()
{
return m_rbA;
}
@@ -83,14 +94,19 @@ public:
m_userConstraintId = uid;
}
int getUserConstraintId()
int getUserConstraintId() const
{
return m_userConstraintId;
}
btScalar getAppliedImpulse()
btScalar getAppliedImpulse() const
{
return m_appliedImpulse;
}
btTypedConstraintType getConstraintType () const
{
return m_constraintType;
}
};
#endif //TYPED_CONSTRAINT_H