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Merge branch 'development' into style-cleanup

Browse source 
Conflicts:
	Engine/source/console/astNodes.cpp
	Engine/source/console/codeBlock.cpp
	Engine/source/console/compiledEval.cpp
	Engine/source/ts/collada/colladaAppMesh.cpp
	Engine/source/ts/tsShape.cpp
	Engine/source/ts/tsShapeConstruct.cpp
This commit is contained in:
Daniel Buckmaster 2014-12-15 12:15:55 +11:00
parent 3e21f5f677 e0436efc21
commit 33ff180593
2053 changed files with 172002 additions and 69530 deletions
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13
.gitattributes vendored
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@ -3,3 +3,16 @@
# Set to always use Windows line endings
*.cs text eol=crlf
# Explicitly declare text files we want to always be normalized and converted
# to native line endings on checkout.
*.c text
*.h text
*.cpp text
*.hpp text
*.ppm text
*.nsh text
*.nlf text
*.command
*.txt
*.ini

4
CMakeLists.txt
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@ -1,4 +1,4 @@
cmake_minimum_required (VERSION 2.8.3)
cmake_minimum_required (VERSION 2.8.12)
set(TORQUE_APP_NAME "" CACHE STRING "the app name")
@ -8,4 +8,4 @@ endif()
project(${TORQUE_APP_NAME})
add_subdirectory(Tools/CMake)
add_subdirectory(Tools/CMake)

58
CONTRIBUTING.md Normal file
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@ -0,0 +1,58 @@
# Torque 3D contribution guidelines
So you want to help Torque out by contributing to the repo? That's awesome!
We just ask that you'd give this document a quick read to get yourself familiar with the process.
Do you want to [request a feature](#request-a-feature)?
Create a [pull-request](#create-a-pull-request) to contribute your own code to the engine?
[Report an issue](#report-an-issue) you've discovered?
## Report an issue
Before you report an issue with the engine, please [search](https://github.com/GarageGames/Torque3D/issues) and quickly make sure someone else hasn't obviously reported it.
If you're not sure if it's the same issue, go ahead and comment on it!
Once you're certain you've found a new issue, hit the [big green button](https://github.com/GarageGames/Torque3D/issues/new) and please include the following information:
* Your platform and compiler, if you're not using a precompiled binary
* Steps to reproduce the issue, if _at all_ possible
* If it's related to graphics, your GFX card and driver details.
## Create a pull-request
We ask that potential contributors read our [pull-request guidelines](http://torque3d.org/contribute/#pull-request-guide) before opening a PR.
We also have some [code style guidelines](https://github.com/GarageGames/Torque3D/wiki/Code-Style-Guidelines).
Here's a quick guide to the branches in this repo that you might think of targeting a PR at:
### The master branch
The repository's `master` branch is where we make releases.
It's supposed to be stable at all times - or as stable as we can make it - and only gets updated when a new version comes out.
Any pull-requests to the master branch will have to be rejected - sorry :(.
### The development branch
The `development` branch is where most development happens.
It is the target for the next 'middle' version of the engine (the 6 in 3.6.1, for example).
This means we will add new features, and refactor code if it doesn't break existing games made with the engine _too_ much*.
Most pull requests to `development` can be accepted if we like your code - unless they would potentially break users' games.
*How much is _too_ much is for the Steering Committee to decide.
### The development-3.6 branch
The `development-3.6` branch is where we will make bugfixes and small patches to the previous stable 'middle' version.
This branch is where the 'small' versions will be created - 3.6.2, 3.6.3, etcetera.
So if you have a bugfix or tiny enhancement that doesn't require anyone to change their game, it'd be best appreciated in this branch.
### TLDR
Don't make any PRs to `master`.
PR new features and large fixes/refactorings to `development`.
PR bugfixes to `development-3.6`.
## Request a feature
We ask that all feature requests be discussed in the [GarageGames forums](http://www.garagegames.com/community/forums), our [IRC channel](http://torque3d.wikidot.com/community:chat), or on our [UserVoice feature request voting page](https://garagegames.uservoice.com/forums/178972-torque-3d-mit/filters/top) before making an issue here.
If your idea is popular, we'll hear of it and probably make an issue ourselves, if we agree.
Even better - don't request a feature, start working on it!
This engine isn't going to improve itself ;).

27
Engine/lib/bullet/CMakeLists.txt
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@ -5,7 +5,7 @@ set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
SET(MSVC_INCREMENTAL_DEFAULT ON)
PROJECT(BULLET_PHYSICS)
SET(BULLET_VERSION 2.81)
SET(BULLET_VERSION 2.82)
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
@ -113,7 +113,7 @@ IF (BUILD_MULTITHREADING)
ELSE(CMAKE_CL_64)
SET(CMAKE_NVSDKCOMPUTE_LIBPATH ${NVIDIA_OPENCL_BASE_DIR}/lib/Win32 )
ENDIF(CMAKE_CL_64)
SET(NVIDIA_OPENCL_LIBRARIES ${CMAKE_NVSDKCOMPUTE_LIBPATH}/OpenCL.lib)
SET(NVIDIA_OPENCL_LIBRARIES ${CMAKE_NVSDKCOMPUTE_LIBPATH}/OpenCL.lib)
OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)" ON)
ELSE()
@ -214,9 +214,13 @@ IF(MSVC)
ENDFOREACH(flag_var)
ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON)
IF (USE_MSVC_SSE)
IF (CMAKE_CL_64)
ADD_DEFINITIONS(-D_WIN64)
ELSE()
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON)
IF (USE_MSVC_SSE)
ADD_DEFINITIONS(/arch:SSE)
ENDIF()
ENDIF()
OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON)
IF (USE_MSVC_FAST_FLOATINGPOINT)
@ -418,3 +422,18 @@ OPTION(BUILD_UNIT_TESTS "Build Unit Tests" OFF)
IF (BUILD_UNIT_TESTS)
SUBDIRS(UnitTests)
ENDIF()
set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
list (APPEND BULLET_LIBRARIES LinearMath)
list (APPEND BULLET_LIBRARIES BulletCollisions)
list (APPEND BULLET_LIBRARIES BulletDynamics)
list (APPEND BULLET_LIBRARIES BulletSoftBody)
set (BULLET_USE_FILE ${CMAKE_INSTALL_PREFIX}/${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
configure_file ( ${CMAKE_SOURCE_DIR}/BulletConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
@ONLY ESCAPE_QUOTES
)
install ( FILES ${CMAKE_SOURCE_DIR}/UseBullet.cmake
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
)

17
Engine/lib/bullet/COPYING Normal file
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@ -0,0 +1,17 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2011 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
All files in the Bullet/src folder are under this Zlib license.
Files in the Extras and Demos folder may have a different license, see the respective files.

4
Engine/lib/bullet/ChangeLog
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@ -4,6 +4,10 @@ Primary author and maintainer: Erwin Coumans
This ChangeLog is incomplete, for an up-to-date list of all fixed issues see http://bullet.googlecode.com
using http://tinyurl.com/yabmjjj
2013 October 23
- Bullet 2.82 release
- See docs/BulletQuickstart.pdf or issue tracked for details.
2012 September 10
- Bullet 2.81 release preparation

8
Engine/lib/bullet/RELEASING.TXT
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@ -2,9 +2,11 @@ This document details the steps necessary to package a release of Bullet.
1) Preparing for release:
update VERSION in several places
update ChangeLog
regenerate MSVC project files
update VERSION in several places (/VERSION file, /CMakeLists.txt, /configure.ac, /src/LinearMath/btScalar.h, /src/LinearMath/btSerializer.h around line 441)
re-generate serialization structures, if they changed (/src/LinearMath/btSerializer.cpp using makesdna)
update ChangeLog with larger/important changes
regenerate MSVC project files using build/vs_all.bat
create a Subversion tag revision in bullet.googlecode.com/svn/tags/bullet-<VERSION>
2) Generating the release .zip:
Do an SVN export on a Windows machine into the directory: bullet-X.YY

2
Engine/lib/bullet/VERSION
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@ -1 +1 @@
2.81
2.82

6
Engine/lib/bullet/configure.ac
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@ -9,8 +9,8 @@ AC_PREREQ([2.54])
#----------------------------------------------------------------------------
AC_INIT(
[bullet],
[2.81],
[bullet@erwincoumans.com])
[2.82],
[erwin.coumans@gmail.com])
AC_CANONICAL_HOST
AC_CONFIG_SRCDIR([configure.ac])
AM_INIT_AUTOMAKE
@ -163,7 +163,7 @@ CXXFLAGS="$ARCH_SPECIFIC_CFLAGS $CXXFLAGS $CFLAGS"
#----------------------------------------------------------------------------
# Emit generated files.
#----------------------------------------------------------------------------
AC_CONFIG_FILES([bullet.pc Makefile Demos/Makefile Demos/SoftDemo/Makefile Demos/AllBulletDemos/Makefile Demos/MultiThreadedDemo/Makefile Demos/OpenGL/Makefile Demos/BasicDemo/Makefile Demos/CcdPhysicsDemo/Makefile Demos/VehicleDemo/Makefile Demos/TerrainDemo/Makefile src/Makefile Extras/Makefile])
AC_CONFIG_FILES([bullet.pc Makefile Demos/Makefile Demos/SoftDemo/Makefile Demos/AllBulletDemos/Makefile Demos/MultiThreadedDemo/Makefile Demos/OpenGL/Makefile Demos/ForkLiftDemo/Makefile Demos/FeatherstoneMultiBodyDemo/Makefile Demos/BasicDemo/Makefile Demos/CcdPhysicsDemo/Makefile Demos/VehicleDemo/Makefile Demos/TerrainDemo/Makefile src/Makefile Extras/Makefile])
AC_OUTPUT
AC_MSG_NOTICE([

5
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h
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@ -25,7 +25,6 @@ class btOverlappingPairCache;
struct btCollisionObjectWrapper;
class btPersistentManifold;
class btStackAlloc;
class btPoolAllocator;
struct btDispatcherInfo
@ -47,8 +46,7 @@ struct btDispatcherInfo
m_useEpa(true),
m_allowedCcdPenetration(btScalar(0.04)),
m_useConvexConservativeDistanceUtil(false),
m_convexConservativeDistanceThreshold(0.0f),
m_stackAllocator(0)
m_convexConservativeDistanceThreshold(0.0f)
{
}
@ -64,7 +62,6 @@ struct btDispatcherInfo
btScalar m_allowedCcdPenetration;
bool m_useConvexConservativeDistanceUtil;
btScalar m_convexConservativeDistanceThreshold;
btStackAlloc* m_stackAllocator;
};
///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.

2
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
View file

@ -53,7 +53,7 @@ btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
void btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
{
if (pair.m_algorithm)
if (pair.m_algorithm && dispatcher)
{
{
pair.m_algorithm->~btCollisionAlgorithm();

11
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
View file

@ -96,6 +96,12 @@ class btHashedOverlappingPairCache : public btOverlappingPairCache
btOverlapFilterCallback* m_overlapFilterCallback;
bool m_blockedForChanges;
protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
btOverlappingPairCallback* m_ghostPairCallback;
public:
btHashedOverlappingPairCache();
@ -265,11 +271,6 @@ private:
virtual void sortOverlappingPairs(btDispatcher* dispatcher);
protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
btOverlappingPairCallback* m_ghostPairCallback;
};

18
Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
View file

@ -96,7 +96,25 @@ void btQuantizedBvh::setQuantizationValues(const btVector3& bvhAabbMin,const btV
m_bvhAabbMax = bvhAabbMax + clampValue;
btVector3 aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
m_useQuantization = true;
{
unsigned short vecIn[3];
btVector3 v;
{
quantize(vecIn,m_bvhAabbMin,false);
v = unQuantize(vecIn);
m_bvhAabbMin.setMin(v-clampValue);
}
{
quantize(vecIn,m_bvhAabbMax,true);
v = unQuantize(vecIn);
m_bvhAabbMax.setMax(v+clampValue);
}
aabbSize = m_bvhAabbMax - m_bvhAabbMin;
m_bvhQuantization = btVector3(btScalar(65533.0),btScalar(65533.0),btScalar(65533.0)) / aabbSize;
}
}

9
Engine/lib/bullet/src/BulletCollision/CMakeLists.txt
View file

@ -19,6 +19,7 @@ SET(BulletCollision_SRCS
CollisionDispatch/btCollisionObject.cpp
CollisionDispatch/btCollisionWorld.cpp
CollisionDispatch/btCompoundCollisionAlgorithm.cpp
CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
CollisionDispatch/btConvexConvexAlgorithm.cpp
CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
@ -26,6 +27,7 @@ SET(BulletCollision_SRCS
CollisionDispatch/btDefaultCollisionConfiguration.cpp
CollisionDispatch/btEmptyCollisionAlgorithm.cpp
CollisionDispatch/btGhostObject.cpp
CollisionDispatch/btHashedSimplePairCache.cpp
CollisionDispatch/btInternalEdgeUtility.cpp
CollisionDispatch/btInternalEdgeUtility.h
CollisionDispatch/btManifoldResult.cpp
@ -122,8 +124,10 @@ SET(CollisionDispatch_HDRS
CollisionDispatch/btCollisionCreateFunc.h
CollisionDispatch/btCollisionDispatcher.h
CollisionDispatch/btCollisionObject.h
CollisionDispatch/btCollisionObjectWrapper.h
CollisionDispatch/btCollisionWorld.h
CollisionDispatch/btCompoundCollisionAlgorithm.h
CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
CollisionDispatch/btConvexConvexAlgorithm.h
CollisionDispatch/btConvex2dConvex2dAlgorithm.h
@ -131,6 +135,7 @@ SET(CollisionDispatch_HDRS
CollisionDispatch/btDefaultCollisionConfiguration.h
CollisionDispatch/btEmptyCollisionAlgorithm.h
CollisionDispatch/btGhostObject.h
CollisionDispatch/btHashedSimplePairCache.h
CollisionDispatch/btManifoldResult.h
CollisionDispatch/btSimulationIslandManager.h
CollisionDispatch/btSphereBoxCollisionAlgorithm.h
@ -255,7 +260,9 @@ IF (INSTALL_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletCollision DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletCollision DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletCollision RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
INSTALL(FILES ../btBulletCollisionCommon.h

2
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
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@ -18,7 +18,6 @@ subject to the following restrictions:
struct btCollisionAlgorithmCreateFunc;
class btStackAlloc;
class btPoolAllocator;
///btCollisionConfiguration allows to configure Bullet collision detection
@ -38,7 +37,6 @@ public:
virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
virtual btStackAlloc* getStackAllocator() = 0;
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;

4
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
View file

@ -258,8 +258,8 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair,
if (dispatcher.needsCollision(colObj0,colObj1))
{
btCollisionObjectWrapper obj0Wrap(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
btCollisionObjectWrapper obj1Wrap(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
btCollisionObjectWrapper obj0Wrap(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
btCollisionObjectWrapper obj1Wrap(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);
//dispatcher will keep algorithms persistent in the collision pair

3
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
View file

@ -38,7 +38,8 @@ btCollisionObject::btCollisionObject()
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdMotionThreshold(btScalar(0.)),
m_checkCollideWith(false)
m_checkCollideWith(false),
m_updateRevision(0)
{
m_worldTransform.setIdentity();
}

37
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h
View file

@ -92,7 +92,11 @@ protected:
int m_internalType;
///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
void* m_userObjectPointer;
union
{
void* m_userObjectPointer;
int m_userIndex;
};
///time of impact calculation
btScalar m_hitFraction;
@ -106,6 +110,9 @@ protected:
/// If some object should have elaborate collision filtering by sub-classes
int m_checkCollideWith;
///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
int m_updateRevision;
virtual bool checkCollideWithOverride(const btCollisionObject* /* co */) const
{
return true;
@ -135,7 +142,8 @@ public:
CO_GHOST_OBJECT=4,
CO_SOFT_BODY=8,
CO_HF_FLUID=16,
CO_USER_TYPE=32
CO_USER_TYPE=32,
CO_FEATHERSTONE_LINK=64
};
enum AnisotropicFrictionFlags
@ -202,6 +210,7 @@ public:
virtual void setCollisionShape(btCollisionShape* collisionShape)
{
m_updateRevision++;
m_collisionShape = collisionShape;
m_rootCollisionShape = collisionShape;
}
@ -257,6 +266,7 @@ public:
void setRestitution(btScalar rest)
{
m_updateRevision++;
m_restitution = rest;
}
btScalar getRestitution() const
@ -265,6 +275,7 @@ public:
}
void setFriction(btScalar frict)
{
m_updateRevision++;
m_friction = frict;
}
btScalar getFriction() const
@ -274,6 +285,7 @@ public:
void setRollingFriction(btScalar frict)
{
m_updateRevision++;
m_rollingFriction = frict;
}
btScalar getRollingFriction() const
@ -300,6 +312,7 @@ public:
void setWorldTransform(const btTransform& worldTrans)
{
m_updateRevision++;
m_worldTransform = worldTrans;
}
@ -332,16 +345,19 @@ public:
void setInterpolationWorldTransform(const btTransform& trans)
{
m_updateRevision++;
m_interpolationWorldTransform = trans;
}
void setInterpolationLinearVelocity(const btVector3& linvel)
{
m_updateRevision++;
m_interpolationLinearVelocity = linvel;
}
void setInterpolationAngularVelocity(const btVector3& angvel)
{
m_updateRevision++;
m_interpolationAngularVelocity = angvel;
}
@ -431,13 +447,28 @@ public:
{
return m_userObjectPointer;
}
int getUserIndex() const
{
return m_userIndex;
}
///users can point to their objects, userPointer is not used by Bullet
void setUserPointer(void* userPointer)
{
m_userObjectPointer = userPointer;
}
///users can point to their objects, userPointer is not used by Bullet
void setUserIndex(int index)
{
m_userIndex = index;
}
int getUpdateRevisionInternal() const
{
return m_updateRevision;
}
inline bool checkCollideWith(const btCollisionObject* co) const
{

7
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
View file

@ -27,9 +27,12 @@ public:
const btCollisionShape* m_shape;
const btCollisionObject* m_collisionObject;
const btTransform& m_worldTransform;
int m_partId;
int m_index;
btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform)
: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform)
btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index)
: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform),
m_partId(partId), m_index(index)
{}
SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }

89
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View file

@ -31,11 +31,10 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btSerializer.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
@ -73,8 +72,6 @@ m_broadphasePairCache(pairCache),
m_debugDrawer(0),
m_forceUpdateAllAabbs(true)
{
m_stackAlloc = collisionConfiguration->getStackAllocator();
m_dispatchInfo.m_stackAllocator = m_stackAlloc;
}
@ -268,7 +265,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
const btTransform& colObjWorldTransform,
RayResultCallback& resultCallback)
{
btCollisionObjectWrapper colObWrap(0,collisionShape,collisionObject,colObjWorldTransform);
btCollisionObjectWrapper colObWrap(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1);
btCollisionWorld::rayTestSingleInternal(rayFromTrans,rayToTrans,&colObWrap,resultCallback);
}
@ -290,13 +287,19 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
btSubsimplexConvexCast subSimplexConvexCaster(castShape,convexShape,&simplexSolver);
btGjkConvexCast gjkConvexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
bool condition = true;
btConvexCast* convexCasterPtr = 0;
if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest)
convexCasterPtr = &subSimplexConvexCaster;
else
convexCasterPtr = &gjkConvexCaster;
btConvexCast& convexCaster = *convexCasterPtr;
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
@ -328,34 +331,26 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
} else {
if (collisionShape->isConcave())
{
// BT_PROFILE("rayTestConcave");
if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btBvhTriangleMeshShape
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
const btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
const btConcaveShape* m_triangleMesh;
btTransform m_colObjWorldTransform;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh,const btTransform& colObjWorldTransform):
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh),
m_colObjWorldTransform(colObjWorldTransform)
{
}
btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,const btConcaveShape* triangleMesh,const btTransform& colObjWorldTransform):
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh),
m_colObjWorldTransform(colObjWorldTransform)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
@ -378,10 +373,28 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
};
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
// BT_PROFILE("rayTestConcave");
if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btBvhTriangleMeshShape
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
} else
}
else if(collisionShape->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
{
btGImpactMeshShape* concaveShape = (btGImpactMeshShape*)collisionShape;
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
concaveShape->processAllTrianglesRay(&rcb,rayFromLocal,rayToLocal);
}else
{
//generic (slower) case
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;
@ -509,7 +522,7 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
const btTransform& childTrans = m_compoundShape->getChildTransform(i);
btTransform childWorldTrans = m_colObjWorldTransform * childTrans;
btCollisionObjectWrapper tmpOb(0,childCollisionShape,m_collisionObject,childWorldTrans);
btCollisionObjectWrapper tmpOb(0,childCollisionShape,m_collisionObject,childWorldTrans,-1,i);
// replace collision shape so that callback can determine the triangle
@ -567,7 +580,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
const btTransform& colObjWorldTransform,
ConvexResultCallback& resultCallback, btScalar allowedPenetration)
{
btCollisionObjectWrapper tmpOb(0,collisionShape,collisionObject,colObjWorldTransform);
btCollisionObjectWrapper tmpOb(0,collisionShape,collisionObject,colObjWorldTransform,-1,-1);
btCollisionWorld::objectQuerySingleInternal(castShape,convexFromTrans,convexToTrans,&tmpOb,resultCallback,allowedPenetration);
}
@ -823,7 +836,7 @@ void btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
LocalInfoAdder my_cb(i, &resultCallback);
btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans);
btCollisionObjectWrapper tmpObj(colObjWrap,childCollisionShape,colObjWrap->getCollisionObject(),childWorldTrans,-1,i);
objectQuerySingleInternal(castShape, convexFromTrans,convexToTrans,
&tmpObj,my_cb, allowedPenetration);
@ -1135,8 +1148,8 @@ struct btSingleContactCallback : public btBroadphaseAabbCallback
//only perform raycast if filterMask matches
if(m_resultCallback.needsCollision(collisionObject->getBroadphaseHandle()))
{
btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform());
btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform());
btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform(),-1,-1);
btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform(),-1,-1);
btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1);
if (algorithm)
@ -1171,8 +1184,8 @@ void btCollisionWorld::contactTest( btCollisionObject* colObj, ContactResultCall
///it reports one or more contact points (including the one with deepest penetration)
void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionObject* colObjB, ContactResultCallback& resultCallback)
{
btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform());
btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform());
btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform(),-1,-1);
btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform(),-1,-1);
btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB);
if (algorithm)

20
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h
View file

@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://bulletphysics.com/Bullet/
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
@ -18,13 +18,11 @@ subject to the following restrictions:
* @mainpage Bullet Documentation
*
* @section intro_sec Introduction
* Bullet Collision Detection & Physics SDK
*
* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
*
* The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
* There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
* Please visit http://www.bulletphysics.com
* Please visit http://www.bulletphysics.org
*
* @section install_sec Installation
*
@ -32,7 +30,16 @@ subject to the following restrictions:
* You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
*
* @subsection step2 Step 2: Building
* Bullet main build system for all platforms is cmake, you can download http://www.cmake.org
* Bullet has multiple build systems, including premake, cmake and autotools. Premake and cmake support all platforms.
* Premake is included in the Bullet/build folder for Windows, Mac OSX and Linux.
* Under Windows you can click on Bullet/build/vs2010.bat to create Microsoft Visual Studio projects.
* On Mac OSX and Linux you can open a terminal and generate Makefile, codeblocks or Xcode4 projects:
* cd Bullet/build
* ./premake4_osx gmake or ./premake4_linux gmake or ./premake4_linux64 gmake or (for Mac) ./premake4_osx xcode4
* cd Bullet/build/gmake
* make
*
* An alternative to premake is cmake. You can download cmake from http://www.cmake.org
* cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
* The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
* You can also use cmake in the command-line. Here are some examples for various platforms:
@ -65,7 +72,6 @@ subject to the following restrictions:
#ifndef BT_COLLISION_WORLD_H
#define BT_COLLISION_WORLD_H
class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
@ -91,8 +97,6 @@ protected:
btDispatcherInfo m_dispatchInfo;
btStackAlloc* m_stackAlloc;
btBroadphaseInterface* m_broadphasePairCache;
btIDebugDraw* m_debugDrawer;

13
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
View file

@ -11,6 +11,7 @@ subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
@ -22,6 +23,8 @@ subject to the following restrictions:
#include "btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btShapePairCallback gCompoundChildShapePairCallback = 0;
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_isSwapped(isSwapped),
@ -61,7 +64,7 @@ void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionO
const btCollisionShape* childShape = compoundShape->getChildShape(i);
btCollisionObjectWrapper childWrap(colObjWrap,childShape,colObjWrap->getCollisionObject(),colObjWrap->getWorldTransform());//wrong child trans, but unused (hopefully)
btCollisionObjectWrapper childWrap(colObjWrap,childShape,colObjWrap->getCollisionObject(),colObjWrap->getWorldTransform(),-1,i);//wrong child trans, but unused (hopefully)
m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap,otherObjWrap,m_sharedManifold);
}
}
@ -129,10 +132,16 @@ public:
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
if (gCompoundChildShapePairCallback)
{
if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
return;
}
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans);
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index);
//the contactpoint is still projected back using the original inverted worldtrans

13
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
View file

@ -11,6 +11,7 @@ subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
@ -28,6 +29,10 @@ class btDispatcher;
class btDispatcher;
class btCollisionObject;
class btCollisionShape;
typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
extern btShapePairCallback gCompoundChildShapePairCallback;
/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
@ -37,6 +42,7 @@ class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
class btPersistentManifold* m_sharedManifold;
bool m_ownsManifold;
int m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
void removeChildAlgorithms();
@ -49,6 +55,12 @@ public:
virtual ~btCompoundCollisionAlgorithm();
btCollisionAlgorithm* getChildAlgorithm (int n) const
{
return m_childCollisionAlgorithms[n];
}
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@ -63,6 +75,7 @@ public:
}
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)

421
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp Normal file
View file

@ -0,0 +1,421 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCompoundCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_sharedManifold(ci.m_manifold)
{
m_ownsManifold = false;
void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache),16);
m_childCollisionAlgorithmCache= new(ptr) btHashedSimplePairCache();
const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
btAssert (col0ObjWrap->getCollisionShape()->isCompound());
const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
btAssert (col1ObjWrap->getCollisionShape()->isCompound());
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
}
btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm()
{
removeChildAlgorithms();
m_childCollisionAlgorithmCache->~btHashedSimplePairCache();
btAlignedFree(m_childCollisionAlgorithmCache);
}
void btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
{
int i;
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
for (i=0;i<pairs.size();i++)
{
if (pairs[i].m_userPointer)
{
((btCollisionAlgorithm*)pairs[i].m_userPointer)->getAllContactManifolds(manifoldArray);
}
}
}
void btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
{
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
int numChildren = pairs.size();
int i;
for (i=0;i<numChildren;i++)
{
if (pairs[i].m_userPointer)
{
btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
algo->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(algo);
}
}
m_childCollisionAlgorithmCache->removeAllPairs();
}
struct btCompoundCompoundLeafCallback : btDbvt::ICollide
{
int m_numOverlapPairs;
const btCollisionObjectWrapper* m_compound0ColObjWrap;
const btCollisionObjectWrapper* m_compound1ColObjWrap;
btDispatcher* m_dispatcher;
const btDispatcherInfo& m_dispatchInfo;
btManifoldResult* m_resultOut;
class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
btPersistentManifold* m_sharedManifold;
btCompoundCompoundLeafCallback (const btCollisionObjectWrapper* compound1ObjWrap,
const btCollisionObjectWrapper* compound0ObjWrap,
btDispatcher* dispatcher,
const btDispatcherInfo& dispatchInfo,
btManifoldResult* resultOut,
btHashedSimplePairCache* childAlgorithmsCache,
btPersistentManifold* sharedManifold)
:m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
m_childCollisionAlgorithmCache(childAlgorithmsCache),
m_sharedManifold(sharedManifold),
m_numOverlapPairs(0)
{
}
void Process(const btDbvtNode* leaf0,const btDbvtNode* leaf1)
{
m_numOverlapPairs++;
int childIndex0 = leaf0->dataAsInt;
int childIndex1 = leaf1->dataAsInt;
btAssert(childIndex0>=0);
btAssert(childIndex1>=0);
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(m_compound0ColObjWrap->getCollisionShape());
btAssert(childIndex0<compoundShape0->getNumChildShapes());
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(m_compound1ColObjWrap->getCollisionShape());
btAssert(childIndex1<compoundShape1->getNumChildShapes());
const btCollisionShape* childShape0 = compoundShape0->getChildShape(childIndex0);
const btCollisionShape* childShape1 = compoundShape1->getChildShape(childIndex1);
//backup
btTransform orgTrans0 = m_compound0ColObjWrap->getWorldTransform();
const btTransform& childTrans0 = compoundShape0->getChildTransform(childIndex0);
btTransform newChildWorldTrans0 = orgTrans0*childTrans0 ;
btTransform orgTrans1 = m_compound1ColObjWrap->getWorldTransform();
const btTransform& childTrans1 = compoundShape1->getChildTransform(childIndex1);
btTransform newChildWorldTrans1 = orgTrans1*childTrans1 ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
if (gCompoundCompoundChildShapePairCallback)
{
if (!gCompoundCompoundChildShapePairCallback(childShape0,childShape1))
return;
}
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap,childShape0, m_compound0ColObjWrap->getCollisionObject(),newChildWorldTrans0,-1,childIndex0);
btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap,childShape1,m_compound1ColObjWrap->getCollisionObject(),newChildWorldTrans1,-1,childIndex1);
btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1);
btCollisionAlgorithm* colAlgo = 0;
if (pair)
{
colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;
} else
{
colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0,&compoundWrap1,m_sharedManifold);
pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0,childIndex1);
btAssert(pair);
pair->m_userPointer = colAlgo;
}
btAssert(colAlgo);
const btCollisionObjectWrapper* tmpWrap0 = 0;
const btCollisionObjectWrapper* tmpWrap1 = 0;
tmpWrap0 = m_resultOut->getBody0Wrap();
tmpWrap1 = m_resultOut->getBody1Wrap();
m_resultOut->setBody0Wrap(&compoundWrap0);
m_resultOut->setBody1Wrap(&compoundWrap1);
m_resultOut->setShapeIdentifiersA(-1,childIndex0);
m_resultOut->setShapeIdentifiersB(-1,childIndex1);
colAlgo->processCollision(&compoundWrap0,&compoundWrap1,m_dispatchInfo,m_resultOut);
m_resultOut->setBody0Wrap(tmpWrap0);
m_resultOut->setBody1Wrap(tmpWrap1);
}
}
};
static DBVT_INLINE bool MyIntersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b, const btTransform& xform)
{
btVector3 newmin,newmax;
btTransformAabb(b.Mins(),b.Maxs(),0.f,xform,newmin,newmax);
btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin,newmax);
return Intersect(a,newb);
}
static inline void MycollideTT( const btDbvtNode* root0,
const btDbvtNode* root1,
const btTransform& xform,
btCompoundCompoundLeafCallback* callback)
{
if(root0&&root1)
{
int depth=1;
int treshold=btDbvt::DOUBLE_STACKSIZE-4;
btAlignedObjectArray<btDbvt::sStkNN> stkStack;
stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
stkStack[0]=btDbvt::sStkNN(root0,root1);
do {
btDbvt::sStkNN p=stkStack[--depth];
if(MyIntersect(p.a->volume,p.b->volume,xform))
{
if(depth>treshold)
{
stkStack.resize(stkStack.size()*2);
treshold=stkStack.size()-4;
}
if(p.a->isinternal())
{
if(p.b->isinternal())
{
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[0]);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[0]);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[1]);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[1]);
}
else
{
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b);
}
}
else
{
if(p.b->isinternal())
{
stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[0]);
stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[1]);
}
else
{
callback->Process(p.a,p.b);
}
}
}
} while(depth);
}
}
void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
const btCollisionObjectWrapper* col1ObjWrap= body1Wrap;
btAssert (col0ObjWrap->getCollisionShape()->isCompound());
btAssert (col1ObjWrap->getCollisionShape()->isCompound());
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
///btCompoundShape might have changed:
////make sure the internal child collision algorithm caches are still valid
if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0) || (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1))
{
///clear all
removeChildAlgorithms();
}
///we need to refresh all contact manifolds
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
{
int i;
btManifoldArray manifoldArray;
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
for (i=0;i<pairs.size();i++)
{
if (pairs[i].m_userPointer)
{
btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
algo->getAllContactManifolds(manifoldArray);
for (int m=0;m<manifoldArray.size();m++)
{
if (manifoldArray[m]->getNumContacts())
{
resultOut->setPersistentManifold(manifoldArray[m]);
resultOut->refreshContactPoints();
resultOut->setPersistentManifold(0);
}
}
manifoldArray.resize(0);
}
}
}
const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
btCompoundCompoundLeafCallback callback(col0ObjWrap,col1ObjWrap,this->m_dispatcher,dispatchInfo,resultOut,this->m_childCollisionAlgorithmCache,m_sharedManifold);
const btTransform xform=col0ObjWrap->getWorldTransform().inverse()*col1ObjWrap->getWorldTransform();
MycollideTT(tree0->m_root,tree1->m_root,xform,&callback);
//printf("#compound-compound child/leaf overlap =%d \r",callback.m_numOverlapPairs);
//remove non-overlapping child pairs
{
btAssert(m_removePairs.size()==0);
//iterate over all children, perform an AABB check inside ProcessChildShape
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
int i;
btManifoldArray manifoldArray;
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
for (i=0;i<pairs.size();i++)
{
if (pairs[i].m_userPointer)
{
btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
{
btTransform orgTrans0;
const btCollisionShape* childShape0 = 0;
btTransform newChildWorldTrans0;
btTransform orgInterpolationTrans0;
childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
orgTrans0 = col0ObjWrap->getWorldTransform();
orgInterpolationTrans0 = col0ObjWrap->getWorldTransform();
const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
newChildWorldTrans0 = orgTrans0*childTrans0 ;
childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
}
{
btTransform orgInterpolationTrans1;
const btCollisionShape* childShape1 = 0;
btTransform orgTrans1;
btTransform newChildWorldTrans1;
childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
orgTrans1 = col1ObjWrap->getWorldTransform();
orgInterpolationTrans1 = col1ObjWrap->getWorldTransform();
const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
newChildWorldTrans1 = orgTrans1*childTrans1 ;
childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
}
if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
algo->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(algo);
m_removePairs.push_back(btSimplePair(pairs[i].m_indexA,pairs[i].m_indexB));
}
}
}
for (int i=0;i<m_removePairs.size();i++)
{
m_childCollisionAlgorithmCache->removeOverlappingPair(m_removePairs[i].m_indexA,m_removePairs[i].m_indexB);
}
m_removePairs.clear();
}
}
btScalar btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
return 0.f;
}

90
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h Normal file
View file

@ -0,0 +1,90 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
#define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.h"
class btDispatcher;
class btCollisionObject;
class btCollisionShape;
typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
/// btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes
class btCompoundCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
btSimplePairArray m_removePairs;
class btPersistentManifold* m_sharedManifold;
bool m_ownsManifold;
int m_compoundShapeRevision0;//to keep track of changes, so that childAlgorithm array can be updated
int m_compoundShapeRevision1;
void removeChildAlgorithms();
// void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
public:
btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
virtual ~btCompoundCompoundCollisionAlgorithm();
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
}
};
};
#endif //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H

1
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
View file

@ -132,7 +132,6 @@ void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrap
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();

20
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
View file

@ -76,21 +76,27 @@ void btConvexTriangleCallback::clearCache()
}
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
partId, int triangleIndex)
{
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
{
return;
}
//aabb filter is already applied!
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
#if 0
///debug drawing of the overlapping triangles
@ -110,7 +116,7 @@ void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, i
tm.setMargin(m_collisionMarginTriangle);
btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform());//correct transform?
btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform(),partId,triangleIndex);//correct transform?
btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap,&triObWrap,m_manifoldPtr);
const btCollisionObjectWrapper* tmpWrap = 0;

1
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
View file

@ -373,7 +373,6 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();

32
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
View file

@ -19,6 +19,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
@ -32,7 +34,6 @@ subject to the following restrictions:
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btPoolAllocator.h"
@ -65,6 +66,10 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16);
m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc),16);
m_compoundCompoundCreateFunc = new (mem)btCompoundCompoundCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16);
m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
@ -106,16 +111,6 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
if (constructionInfo.m_stackAlloc)
{
m_ownsStackAllocator = false;
this->m_stackAlloc = constructionInfo.m_stackAlloc;
} else
{
m_ownsStackAllocator = true;
void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
m_stackAlloc = new(mem)btStackAlloc(constructionInfo.m_defaultStackAllocatorSize);
}
if (constructionInfo.m_persistentManifoldPool)
{
@ -144,12 +139,6 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
{
if (m_ownsStackAllocator)
{
m_stackAlloc->destroy();
m_stackAlloc->~btStackAlloc();
btAlignedFree(m_stackAlloc);
}
if (m_ownsCollisionAlgorithmPool)
{
m_collisionAlgorithmPool->~btPoolAllocator();
@ -172,6 +161,9 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_compoundCreateFunc);
m_compoundCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree(m_compoundCompoundCreateFunc);
m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedCompoundCreateFunc);
@ -275,6 +267,12 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
return m_swappedConvexConcaveCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
{
return m_compoundCompoundCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0))
{
return m_compoundCreateFunc;

14
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
View file

@ -22,23 +22,19 @@ class btConvexPenetrationDepthSolver;
struct btDefaultCollisionConstructionInfo
{
btStackAlloc* m_stackAlloc;
btPoolAllocator* m_persistentManifoldPool;
btPoolAllocator* m_collisionAlgorithmPool;
int m_defaultMaxPersistentManifoldPoolSize;
int m_defaultMaxCollisionAlgorithmPoolSize;
int m_customCollisionAlgorithmMaxElementSize;
int m_defaultStackAllocatorSize;
int m_useEpaPenetrationAlgorithm;
btDefaultCollisionConstructionInfo()
:m_stackAlloc(0),
m_persistentManifoldPool(0),
:m_persistentManifoldPool(0),
m_collisionAlgorithmPool(0),
m_defaultMaxPersistentManifoldPoolSize(4096),
m_defaultMaxCollisionAlgorithmPoolSize(4096),
m_customCollisionAlgorithmMaxElementSize(0),
m_defaultStackAllocatorSize(0),
m_useEpaPenetrationAlgorithm(true)
{
}
@ -56,8 +52,6 @@ protected:
int m_persistentManifoldPoolSize;
btStackAlloc* m_stackAlloc;
bool m_ownsStackAllocator;
btPoolAllocator* m_persistentManifoldPool;
bool m_ownsPersistentManifoldPool;
@ -75,6 +69,8 @@ protected:
btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_compoundCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
@ -105,10 +101,6 @@ public:
return m_collisionAlgorithmPool;
}
virtual btStackAlloc* getStackAllocator()
{
return m_stackAlloc;
}
virtual btVoronoiSimplexSolver* getSimplexSolver()
{

278
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp Normal file
View file

@ -0,0 +1,278 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btHashedSimplePairCache.h"
#include <stdio.h>
int gOverlappingSimplePairs = 0;
int gRemoveSimplePairs =0;
int gAddedSimplePairs =0;
int gFindSimplePairs =0;
btHashedSimplePairCache::btHashedSimplePairCache():
m_blockedForChanges(false)
{
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);
growTables();
}
btHashedSimplePairCache::~btHashedSimplePairCache()
{
}
void btHashedSimplePairCache::removeAllPairs()
{
m_overlappingPairArray.clear();
m_hashTable.clear();
m_next.clear();
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);
growTables();
}
btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB)
{
gFindSimplePairs++;
/*if (indexA > indexB)
btSwap(indexA, indexB);*/
int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
if (hash >= m_hashTable.size())
{
return NULL;
}
int index = m_hashTable[hash];
while (index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], indexA, indexB) == false)
{
index = m_next[index];
}
if (index == BT_SIMPLE_NULL_PAIR)
{
return NULL;
}
btAssert(index < m_overlappingPairArray.size());
return &m_overlappingPairArray[index];
}
//#include <stdio.h>
void btHashedSimplePairCache::growTables()
{
int newCapacity = m_overlappingPairArray.capacity();
if (m_hashTable.size() < newCapacity)
{
//grow hashtable and next table
int curHashtableSize = m_hashTable.size();
m_hashTable.resize(newCapacity);
m_next.resize(newCapacity);
int i;
for (i= 0; i < newCapacity; ++i)
{
m_hashTable[i] = BT_SIMPLE_NULL_PAIR;
}
for (i = 0; i < newCapacity; ++i)
{
m_next[i] = BT_SIMPLE_NULL_PAIR;
}
for(i=0;i<curHashtableSize;i++)
{
const btSimplePair& pair = m_overlappingPairArray[i];
int indexA = pair.m_indexA;
int indexB = pair.m_indexB;
int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask
m_next[i] = m_hashTable[hashValue];
m_hashTable[hashValue] = i;
}
}
}
btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB)
{
int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask
btSimplePair* pair = internalFindPair(indexA, indexB, hash);
if (pair != NULL)
{
return pair;
}
int count = m_overlappingPairArray.size();
int oldCapacity = m_overlappingPairArray.capacity();
void* mem = &m_overlappingPairArray.expandNonInitializing();
int newCapacity = m_overlappingPairArray.capacity();
if (oldCapacity < newCapacity)
{
growTables();
//hash with new capacity
hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
}
pair = new (mem) btSimplePair(indexA,indexB);
pair->m_userPointer = 0;
m_next[count] = m_hashTable[hash];
m_hashTable[hash] = count;
return pair;
}
void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
{
gRemoveSimplePairs++;
/*if (indexA > indexB)
btSwap(indexA, indexB);*/
int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
btSimplePair* pair = internalFindPair(indexA, indexB, hash);
if (pair == NULL)
{
return 0;
}
void* userData = pair->m_userPointer;
int pairIndex = int(pair - &m_overlappingPairArray[0]);
btAssert(pairIndex < m_overlappingPairArray.size());
// Remove the pair from the hash table.
int index = m_hashTable[hash];
btAssert(index != BT_SIMPLE_NULL_PAIR);
int previous = BT_SIMPLE_NULL_PAIR;
while (index != pairIndex)
{
previous = index;
index = m_next[index];
}
if (previous != BT_SIMPLE_NULL_PAIR)
{
btAssert(m_next[previous] == pairIndex);
m_next[previous] = m_next[pairIndex];
}
else
{
m_hashTable[hash] = m_next[pairIndex];
}
// We now move the last pair into spot of the
// pair being removed. We need to fix the hash
// table indices to support the move.
int lastPairIndex = m_overlappingPairArray.size() - 1;
// If the removed pair is the last pair, we are done.
if (lastPairIndex == pairIndex)
{
m_overlappingPairArray.pop_back();
return userData;
}
// Remove the last pair from the hash table.
const btSimplePair* last = &m_overlappingPairArray[lastPairIndex];
/* missing swap here too, Nat. */
int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_indexA), static_cast<unsigned int>(last->m_indexB)) & (m_overlappingPairArray.capacity()-1));
index = m_hashTable[lastHash];
btAssert(index != BT_SIMPLE_NULL_PAIR);
previous = BT_SIMPLE_NULL_PAIR;
while (index != lastPairIndex)
{
previous = index;
index = m_next[index];
}
if (previous != BT_SIMPLE_NULL_PAIR)
{
btAssert(m_next[previous] == lastPairIndex);
m_next[previous] = m_next[lastPairIndex];
}
else
{
m_hashTable[lastHash] = m_next[lastPairIndex];
}
// Copy the last pair into the remove pair's spot.
m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
// Insert the last pair into the hash table
m_next[pairIndex] = m_hashTable[lastHash];
m_hashTable[lastHash] = pairIndex;
m_overlappingPairArray.pop_back();
return userData;
}
//#include <stdio.h>

174
Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h Normal file
View file

@ -0,0 +1,174 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_HASHED_SIMPLE_PAIR_CACHE_H
#define BT_HASHED_SIMPLE_PAIR_CACHE_H
#include "LinearMath/btAlignedObjectArray.h"
const int BT_SIMPLE_NULL_PAIR=0xffffffff;
struct btSimplePair
{
btSimplePair(int indexA,int indexB)
:m_indexA(indexA),
m_indexB(indexB),
m_userPointer(0)
{
}
int m_indexA;
int m_indexB;
union
{
void* m_userPointer;
int m_userValue;
};
};
typedef btAlignedObjectArray<btSimplePair> btSimplePairArray;
extern int gOverlappingSimplePairs;
extern int gRemoveSimplePairs;
extern int gAddedSimplePairs;
extern int gFindSimplePairs;
class btHashedSimplePairCache
{
btSimplePairArray m_overlappingPairArray;
bool m_blockedForChanges;
protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
public:
btHashedSimplePairCache();
virtual ~btHashedSimplePairCache();
void removeAllPairs();
virtual void* removeOverlappingPair(int indexA,int indexB);
// Add a pair and return the new pair. If the pair already exists,
// no new pair is created and the old one is returned.
virtual btSimplePair* addOverlappingPair(int indexA,int indexB)
{
gAddedSimplePairs++;
return internalAddPair(indexA,indexB);
}
virtual btSimplePair* getOverlappingPairArrayPtr()
{
return &m_overlappingPairArray[0];
}
const btSimplePair* getOverlappingPairArrayPtr() const
{
return &m_overlappingPairArray[0];
}
btSimplePairArray& getOverlappingPairArray()
{
return m_overlappingPairArray;
}
const btSimplePairArray& getOverlappingPairArray() const
{
return m_overlappingPairArray;
}
btSimplePair* findPair(int indexA,int indexB);
int GetCount() const { return m_overlappingPairArray.size(); }
int getNumOverlappingPairs() const
{
return m_overlappingPairArray.size();
}
private:
btSimplePair* internalAddPair(int indexA, int indexB);
void growTables();
SIMD_FORCE_INLINE bool equalsPair(const btSimplePair& pair, int indexA, int indexB)
{
return pair.m_indexA == indexA && pair.m_indexB == indexB;
}
SIMD_FORCE_INLINE unsigned int getHash(unsigned int indexA, unsigned int indexB)
{
int key = static_cast<int>(((unsigned int)indexA) | (((unsigned int)indexB) <<16));
// Thomas Wang's hash
key += ~(key << 15);
key ^= (key >> 10);
key += (key << 3);
key ^= (key >> 6);
key += ~(key << 11);
key ^= (key >> 16);
return static_cast<unsigned int>(key);
}
SIMD_FORCE_INLINE btSimplePair* internalFindPair(int proxyIdA , int proxyIdB, int hash)
{
int index = m_hashTable[hash];
while( index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyIdA, proxyIdB) == false)
{
index = m_next[index];
}
if ( index == BT_SIMPLE_NULL_PAIR )
{
return NULL;
}
btAssert(index < m_overlappingPairArray.size());
return &m_overlappingPairArray[index];
}
};
#endif //BT_HASHED_SIMPLE_PAIR_CACHE_H

8
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
View file

@ -21,7 +21,13 @@ subject to the following restrictions:
#include "LinearMath/btAlignedAllocator.h"
#include "btTriangleInfoMap.h"
///The btBvhTriangleMeshShape is a static-triangle mesh shape with several optimizations, such as bounding volume hierarchy and cache friendly traversal for PlayStation 3 Cell SPU. It is recommended to enable useQuantizedAabbCompression for better memory usage.
///The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving objects.
///If you required moving concave triangle meshes, it is recommended to perform convex decomposition
///using HACD, see Bullet/Demos/ConvexDecompositionDemo.
///Alternatively, you can use btGimpactMeshShape for moving concave triangle meshes.
///btBvhTriangleMeshShape has several optimizations, such as bounding volume hierarchy and
///cache friendly traversal for PlayStation 3 Cell SPU.
///It is recommended to enable useQuantizedAabbCompression for better memory usage.
///It takes a triangle mesh as input, for example a btTriangleMesh or btTriangleIndexVertexArray. The btBvhTriangleMeshShape class allows for triangle mesh deformations by a refit or partialRefit method.
///Instead of building the bounding volume hierarchy acceleration structure, it is also possible to serialize (save) and deserialize (load) the structure from disk.
///See Demos\ConcaveDemo\ConcavePhysicsDemo.cpp for an example.

4
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
View file

@ -273,6 +273,8 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
void btCompoundShape::setLocalScaling(const btVector3& scaling)
{
@ -283,7 +285,7 @@ void btCompoundShape::setLocalScaling(const btVector3& scaling)
// childScale = childScale * (childTrans.getBasis() * scaling);
childScale = childScale * scaling / m_localScaling;
m_children[i].m_childShape->setLocalScaling(childScale);
childTrans.setOrigin((childTrans.getOrigin())*scaling);
childTrans.setOrigin((childTrans.getOrigin()) * scaling / m_localScaling);
updateChildTransform(i, childTrans,false);
}

4
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp
View file

@ -62,6 +62,10 @@ void btConeShape::setConeUpIndex(int upIndex)
default:
btAssert(0);
};
m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
}
btVector3 btConeShape::coneLocalSupport(const btVector3& v) const

53
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h
View file

@ -90,6 +90,13 @@ public:
}
virtual void setLocalScaling(const btVector3& scaling);
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
@ -104,19 +111,61 @@ class btConeShapeX : public btConeShape
return btVector3 (1,0,0);
}
//debugging
virtual const char* getName()const
{
return "ConeX";
}
};
///btConeShapeZ implements a Cone shape, around the Z axis
class btConeShapeZ : public btConeShape
{
public:
btConeShapeZ(btScalar radius,btScalar height);
public:
btConeShapeZ(btScalar radius,btScalar height);
virtual btVector3 getAnisotropicRollingFrictionDirection() const
{
return btVector3 (0,0,1);
}
//debugging
virtual const char* getName()const
{
return "ConeZ";
}
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btConeShapeData
{
btConvexInternalShapeData m_convexInternalShapeData;
int m_upIndex;
char m_padding[4];
};
SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const
{
return sizeof(btConeShapeData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btConeShapeData* shapeData = (btConeShapeData*) dataBuffer;
btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
shapeData->m_upIndex = m_coneIndices[1];
return "btConeShapeData";
}
#endif //BT_CONE_MINKOWSKI_H

9
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
View file

@ -13,6 +13,10 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#if defined (_WIN32) || defined (__i386__)
#define BT_USE_SSE_IN_API
#endif
#include "btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
@ -45,10 +49,11 @@ void btConvexHullShape::setLocalScaling(const btVector3& scaling)
recalcLocalAabb();
}
void btConvexHullShape::addPoint(const btVector3& point)
void btConvexHullShape::addPoint(const btVector3& point, bool recalculateLocalAabb)
{
m_unscaledPoints.push_back(point);
recalcLocalAabb();
if (recalculateLocalAabb)
recalcLocalAabb();
}

2
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.h
View file

@ -36,7 +36,7 @@ public:
///btConvexHullShape make an internal copy of the points.
btConvexHullShape(const btScalar* points=0,int numPoints=0, int stride=sizeof(btVector3));
void addPoint(const btVector3& point);
void addPoint(const btVector3& point, bool recalculateLocalAabb = true);
btVector3* getUnscaledPoints()

10
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.cpp
View file

@ -13,10 +13,15 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#if defined (_WIN32) || defined (__i386__)
#define BT_USE_SSE_IN_API
#endif
#include "btConvexShape.h"
#include "btTriangleShape.h"
#include "btSphereShape.h"
#include "btCylinderShape.h"
#include "btConeShape.h"
#include "btCapsuleShape.h"
#include "btConvexHullShape.h"
#include "btConvexPointCloudShape.h"
@ -332,6 +337,11 @@ btScalar btConvexShape::getMarginNonVirtual () const
btCylinderShape* cylShape = (btCylinderShape*)this;
return cylShape->getMarginNV();
}
case CONE_SHAPE_PROXYTYPE:
{
btConeShape* conShape = (btConeShape*)this;
return conShape->getMarginNV();
}
case CAPSULE_SHAPE_PROXYTYPE:
{
btCapsuleShape* capsuleShape = (btCapsuleShape*)this;

4
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
View file

@ -369,7 +369,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x,j,vertices[0]);
// getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
getVertex(x+1,j+1,vertices[1]);
getVertex(x,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
@ -382,7 +382,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
//getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
}

14
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
View file

@ -13,7 +13,9 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
#if defined (_WIN32) || defined (__i386__)
#define BT_USE_SSE_IN_API
#endif
#include "btMultiSphereShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
@ -40,7 +42,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
}
#ifndef MIN
#define MIN( _a, _b) ((_a) < (_b) ? (_a) : (_b))
#define MIN( _a, _b) ((_a) < (_b) ? (_a) : (_b))
#endif
btVector3 btMultiSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
{
@ -67,10 +69,10 @@ btMultiSphereShape::btMultiSphereShape (const btVector3* positions,const btScala
const btScalar* rad = &m_radiArray[0];
int numSpheres = m_localPositionArray.size();
for( int k = 0; k < numSpheres; k+= 128 )
{
btVector3 temp[128];
int inner_count = MIN( numSpheres - k, 128 );
for( int k = 0; k < numSpheres; k+= 128 )
{
btVector3 temp[128];
int inner_count = MIN( numSpheres - k, 128 );
for( long i = 0; i < inner_count; i++ )
{
temp[i] = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();

3
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
View file

@ -12,6 +12,9 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#if defined (_WIN32) || defined (__i386__)
#define BT_USE_SSE_IN_API
#endif
#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
#include "btConvexPolyhedron.h"

8
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp
View file

@ -111,10 +111,10 @@ int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicat
return i/3;
}
}
}
m_3componentVertices.push_back((float)vertex.getX());
m_3componentVertices.push_back((float)vertex.getY());
m_3componentVertices.push_back((float)vertex.getZ());
}
m_3componentVertices.push_back(vertex.getX());
m_3componentVertices.push_back(vertex.getY());
m_3componentVertices.push_back(vertex.getZ());
m_indexedMeshes[0].m_numVertices++;
m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
return (m_3componentVertices.size()/3)-1;

2
Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.h
View file

@ -27,7 +27,7 @@ subject to the following restrictions:
class btTriangleMesh : public btTriangleIndexVertexArray
{
btAlignedObjectArray<btVector3> m_4componentVertices;
btAlignedObjectArray<float> m_3componentVertices;
btAlignedObjectArray<btScalar> m_3componentVertices;
btAlignedObjectArray<unsigned int> m_32bitIndices;
btAlignedObjectArray<unsigned short int> m_16bitIndices;

93
Engine/lib/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h Normal file
View file

@ -0,0 +1,93 @@
#ifndef BT_COMPOUND_FROM_GIMPACT
#define BT_COMPOUND_FROM_GIMPACT
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "btGImpactShape.h"
#include "BulletCollision/NarrowPhaseCollision/btRaycastCallback.h"
struct MyCallback : public btTriangleRaycastCallback
{
int m_ignorePart;
int m_ignoreTriangleIndex;
MyCallback(const btVector3& from, const btVector3& to, int ignorePart, int ignoreTriangleIndex)
:btTriangleRaycastCallback(from,to),
m_ignorePart(ignorePart),
m_ignoreTriangleIndex(ignoreTriangleIndex)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex)
{
if (partId!=m_ignorePart || triangleIndex!=m_ignoreTriangleIndex)
{
if (hitFraction < m_hitFraction)
return hitFraction;
}
return m_hitFraction;
}
};
struct MyInternalTriangleIndexCallback :public btInternalTriangleIndexCallback
{
const btGImpactMeshShape* m_gimpactShape;
btCompoundShape* m_colShape;
btScalar m_depth;
MyInternalTriangleIndexCallback (btCompoundShape* colShape, const btGImpactMeshShape* meshShape, btScalar depth)
:m_colShape(colShape),
m_gimpactShape(meshShape),
m_depth(depth)
{
}
virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
{
btVector3 scale = m_gimpactShape->getLocalScaling();
btVector3 v0=triangle[0]*scale;
btVector3 v1=triangle[1]*scale;
btVector3 v2=triangle[2]*scale;
btVector3 centroid = (v0+v1+v2)/3;
btVector3 normal = (v1-v0).cross(v2-v0);
normal.normalize();
btVector3 rayFrom = centroid;
btVector3 rayTo = centroid-normal*m_depth;
MyCallback cb(rayFrom,rayTo,partId,triangleIndex);
m_gimpactShape->processAllTrianglesRay(&cb,rayFrom, rayTo);
if (cb.m_hitFraction<1)
{
rayTo.setInterpolate3(cb.m_from,cb.m_to,cb.m_hitFraction);
//rayTo = cb.m_from;
//rayTo = rayTo.lerp(cb.m_to,cb.m_hitFraction);
//gDebugDraw.drawLine(tr(centroid),tr(centroid+normal),btVector3(1,0,0));
}
btBU_Simplex1to4* tet = new btBU_Simplex1to4(v0,v1,v2,rayTo);
btTransform ident;
ident.setIdentity();
m_colShape->addChildShape(ident,tet);
}
};
btCompoundShape* btCreateCompoundFromGimpactShape(const btGImpactMeshShape* gimpactMesh, btScalar depth)
{
btCompoundShape* colShape = new btCompoundShape();
btTransform tr;
tr.setIdentity();
MyInternalTriangleIndexCallback cb(colShape,gimpactMesh, depth);
btVector3 aabbMin,aabbMax;
gimpactMesh->getAabb(tr,aabbMin,aabbMax);
gimpactMesh->getMeshInterface()->InternalProcessAllTriangles(&cb,aabbMin,aabbMax);
return colShape;
}
#endif //BT_COMPOUND_FROM_GIMPACT

80
Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
View file

@ -231,17 +231,15 @@ void btGImpactCollisionAlgorithm::shape_vs_shape_collision(
{
btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(), body0Wrap->getWorldTransform());
btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform());
btCollisionAlgorithm* algor = newAlgorithm(&ob0,&ob1);
btCollisionAlgorithm* algor = newAlgorithm(body0Wrap,body1Wrap);
// post : checkManifold is called
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
algor->processCollision(&ob0,&ob1,*m_dispatchInfo,m_resultOut);
algor->processCollision(body0Wrap,body1Wrap,*m_dispatchInfo,m_resultOut);
algor->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(algor);
}
@ -258,8 +256,8 @@ void btGImpactCollisionAlgorithm::convex_vs_convex_collision(
m_resultOut->setShapeIdentifiersA(m_part0,m_triface0);
m_resultOut->setShapeIdentifiersB(m_part1,m_triface1);
btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform());
btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform());
btCollisionObjectWrapper ob0(body0Wrap,shape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0);
btCollisionObjectWrapper ob1(body1Wrap,shape1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),m_part1,m_triface1);
checkConvexAlgorithm(&ob0,&ob1);
m_convex_algorithm->processCollision(&ob0,&ob1,*m_dispatchInfo,m_resultOut);
@ -553,8 +551,8 @@ void btGImpactCollisionAlgorithm::gimpact_vs_gimpact(
tr1 = orgtrans1*shape1->getChildTransform(m_triface1);
}
btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),tr0);
btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),tr1);
btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),tr0,m_part0,m_triface0);
btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),tr1,m_part1,m_triface1);
//collide two convex shapes
convex_vs_convex_collision(&ob0,&ob1,colshape0,colshape1);
@ -654,17 +652,29 @@ void btGImpactCollisionAlgorithm::gimpact_vs_shape(const btCollisionObjectWrappe
tr0 = orgtrans0*shape0->getChildTransform(child_index);
}
btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform());
btCollisionObjectWrapper ob0(body0Wrap,colshape0,body0Wrap->getCollisionObject(),body0Wrap->getWorldTransform(),m_part0,m_triface0);
const btCollisionObjectWrapper* prevObj0 = m_resultOut->getBody0Wrap();
if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob0.getCollisionObject())
{
m_resultOut->setBody0Wrap(&ob0);
} else
{
m_resultOut->setBody1Wrap(&ob0);
}
//collide two shapes
if(swapped)
{
shape_vs_shape_collision(body1Wrap,&ob0,shape1,colshape0);
}
else
{
shape_vs_shape_collision(&ob0,body1Wrap,colshape0,shape1);
}
m_resultOut->setBody0Wrap(prevObj0);
}
@ -686,10 +696,29 @@ void btGImpactCollisionAlgorithm::gimpact_vs_compoundshape(const btCollisionObje
const btCollisionShape * colshape1 = shape1->getChildShape(i);
btTransform childtrans1 = orgtrans1*shape1->getChildTransform(i);
btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),childtrans1);
btCollisionObjectWrapper ob1(body1Wrap,colshape1,body1Wrap->getCollisionObject(),childtrans1,-1,i);
const btCollisionObjectWrapper* tmp = 0;
if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject())
{
tmp = m_resultOut->getBody0Wrap();
m_resultOut->setBody0Wrap(&ob1);
} else
{
tmp = m_resultOut->getBody1Wrap();
m_resultOut->setBody1Wrap(&ob1);
}
//collide child shape
gimpact_vs_shape(body0Wrap, &ob1,
shape0,colshape1,swapped);
if (m_resultOut->getBody0Wrap()->getCollisionObject()==ob1.getCollisionObject())
{
m_resultOut->setBody0Wrap(tmp);
} else
{
m_resultOut->setBody1Wrap(tmp);
}
}
}
@ -778,8 +807,31 @@ public:
algorithm->setPart1(partId);
algorithm->setFace1(triangleIndex);
}
btCollisionObjectWrapper ob1Wrap(body1Wrap,&tri1,body1Wrap->getCollisionObject(),body1Wrap->getWorldTransform(),partId,triangleIndex);
const btCollisionObjectWrapper * tmp = 0;
if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject())
{
tmp = algorithm->internalGetResultOut()->getBody0Wrap();
algorithm->internalGetResultOut()->setBody0Wrap(&ob1Wrap);
} else
{
tmp = algorithm->internalGetResultOut()->getBody1Wrap();
algorithm->internalGetResultOut()->setBody1Wrap(&ob1Wrap);
}
algorithm->gimpact_vs_shape(
body0Wrap,body1Wrap,gimpactshape0,&tri1,swapped);
body0Wrap,&ob1Wrap,gimpactshape0,&tri1,swapped);
if (algorithm->internalGetResultOut()->getBody0Wrap()->getCollisionObject()==ob1Wrap.getCollisionObject())
{
algorithm->internalGetResultOut()->setBody0Wrap(tmp);
} else
{
algorithm->internalGetResultOut()->setBody1Wrap(tmp);
}
}
};

4
Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
View file

@ -210,6 +210,10 @@ public:
manifoldArray.push_back(m_manifoldPtr);
}
btManifoldResult* internalGetResultOut()
{
return m_resultOut;
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{

35
Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.cpp
View file

@ -25,6 +25,7 @@ subject to the following restrictions:
#define CALC_EXACT_INERTIA 1
void btGImpactCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
lockChildShapes();
@ -144,6 +145,31 @@ void btGImpactMeshShape::rayTest(const btVector3& rayFrom, const btVector3& rayT
{
}
void btGImpactMeshShapePart::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const
{
lockChildShapes();
btAlignedObjectArray<int> collided;
btVector3 rayDir(rayTo - rayFrom);
rayDir.normalize();
m_box_set.rayQuery(rayDir, rayFrom, collided);
if(collided.size()==0)
{
unlockChildShapes();
return;
}
int part = (int)getPart();
btPrimitiveTriangle triangle;
int i = collided.size();
while(i--)
{
getPrimitiveTriangle(collided[i],triangle);
callback->processTriangle(triangle.m_vertices,part,collided[i]);
}
unlockChildShapes();
}
void btGImpactMeshShapePart::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
{
@ -182,6 +208,15 @@ void btGImpactMeshShape::processAllTriangles(btTriangleCallback* callback,const
}
}
void btGImpactMeshShape::processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom, const btVector3& rayTo) const
{
int i = m_mesh_parts.size();
while(i--)
{
m_mesh_parts[i]->processAllTrianglesRay(callback, rayFrom, rayTo);
}
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btGImpactMeshShape::serialize(void* dataBuffer, btSerializer* serializer) const

25
Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.h
View file

@ -51,6 +51,7 @@ enum eGIMPACT_SHAPE_TYPE
};
//! Helper class for tetrahedrons
class btTetrahedronShapeEx:public btBU_Simplex1to4
{
@ -288,6 +289,15 @@ public:
(void) callback; (void) aabbMin; (void) aabbMax;
}
//! Function for retrieve triangles.
/*!
It gives the triangles in local space
*/
virtual void processAllTrianglesRay(btTriangleCallback* /*callback*/,const btVector3& /*rayFrom*/, const btVector3& /*rayTo*/) const
{
}
//!@}
};
@ -635,25 +645,25 @@ public:
return (int )numverts;
}
SIMD_FORCE_INLINE void get_indices(int face_index,int &i0,int &i1,int &i2) const
SIMD_FORCE_INLINE void get_indices(int face_index,unsigned int &i0,unsigned int &i1,unsigned int &i2) const
{
if(indicestype == PHY_SHORT)
{
unsigned short * s_indices = (unsigned short *)(indexbase + face_index*indexstride);
unsigned short* s_indices = (unsigned short *)(indexbase + face_index * indexstride);
i0 = s_indices[0];
i1 = s_indices[1];
i2 = s_indices[2];
}
else
{
int * i_indices = (int *)(indexbase + face_index*indexstride);
unsigned int * i_indices = (unsigned int *)(indexbase + face_index*indexstride);
i0 = i_indices[0];
i1 = i_indices[1];
i2 = i_indices[2];
}
}
SIMD_FORCE_INLINE void get_vertex(int vertex_index, btVector3 & vertex) const
SIMD_FORCE_INLINE void get_vertex(unsigned int vertex_index, btVector3 & vertex) const
{
if(type == PHY_DOUBLE)
{
@ -682,7 +692,7 @@ public:
virtual void get_primitive_triangle(int prim_index,btPrimitiveTriangle & triangle) const
{
int indices[3];
unsigned int indices[3];
get_indices(prim_index,indices[0],indices[1],indices[2]);
get_vertex(indices[0],triangle.m_vertices[0]);
get_vertex(indices[1],triangle.m_vertices[1]);
@ -692,7 +702,7 @@ public:
SIMD_FORCE_INLINE void get_bullet_triangle(int prim_index,btTriangleShapeEx & triangle) const
{
int indices[3];
unsigned int indices[3];
get_indices(prim_index,indices[0],indices[1],indices[2]);
get_vertex(indices[0],triangle.m_vertices1[0]);
get_vertex(indices[1],triangle.m_vertices1[1]);
@ -885,6 +895,7 @@ public:
}
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void processAllTrianglesRay(btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const;
};
@ -1141,6 +1152,8 @@ public:
*/
virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
virtual void processAllTrianglesRay (btTriangleCallback* callback,const btVector3& rayFrom,const btVector3& rayTo) const;
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)

4
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
View file

@ -17,7 +17,6 @@ subject to the following restrictions:
#ifndef BT_CONVEX_PENETRATION_DEPTH_H
#define BT_CONVEX_PENETRATION_DEPTH_H
class btStackAlloc;
class btVector3;
#include "btSimplexSolverInterface.h"
class btConvexShape;
@ -33,8 +32,7 @@ public:
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
) = 0;
class btIDebugDraw* debugDraw) = 0;
};

5
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
View file

@ -19,7 +19,6 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
class btStackAlloc;
/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
/// This interface allows to query for closest points and penetration depth between two (convex) objects
@ -43,15 +42,13 @@ struct btDiscreteCollisionDetectorInterface
struct ClosestPointInput
{
ClosestPointInput()
:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT)),
m_stackAlloc(0)
:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
{
}
btTransform m_transformA;
btTransform m_transformB;
btScalar m_maximumDistanceSquared;
btStackAlloc* m_stackAlloc;
};
virtual ~btDiscreteCollisionDetectorInterface() {};

4
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
View file

@ -25,7 +25,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
class btIDebugDraw* debugDraw)
{
(void)debugDraw;
@ -34,7 +34,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
// const btScalar radialmargin(btScalar(0.));
btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin());
btVector3 guessVector(transformB.getOrigin()-transformA.getOrigin());
btGjkEpaSolver2::sResults results;

2
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
View file

@ -33,7 +33,7 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
class btIDebugDraw* debugDraw);
private :

29
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
View file

@ -50,7 +50,8 @@ m_marginA(objectA->getMargin()),
m_marginB(objectB->getMargin()),
m_ignoreMargin(false),
m_lastUsedMethod(-1),
m_catchDegeneracies(1)
m_catchDegeneracies(1),
m_fixContactNormalDirection(1)
{
}
btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
@ -65,7 +66,8 @@ m_marginA(marginA),
m_marginB(marginB),
m_ignoreMargin(false),
m_lastUsedMethod(-1),
m_catchDegeneracies(1)
m_catchDegeneracies(1),
m_fixContactNormalDirection(1)
{
}
@ -353,7 +355,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
m_minkowskiA,m_minkowskiB,
localTransA,localTransB,
m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
debugDraw,input.m_stackAlloc
debugDraw
);
@ -438,6 +440,27 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
}
#endif
if (m_fixContactNormalDirection)
{
///@workaround for sticky convex collisions
//in some degenerate cases (usually when the use uses very small margins)
//the contact normal is pointing the wrong direction
//so fix it now (until we can deal with all degenerate cases in GJK and EPA)
//contact normals need to point from B to A in all cases, so we can simply check if the contact normal really points from B to A
//We like to use a dot product of the normal against the difference of the centroids,
//once the centroid is available in the API
//until then we use the center of the aabb to approximate the centroid
btVector3 aabbMin,aabbMax;
m_minkowskiA->getAabb(localTransA,aabbMin,aabbMax);
btVector3 posA = (aabbMax+aabbMin)*btScalar(0.5);
m_minkowskiB->getAabb(localTransB,aabbMin,aabbMax);
btVector3 posB = (aabbMin+aabbMax)*btScalar(0.5);
btVector3 diff = posA-posB;
if (diff.dot(normalInB) < 0.f)
normalInB *= -1.f;
}
m_cachedSeparatingAxis = normalInB;
m_cachedSeparatingDistance = distance;

2
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
View file

@ -52,7 +52,7 @@ public:
int m_curIter;
int m_degenerateSimplex;
int m_catchDegeneracies;
int m_fixContactNormalDirection;
btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);

3
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
View file

@ -26,11 +26,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
class btIDebugDraw* debugDraw
)
{
(void)stackAlloc;
(void)v;
bool check2d= convexA->isConvex2d() && convexB->isConvex2d();

2
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
View file

@ -32,7 +32,7 @@ public:
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
class btIDebugDraw* debugDraw
);
};

2
Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h
View file

@ -35,7 +35,7 @@ public:
kF_None = 0,
kF_FilterBackfaces = 1 << 0,
kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
kF_UseSubSimplexConvexCastRaytest = 1 << 2, // Uses an approximate but faster ray versus convex intersection algorithm
kF_Terminator = 0xFFFFFFFF
};
unsigned int m_flags;

43
Engine/lib/bullet/src/BulletDynamics/CMakeLists.txt
View file

@ -6,6 +6,7 @@ SET(BulletDynamics_SRCS
Character/btKinematicCharacterController.cpp
ConstraintSolver/btConeTwistConstraint.cpp
ConstraintSolver/btContactConstraint.cpp
ConstraintSolver/btFixedConstraint.cpp
ConstraintSolver/btGearConstraint.cpp
ConstraintSolver/btGeneric6DofConstraint.cpp
ConstraintSolver/btGeneric6DofSpringConstraint.cpp
@ -23,6 +24,15 @@ SET(BulletDynamics_SRCS
Dynamics/Bullet-C-API.cpp
Vehicle/btRaycastVehicle.cpp
Vehicle/btWheelInfo.cpp
Featherstone/btMultiBody.cpp
Featherstone/btMultiBodyConstraintSolver.cpp
Featherstone/btMultiBodyDynamicsWorld.cpp
Featherstone/btMultiBodyJointLimitConstraint.cpp
Featherstone/btMultiBodyConstraint.cpp
Featherstone/btMultiBodyPoint2Point.cpp
Featherstone/btMultiBodyJointMotor.cpp
MLCPSolvers/btDantzigLCP.cpp
MLCPSolvers/btMLCPSolver.cpp
)
SET(Root_HDRS
@ -34,6 +44,7 @@ SET(ConstraintSolver_HDRS
ConstraintSolver/btConstraintSolver.h
ConstraintSolver/btContactConstraint.h
ConstraintSolver/btContactSolverInfo.h
ConstraintSolver/btFixedConstraint.h
ConstraintSolver/btGearConstraint.h
ConstraintSolver/btGeneric6DofConstraint.h
ConstraintSolver/btGeneric6DofSpringConstraint.h
@ -62,6 +73,29 @@ SET(Vehicle_HDRS
Vehicle/btWheelInfo.h
)
SET(Featherstone_HDRS
Featherstone/btMultiBody.h
Featherstone/btMultiBodyConstraintSolver.h
Featherstone/btMultiBodyDynamicsWorld.h
Featherstone/btMultiBodyLink.h
Featherstone/btMultiBodyLinkCollider.h
Featherstone/btMultiBodySolverConstraint.h
Featherstone/btMultiBodyConstraint.h
Featherstone/btMultiBodyJointLimitConstraint.h
Featherstone/btMultiBodyConstraint.h
Featherstone/btMultiBodyPoint2Point.h
Featherstone/btMultiBodyJointMotor.h
)
SET(MLCPSolvers_HDRS
MLCPSolvers/btDantzigLCP.h
MLCPSolvers/btDantzigSolver.h
MLCPSolvers/btMLCPSolver.h
MLCPSolvers/btMLCPSolverInterface.h
MLCPSolvers/btPATHSolver.h
MLCPSolvers/btSolveProjectedGaussSeidel.h
)
SET(Character_HDRS
Character/btCharacterControllerInterface.h
Character/btKinematicCharacterController.h
@ -75,6 +109,8 @@ SET(BulletDynamics_HDRS
${Dynamics_HDRS}
${Vehicle_HDRS}
${Character_HDRS}
${Featherstone_HDRS}
${MLCPSolvers_HDRS}
)
@ -91,7 +127,9 @@ IF (INSTALL_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletDynamics DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletDynamics DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletDynamics RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
@ -108,7 +146,8 @@ DESTINATION ${INCLUDE_INSTALL_DIR}/BulletDynamics)
SET_PROPERTY(SOURCE ${Dynamics_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Dynamics)
SET_PROPERTY(SOURCE ${Vehicle_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Vehicle)
SET_PROPERTY(SOURCE ${Character_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Character)
SET_PROPERTY(SOURCE ${Featherstone_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Featherstone)
SET_PROPERTY(SOURCE ${MLCPSolvers_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/MLCPSolvers)
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ENDIF (INSTALL_LIBS)

3
Engine/lib/bullet/src/BulletDynamics/Character/btCharacterControllerInterface.h
View file

@ -31,7 +31,7 @@ public:
virtual void setWalkDirection(const btVector3& walkDirection) = 0;
virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0;
virtual void reset () = 0;
virtual void reset ( btCollisionWorld* collisionWorld ) = 0;
virtual void warp (const btVector3& origin) = 0;
virtual void preStep ( btCollisionWorld* collisionWorld) = 0;
@ -40,6 +40,7 @@ public:
virtual void jump () = 0;
virtual bool onGround () const = 0;
virtual void setUpInterpolate (bool value) = 0;
};
#endif //BT_CHARACTER_CONTROLLER_INTERFACE_H

169
Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.cpp
View file

@ -14,6 +14,7 @@ subject to the following restrictions:
*/
#include <stdio.h>
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
@ -77,6 +78,9 @@ public:
if (convexResult.m_hitCollisionObject == m_me)
return btScalar(1.0);
if (!convexResult.m_hitCollisionObject->hasContactResponse())
return btScalar(1.0);
btVector3 hitNormalWorld;
if (normalInWorldSpace)
{
@ -146,7 +150,11 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho
m_jumpSpeed = 10.0; // ?
m_wasOnGround = false;
m_wasJumping = false;
m_interpolateUp = true;
setMaxSlope(btRadians(45.0));
m_currentStepOffset = 0;
full_drop = false;
bounce_fix = false;
}
btKinematicCharacterController::~btKinematicCharacterController ()
@ -187,6 +195,12 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld*
m_manifoldArray.resize(0);
btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject);
btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse()))
continue;
if (collisionPair->m_algorithm)
collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);
@ -260,7 +274,10 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
{
// we moved up only a fraction of the step height
m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
if (m_interpolateUp == true)
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
else
m_currentPosition = m_targetPosition;
}
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
@ -325,7 +342,8 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
{
if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
{
updateTargetPositionBasedOnCollision (m_touchingNormal);
//interferes with step movement
//updateTargetPositionBasedOnCollision (m_touchingNormal);
}
}
@ -397,7 +415,8 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
{
btTransform start, end;
btTransform start, end, end_double;
bool runonce = false;
// phase 3: down
/*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
@ -406,44 +425,124 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity;
m_targetPosition -= (step_drop + gravity_drop);*/
btVector3 orig_position = m_targetPosition;
btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
if(downVelocity > 0.0 && downVelocity < m_stepHeight
if(downVelocity > 0.0 && downVelocity > m_fallSpeed
&& (m_wasOnGround || !m_wasJumping))
{
downVelocity = m_stepHeight;
}
downVelocity = m_fallSpeed;
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
start.setIdentity ();
end.setIdentity ();
start.setOrigin (m_currentPosition);
end.setOrigin (m_targetPosition);
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine);
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
btKinematicClosestNotMeConvexResultCallback callback2 (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine);
callback2.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback2.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
while (1)
{
start.setIdentity ();
end.setIdentity ();
end_double.setIdentity ();
start.setOrigin (m_currentPosition);
end.setOrigin (m_targetPosition);
//set double test for 2x the step drop, to check for a large drop vs small drop
end_double.setOrigin (m_targetPosition - step_drop);
if (m_useGhostObjectSweepTest)
{
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
if (!callback.hasHit())
{
//test a double fall height, to see if the character should interpolate it's fall (full) or not (partial)
m_ghostObject->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
}
} else
{
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
if (!callback.hasHit())
{
//test a double fall height, to see if the character should interpolate it's fall (large) or not (small)
collisionWorld->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
}
}
if (m_useGhostObjectSweepTest)
{
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
} else
{
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
btScalar downVelocity2 = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
bool has_hit = false;
if (bounce_fix == true)
has_hit = callback.hasHit() || callback2.hasHit();
else
has_hit = callback2.hasHit();
if(downVelocity2 > 0.0 && downVelocity2 < m_stepHeight && has_hit == true && runonce == false
&& (m_wasOnGround || !m_wasJumping))
{
//redo the velocity calculation when falling a small amount, for fast stairs motion
//for larger falls, use the smoother/slower interpolated movement by not touching the target position
m_targetPosition = orig_position;
downVelocity = m_stepHeight;
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
runonce = true;
continue; //re-run previous tests
}
break;
}
if (callback.hasHit())
if (callback.hasHit() || runonce == true)
{
// we dropped a fraction of the height -> hit floor
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2;
//printf("hitpoint: %g - pos %g\n", callback.m_hitPointWorld.getY(), m_currentPosition.getY());
if (bounce_fix == true)
{
if (full_drop == true)
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
else
//due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, fraction);
}
else
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
full_drop = false;
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
m_wasJumping = false;
} else {
// we dropped the full height
full_drop = true;
if (bounce_fix == true)
{
downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
if (downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping))
{
m_targetPosition += step_drop; //undo previous target change
downVelocity = m_fallSpeed;
step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
}
}
//printf("full drop - %g, %g\n", m_currentPosition.getY(), m_targetPosition.getY());
m_currentPosition = m_targetPosition;
}
}
@ -476,13 +575,24 @@ btScalar timeInterval
m_useWalkDirection = false;
m_walkDirection = velocity;
m_normalizedDirection = getNormalizedVector(m_walkDirection);
m_velocityTimeInterval = timeInterval;
m_velocityTimeInterval += timeInterval;
}
void btKinematicCharacterController::reset ()
void btKinematicCharacterController::reset ( btCollisionWorld* collisionWorld )
{
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
m_wasOnGround = false;
m_wasJumping = false;
m_walkDirection.setValue(0,0,0);
m_velocityTimeInterval = 0.0;
//clear pair cache
btHashedOverlappingPairCache *cache = m_ghostObject->getOverlappingPairCache();
while (cache->getOverlappingPairArray().size() > 0)
{
cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher());
}
}
void btKinematicCharacterController::warp (const btVector3& origin)
@ -653,3 +763,8 @@ btVector3* btKinematicCharacterController::getUpAxisDirections()
void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
{
}
void btKinematicCharacterController::setUpInterpolate(bool value)
{
m_interpolateUp = value;
}

6
Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.h
View file

@ -81,6 +81,9 @@ protected:
int m_upAxis;
static btVector3* getUpAxisDirections();
bool m_interpolateUp;
bool full_drop;
bool bounce_fix;
btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
@ -133,7 +136,7 @@ public:
virtual void setVelocityForTimeInterval(const btVector3& velocity,
btScalar timeInterval);
void reset ();
void reset ( btCollisionWorld* collisionWorld );
void warp (const btVector3& origin);
void preStep ( btCollisionWorld* collisionWorld);
@ -161,6 +164,7 @@ public:
}
bool onGround () const;
void setUpInterpolate (bool value);
};
#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H

10
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
View file

@ -53,6 +53,7 @@ btConeTwistConstraint::btConeTwistConstraint(btRigidBody& rbA,const btTransform&
m_useSolveConstraintObsolete(CONETWIST_USE_OBSOLETE_SOLVER)
{
m_rbBFrame = m_rbAFrame;
m_rbBFrame.setOrigin(btVector3(0., 0., 0.));
init();
}
@ -136,6 +137,9 @@ void btConeTwistConstraint::getInfo2NonVirtual (btConstraintInfo2* info,const bt
btVector3 a1neg = -a1;
a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
info->m_J2linearAxis[0] = -1;
info->m_J2linearAxis[info->rowskip+1] = -1;
info->m_J2linearAxis[2*info->rowskip+2] = -1;
btVector3 a2 = transB.getBasis() * m_rbBFrame.getOrigin();
{
btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
@ -725,7 +729,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
{
if(m_swingSpan1 < m_fixThresh)
{ // hinge around Y axis
if(!(btFuzzyZero(y)))
// if(!(btFuzzyZero(y)))
if((!(btFuzzyZero(x))) || (!(btFuzzyZero(z))))
{
m_solveSwingLimit = true;
if(m_swingSpan2 >= m_fixThresh)
@ -747,7 +752,8 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
}
else
{ // hinge around Z axis
if(!btFuzzyZero(z))
// if(!btFuzzyZero(z))
if((!(btFuzzyZero(x))) || (!(btFuzzyZero(y))))
{
m_solveSwingLimit = true;
if(m_swingSpan1 >= m_fixThresh)

62
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
View file

@ -40,6 +40,15 @@ and swing 1 and 2 are along the z and y axes respectively.
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btConeTwistConstraintData2 btConeTwistConstraintDoubleData
#define btConeTwistConstraintDataName "btConeTwistConstraintDoubleData"
#else
#define btConeTwistConstraintData2 btConeTwistConstraintData
#define btConeTwistConstraintDataName "btConeTwistConstraintData"
#endif //BT_USE_DOUBLE_PRECISION
class btRigidBody;
enum btConeTwistFlags
@ -295,7 +304,30 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btConeTwistConstraintDoubleData
{
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame;
btTransformDoubleData m_rbBFrame;
//limits
double m_swingSpan1;
double m_swingSpan2;
double m_twistSpan;
double m_limitSoftness;
double m_biasFactor;
double m_relaxationFactor;
double m_damping;
};
#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
///this structure is not used, except for loading pre-2.82 .bullet files
struct btConeTwistConstraintData
{
btTypedConstraintData m_typeConstraintData;
@ -315,12 +347,12 @@ struct btConeTwistConstraintData
char m_pad[4];
};
#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
//
SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() const
{
return sizeof(btConeTwistConstraintData);
return sizeof(btConeTwistConstraintData2);
}
@ -328,21 +360,21 @@ SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() cons
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer;
btConeTwistConstraintData2* cone = (btConeTwistConstraintData2*) dataBuffer;
btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
m_rbAFrame.serializeFloat(cone->m_rbAFrame);
m_rbBFrame.serializeFloat(cone->m_rbBFrame);
m_rbAFrame.serialize(cone->m_rbAFrame);
m_rbBFrame.serialize(cone->m_rbBFrame);
cone->m_swingSpan1 = float(m_swingSpan1);
cone->m_swingSpan2 = float(m_swingSpan2);
cone->m_twistSpan = float(m_twistSpan);
cone->m_limitSoftness = float(m_limitSoftness);
cone->m_biasFactor = float(m_biasFactor);
cone->m_relaxationFactor = float(m_relaxationFactor);
cone->m_damping = float(m_damping);
cone->m_swingSpan1 = m_swingSpan1;
cone->m_swingSpan2 = m_swingSpan2;
cone->m_twistSpan = m_twistSpan;
cone->m_limitSoftness = m_limitSoftness;
cone->m_biasFactor = m_biasFactor;
cone->m_relaxationFactor = m_relaxationFactor;
cone->m_damping = m_damping;
return "btConeTwistConstraintData";
return btConeTwistConstraintDataName;
}

16
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
View file

@ -28,6 +28,14 @@ class btIDebugDraw;
class btStackAlloc;
class btDispatcher;
/// btConstraintSolver provides solver interface
enum btConstraintSolverType
{
BT_SEQUENTIAL_IMPULSE_SOLVER=1,
BT_MLCP_SOLVER=2
};
class btConstraintSolver
{
@ -38,12 +46,16 @@ public:
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,btDispatcher* dispatcher) = 0;
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer,btDispatcher* dispatcher) = 0;
virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;}
virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */) {;}
///clear internal cached data and reset random seed
virtual void reset() = 0;
virtual btConstraintSolverType getSolverType() const=0;
};

129
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp Normal file
View file

@ -0,0 +1,129 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btFixedConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
#include <new>
btFixedConstraint::btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB)
:btTypedConstraint(FIXED_CONSTRAINT_TYPE,rbA,rbB)
{
m_pivotInA = frameInA.getOrigin();
m_pivotInB = frameInB.getOrigin();
m_relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
}
btFixedConstraint::~btFixedConstraint ()
{
}
void btFixedConstraint::getInfo1 (btConstraintInfo1* info)
{
info->m_numConstraintRows = 6;
info->nub = 6;
}
void btFixedConstraint::getInfo2 (btConstraintInfo2* info)
{
//fix the 3 linear degrees of freedom
const btVector3& worldPosA = m_rbA.getCenterOfMassTransform().getOrigin();
const btMatrix3x3& worldOrnA = m_rbA.getCenterOfMassTransform().getBasis();
const btVector3& worldPosB= m_rbB.getCenterOfMassTransform().getOrigin();
const btMatrix3x3& worldOrnB = m_rbB.getCenterOfMassTransform().getBasis();
info->m_J1linearAxis[0] = 1;
info->m_J1linearAxis[info->rowskip+1] = 1;
info->m_J1linearAxis[2*info->rowskip+2] = 1;
btVector3 a1 = worldOrnA*m_pivotInA;
{
btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
btVector3* angular1 = (btVector3*)(info->m_J1angularAxis+info->rowskip);
btVector3* angular2 = (btVector3*)(info->m_J1angularAxis+2*info->rowskip);
btVector3 a1neg = -a1;
a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
if (info->m_J2linearAxis)
{
info->m_J2linearAxis[0] = -1;
info->m_J2linearAxis[info->rowskip+1] = -1;
info->m_J2linearAxis[2*info->rowskip+2] = -1;
}
btVector3 a2 = worldOrnB*m_pivotInB;
{
// btVector3 a2n = -a2;
btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
// set right hand side for the linear dofs
btScalar k = info->fps * info->erp;
btVector3 linearError = k*(a2+worldPosB-a1-worldPosA);
int j;
for (j=0; j<3; j++)
{
info->m_constraintError[j*info->rowskip] = linearError[j];
//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
}
//fix the 3 angular degrees of freedom
int start_row = 3;
int s = info->rowskip;
int start_index = start_row * s;
// 3 rows to make body rotations equal
info->m_J1angularAxis[start_index] = 1;
info->m_J1angularAxis[start_index + s + 1] = 1;
info->m_J1angularAxis[start_index + s*2+2] = 1;
if ( info->m_J2angularAxis)
{
info->m_J2angularAxis[start_index] = -1;
info->m_J2angularAxis[start_index + s+1] = -1;
info->m_J2angularAxis[start_index + s*2+2] = -1;
}
// set right hand side for the angular dofs
btVector3 diff;
btScalar angle;
btMatrix3x3 mrelCur = worldOrnA *worldOrnB.inverse();
btQuaternion qrelCur;
mrelCur.getRotation(qrelCur);
btTransformUtil::calculateDiffAxisAngleQuaternion(m_relTargetAB,qrelCur,diff,angle);
diff*=-angle;
for (j=0; j<3; j++)
{
info->m_constraintError[(3+j)*info->rowskip] = k * diff[j];
}
}

49
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h Normal file
View file

@ -0,0 +1,49 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_FIXED_CONSTRAINT_H
#define BT_FIXED_CONSTRAINT_H
#include "btTypedConstraint.h"
ATTRIBUTE_ALIGNED16(class) btFixedConstraint : public btTypedConstraint
{
btVector3 m_pivotInA;
btVector3 m_pivotInB;
btQuaternion m_relTargetAB;
public:
btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB);
virtual ~btFixedConstraint();
virtual void getInfo1 (btConstraintInfo1* info);
virtual void getInfo2 (btConstraintInfo2* info);
virtual void setParam(int num, btScalar value, int axis = -1)
{
btAssert(0);
}
virtual btScalar getParam(int num, int axis = -1) const
{
btAssert(0);
return 0.f;
}
};
#endif //BT_FIXED_CONSTRAINT_H

98
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h
View file

@ -19,6 +19,18 @@ subject to the following restrictions:
#define BT_GEAR_CONSTRAINT_H
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btGearConstraintData btGearConstraintDoubleData
#define btGearConstraintDataName "btGearConstraintDoubleData"
#else
#define btGearConstraintData btGearConstraintFloatData
#define btGearConstraintDataName "btGearConstraintFloatData"
#endif //BT_USE_DOUBLE_PRECISION
///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.
///See Bullet/Demos/ConstraintDemo for an example use.
class btGearConstraint : public btTypedConstraint
@ -39,18 +51,102 @@ public:
///internal method used by the constraint solver, don't use them directly
virtual void getInfo2 (btConstraintInfo2* info);
void setAxisA(btVector3& axisA)
{
m_axisInA = axisA;
}
void setAxisB(btVector3& axisB)
{
m_axisInB = axisB;
}
void setRatio(btScalar ratio)
{
m_ratio = ratio;
}
const btVector3& getAxisA() const
{
return m_axisInA;
}
const btVector3& getAxisB() const
{
return m_axisInB;
}
btScalar getRatio() const
{
return m_ratio;
}
virtual void setParam(int num, btScalar value, int axis = -1)
{
(void) num;
(void) value;
(void) axis;
btAssert(0);
};
}
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const
{
(void) num;
(void) axis;
btAssert(0);
return 0.f;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btGearConstraintFloatData
{
btTypedConstraintFloatData m_typeConstraintData;
btVector3FloatData m_axisInA;
btVector3FloatData m_axisInB;
float m_ratio;
char m_padding[4];
};
struct btGearConstraintDoubleData
{
btTypedConstraintDoubleData m_typeConstraintData;
btVector3DoubleData m_axisInA;
btVector3DoubleData m_axisInB;
double m_ratio;
};
SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const
{
return sizeof(btGearConstraintData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
btTypedConstraint::serialize(&gear->m_typeConstraintData,serializer);
m_axisInA.serialize( gear->m_axisInA );
m_axisInB.serialize( gear->m_axisInB );
gear->m_ratio = m_ratio;
return btGearConstraintDataName;
}
#endif //BT_GEAR_CONSTRAINT_H

15
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
View file

@ -781,17 +781,16 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
if (powered || limit)
{ // if the joint is powered, or has joint limits, add in the extra row
btScalar *J1 = rotational ? info->m_J1angularAxis : info->m_J1linearAxis;
btScalar *J2 = rotational ? info->m_J2angularAxis : 0;
btScalar *J2 = rotational ? info->m_J2angularAxis : info->m_J2linearAxis;
J1[srow+0] = ax1[0];
J1[srow+1] = ax1[1];
J1[srow+2] = ax1[2];
if(rotational)
{
J2[srow+0] = -ax1[0];
J2[srow+1] = -ax1[1];
J2[srow+2] = -ax1[2];
}
if((!rotational))
J2[srow+0] = -ax1[0];
J2[srow+1] = -ax1[1];
J2[srow+2] = -ax1[2];
if((!rotational))
{
if (m_useOffsetForConstraintFrame)
{

44
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
View file

@ -35,6 +35,14 @@ class btRigidBody;
#ifdef BT_USE_DOUBLE_PRECISION
#define btGeneric6DofConstraintData2 btGeneric6DofConstraintDoubleData2
#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintDoubleData2"
#else
#define btGeneric6DofConstraintData2 btGeneric6DofConstraintData
#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintData"
#endif //BT_USE_DOUBLE_PRECISION
//! Rotation Limit structure for generic joints
class btRotationalLimitMotor
@ -561,7 +569,7 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btGeneric6DofConstraintData
{
btTypedConstraintData m_typeConstraintData;
@ -578,35 +586,51 @@ struct btGeneric6DofConstraintData
int m_useOffsetForConstraintFrame;
};
struct btGeneric6DofConstraintDoubleData2
{
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransformDoubleData m_rbBFrame;
btVector3DoubleData m_linearUpperLimit;
btVector3DoubleData m_linearLowerLimit;
btVector3DoubleData m_angularUpperLimit;
btVector3DoubleData m_angularLowerLimit;
int m_useLinearReferenceFrameA;
int m_useOffsetForConstraintFrame;
};
SIMD_FORCE_INLINE int btGeneric6DofConstraint::calculateSerializeBufferSize() const
{
return sizeof(btGeneric6DofConstraintData);
return sizeof(btGeneric6DofConstraintData2);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btGeneric6DofConstraintData* dof = (btGeneric6DofConstraintData*)dataBuffer;
btGeneric6DofConstraintData2* dof = (btGeneric6DofConstraintData2*)dataBuffer;
btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer);
m_frameInA.serializeFloat(dof->m_rbAFrame);
m_frameInB.serializeFloat(dof->m_rbBFrame);
m_frameInA.serialize(dof->m_rbAFrame);
m_frameInB.serialize(dof->m_rbBFrame);
int i;
for (i=0;i<3;i++)
{
dof->m_angularLowerLimit.m_floats[i] = float(m_angularLimits[i].m_loLimit);
dof->m_angularUpperLimit.m_floats[i] = float(m_angularLimits[i].m_hiLimit);
dof->m_linearLowerLimit.m_floats[i] = float(m_linearLimits.m_lowerLimit[i]);
dof->m_linearUpperLimit.m_floats[i] = float(m_linearLimits.m_upperLimit[i]);
dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
dof->m_linearLowerLimit.m_floats[i] = m_linearLimits.m_lowerLimit[i];
dof->m_linearUpperLimit.m_floats[i] = m_linearLimits.m_upperLimit[i];
}
dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0;
dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0;
return "btGeneric6DofConstraintData";
return btGeneric6DofConstraintDataName;
}

33
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
View file

@ -21,6 +21,15 @@ subject to the following restrictions:
#include "btTypedConstraint.h"
#include "btGeneric6DofConstraint.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2
#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2"
#else
#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData
#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"
#endif //BT_USE_DOUBLE_PRECISION
/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
@ -65,7 +74,6 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btGeneric6DofSpringConstraintData
{
btGeneric6DofConstraintData m_6dofData;
@ -76,26 +84,37 @@ struct btGeneric6DofSpringConstraintData
float m_springDamping[6];
};
struct btGeneric6DofSpringConstraintDoubleData2
{
btGeneric6DofConstraintDoubleData2 m_6dofData;
int m_springEnabled[6];
double m_equilibriumPoint[6];
double m_springStiffness[6];
double m_springDamping[6];
};
SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
{
return sizeof(btGeneric6DofSpringConstraintData);
return sizeof(btGeneric6DofSpringConstraintData2);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btGeneric6DofSpringConstraintData* dof = (btGeneric6DofSpringConstraintData*)dataBuffer;
btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer;
btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer);
int i;
for (i=0;i<6;i++)
{
dof->m_equilibriumPoint[i] = (float)m_equilibriumPoint[i];
dof->m_springDamping[i] = (float)m_springDamping[i];
dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
dof->m_springDamping[i] = m_springDamping[i];
dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0;
dof->m_springStiffness[i] = (float)m_springStiffness[i];
dof->m_springStiffness[i] = m_springStiffness[i];
}
return "btGeneric6DofSpringConstraintData";
return btGeneric6DofSpringConstraintDataName;
}
#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H

14
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
View file

@ -369,6 +369,10 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
info->m_J1angularAxis[i*skip+1]=0;
info->m_J1angularAxis[i*skip+2]=0;
info->m_J2linearAxis[i*skip]=0;
info->m_J2linearAxis[i*skip+1]=0;
info->m_J2linearAxis[i*skip+2]=0;
info->m_J2angularAxis[i*skip]=0;
info->m_J2angularAxis[i*skip+1]=0;
info->m_J2angularAxis[i*skip+2]=0;
@ -384,6 +388,10 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
info->m_J1linearAxis[0] = 1;
info->m_J1linearAxis[skip + 1] = 1;
info->m_J1linearAxis[2 * skip + 2] = 1;
info->m_J2linearAxis[0] = -1;
info->m_J2linearAxis[skip + 1] = -1;
info->m_J2linearAxis[2 * skip + 2] = -1;
}
@ -797,7 +805,11 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
for (i=0; i<3; i++) info->m_J1linearAxis[s0+i] = p[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s1+i] = q[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = ax1[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s0+i] = -p[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s1+i] = -q[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -ax1[i];
// compute three elements of right hand side
btScalar rhs = k * p.dot(ofs);

37
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h
View file

@ -28,8 +28,8 @@ subject to the following restrictions:
class btRigidBody;
#ifdef BT_USE_DOUBLE_PRECISION
#define btHingeConstraintData btHingeConstraintDoubleData
#define btHingeConstraintDataName "btHingeConstraintDoubleData"
#define btHingeConstraintData btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version
#define btHingeConstraintDataName "btHingeConstraintDoubleData2"
#else
#define btHingeConstraintData btHingeConstraintFloatData
#define btHingeConstraintDataName "btHingeConstraintFloatData"
@ -302,7 +302,10 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
//only for backward compatibility
#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
///this structure is not used, except for loading pre-2.82 .bullet files
struct btHingeConstraintDoubleData
{
btTypedConstraintData m_typeConstraintData;
@ -321,7 +324,9 @@ struct btHingeConstraintDoubleData
float m_relaxationFactor;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
struct btHingeConstraintFloatData
{
btTypedConstraintData m_typeConstraintData;
@ -344,6 +349,30 @@ struct btHingeConstraintFloatData
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btHingeConstraintDoubleData2
{
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransformDoubleData m_rbBFrame;
int m_useReferenceFrameA;
int m_angularOnly;
int m_enableAngularMotor;
double m_motorTargetVelocity;
double m_maxMotorImpulse;
double m_lowerLimit;
double m_upperLimit;
double m_limitSoftness;
double m_biasFactor;
double m_relaxationFactor;
char m_padding1[4];
};
SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const
{
return sizeof(btHingeConstraintData);

7
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
View file

@ -116,10 +116,9 @@ void btPoint2PointConstraint::getInfo2NonVirtual (btConstraintInfo2* info, const
a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
/*info->m_J2linearAxis[0] = -1;
info->m_J2linearAxis[s+1] = -1;
info->m_J2linearAxis[2*s+2] = -1;
*/
info->m_J2linearAxis[0] = -1;
info->m_J2linearAxis[info->rowskip+1] = -1;
info->m_J2linearAxis[2*info->rowskip+2] = -1;
btVector3 a2 = body1_trans.getBasis()*getPivotInB();

22
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h
View file

@ -24,10 +24,10 @@ class btRigidBody;
#ifdef BT_USE_DOUBLE_PRECISION
#define btPoint2PointConstraintData btPoint2PointConstraintDoubleData
#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData"
#define btPoint2PointConstraintData2 btPoint2PointConstraintDoubleData2
#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData2"
#else
#define btPoint2PointConstraintData btPoint2PointConstraintFloatData
#define btPoint2PointConstraintData2 btPoint2PointConstraintFloatData
#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
#endif //BT_USE_DOUBLE_PRECISION
@ -133,6 +133,17 @@ struct btPoint2PointConstraintFloatData
btVector3FloatData m_pivotInB;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btPoint2PointConstraintDoubleData2
{
btTypedConstraintDoubleData m_typeConstraintData;
btVector3DoubleData m_pivotInA;
btVector3DoubleData m_pivotInB;
};
#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
///this structure is not used, except for loading pre-2.82 .bullet files
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btPoint2PointConstraintDoubleData
{
@ -140,18 +151,19 @@ struct btPoint2PointConstraintDoubleData
btVector3DoubleData m_pivotInA;
btVector3DoubleData m_pivotInB;
};
#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const
{
return sizeof(btPoint2PointConstraintData);
return sizeof(btPoint2PointConstraintData2);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
btPoint2PointConstraintData2* p2pData = (btPoint2PointConstraintData2*)dataBuffer;
btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
m_pivotInA.serialize(p2pData->m_pivotInA);

395
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View file

@ -14,6 +14,8 @@ subject to the following restrictions:
*/
//#define COMPUTE_IMPULSE_DENOM 1
//#define BT_ADDITIONAL_DEBUG
//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
#include "btSequentialImpulseConstraintSolver.h"
@ -63,8 +65,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
__m128 deltaVel2Dotn = _mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
@ -77,12 +79,12 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
__m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp);
deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) );
c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) );
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128,body2.internalGetInvMass().mVec128);
__m128 impulseMagnitude = deltaImpulse;
body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
#else
resolveSingleConstraintRowGeneric(body1,body2,c);
@ -93,8 +95,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
@ -116,8 +118,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
c.m_appliedImpulse = sum;
}
body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
}
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
@ -127,8 +129,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm)));
__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
__m128 deltaVel2Dotn = _mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
@ -138,24 +140,24 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128);
__m128 impulseMagnitude = deltaImpulse;
body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
#else
resolveSingleConstraintRowLowerLimit(body1,body2,c);
#endif
}
// Project Gauss Seidel or the equivalent Sequential Impulse
// Projected Gauss Seidel or the equivalent Sequential Impulse
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
@ -169,8 +171,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
{
c.m_appliedImpulse = sum;
}
body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
}
@ -183,8 +185,8 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
{
gNumSplitImpulseRecoveries++;
btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
@ -198,8 +200,8 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
{
c.m_appliedPushImpulse = sum;
}
body1.internalApplyPushImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
body2.internalApplyPushImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
body1.internalApplyPushImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
body2.internalApplyPushImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
}
}
@ -215,8 +217,8 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
__m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm)));
__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
__m128 deltaVel2Dotn = _mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetPushVelocity().mVec128));
__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
@ -226,12 +228,12 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128);
__m128 impulseMagnitude = deltaImpulse;
body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
body2.internalGetPushVelocity().mVec128 = _mm_sub_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
body2.internalGetPushVelocity().mVec128 = _mm_add_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
#else
resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c);
@ -278,7 +280,7 @@ int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject)
void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep)
{
btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0;
@ -297,6 +299,9 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
solverBody->m_linearFactor = rb->getLinearFactor();
solverBody->m_linearVelocity = rb->getLinearVelocity();
solverBody->m_angularVelocity = rb->getAngularVelocity();
solverBody->m_externalForceImpulse = rb->getTotalForce()*rb->getInvMass()*timeStep;
solverBody->m_externalTorqueImpulse = rb->getTotalTorque()*rb->getInvInertiaTensorWorld()*timeStep ;
} else
{
solverBody->m_worldTransform.setIdentity();
@ -306,6 +311,8 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
solverBody->m_linearFactor.setValue(1,1,1);
solverBody->m_linearVelocity.setValue(0,0,0);
solverBody->m_angularVelocity.setValue(0,0,0);
solverBody->m_externalForceImpulse.setValue(0,0,0);
solverBody->m_externalTorqueImpulse.setValue(0,0,0);
}
@ -324,8 +331,7 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel,
static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode)
void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode)
{
@ -349,7 +355,6 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
{
solverConstraint.m_contactNormal = normalAxis;
btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
@ -365,15 +370,30 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;
if (body0)
{
btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
solverConstraint.m_contactNormal1 = normalAxis;
btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal1);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0);
}
solverConstraint.m_angularComponentA = body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor();
}else
{
btVector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
solverConstraint.m_contactNormal1.setZero();
solverConstraint.m_relpos1CrossNormal.setZero();
solverConstraint.m_angularComponentA .setZero();
}
if (body1)
{
solverConstraint.m_contactNormal2 = -normalAxis;
btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_angularComponentB = body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor();
} else
{
solverConstraint.m_contactNormal2.setZero();
solverConstraint.m_relpos2CrossNormal.setZero();
solverConstraint.m_angularComponentB.setZero();
}
{
@ -398,9 +418,9 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
btScalar rel_vel;
btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:btVector3(0,0,0))
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:btVector3(0,0,0))
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
rel_vel = vel1Dotn+vel2Dotn;
@ -411,8 +431,8 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_cfm = cfmSlip;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
solverConstraint.m_upperLimit = solverConstraint.m_friction;
}
}
@ -436,7 +456,8 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv
btVector3 normalAxis(0,0,0);
solverConstraint.m_contactNormal = normalAxis;
solverConstraint.m_contactNormal1 = normalAxis;
solverConstraint.m_contactNormal2 = -normalAxis;
btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
@ -477,9 +498,9 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv
btScalar rel_vel;
btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:btVector3(0,0,0))
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:btVector3(0,0,0))
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
rel_vel = vel1Dotn+vel2Dotn;
@ -490,8 +511,8 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_cfm = cfmSlip;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
solverConstraint.m_upperLimit = solverConstraint.m_friction;
}
}
@ -513,7 +534,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addRollingFrictionConst
}
int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body)
int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body,btScalar timeStep)
{
int solverBodyIdA = -1;
@ -531,11 +552,19 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{
solverBodyIdA = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody(&solverBody,&body);
initSolverBody(&solverBody,&body,timeStep);
body.setCompanionId(solverBodyIdA);
} else
{
return 0;//assume first one is a fixed solver body
if (m_fixedBodyId<0)
{
m_fixedBodyId = m_tmpSolverBodyPool.size();
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
initSolverBody(&fixedBody,0,timeStep);
}
return m_fixedBodyId;
// return 0;//assume first one is a fixed solver body
}
}
@ -548,8 +577,8 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint,
int solverBodyIdA, int solverBodyIdB,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
btVector3& rel_pos1, btVector3& rel_pos2)
btScalar& relaxation,
const btVector3& rel_pos1, const btVector3& rel_pos2)
{
const btVector3& pos1 = cp.getPositionWorldOnA();
@ -563,8 +592,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
// btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
// btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
//rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
//rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
relaxation = 1.f;
@ -597,9 +626,24 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
solverConstraint.m_jacDiagABInv = denom;
}
solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
if (rb0)
{
solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB;
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
} else
{
solverConstraint.m_contactNormal1.setZero();
solverConstraint.m_relpos1CrossNormal.setZero();
}
if (rb1)
{
solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB;
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
}else
{
solverConstraint.m_contactNormal2.setZero();
solverConstraint.m_relpos2CrossNormal.setZero();
}
btScalar restitution = 0.f;
btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
@ -611,8 +655,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
vel2 = rb1? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
// btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
vel = vel1 - vel2;
rel_vel = cp.m_normalWorldOnB.dot(vel);
btVector3 vel = vel1 - vel2;
btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
@ -632,9 +676,9 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
{
solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
if (rb1)
bodyB->internalApplyImpulse(solverConstraint.m_contactNormal*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
} else
{
solverConstraint.m_appliedImpulse = 0.f;
@ -643,10 +687,17 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
solverConstraint.m_appliedPushImpulse = 0.f;
{
btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?bodyA->m_linearVelocity:btVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(rb0?bodyA->m_angularVelocity:btVector3(0,0,0));
btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?bodyB->m_linearVelocity:btVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(rb1?bodyB->m_angularVelocity:btVector3(0,0,0));
btVector3 externalForceImpulseA = bodyA->m_originalBody ? bodyA->m_externalForceImpulse: btVector3(0,0,0);
btVector3 externalTorqueImpulseA = bodyA->m_originalBody ? bodyA->m_externalTorqueImpulse: btVector3(0,0,0);
btVector3 externalForceImpulseB = bodyB->m_originalBody ? bodyB->m_externalForceImpulse: btVector3(0,0,0);
btVector3 externalTorqueImpulseB = bodyB->m_originalBody ?bodyB->m_externalTorqueImpulse : btVector3(0,0,0);
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(bodyA->m_linearVelocity+externalForceImpulseA)
+ solverConstraint.m_relpos1CrossNormal.dot(bodyA->m_angularVelocity+externalTorqueImpulseA);
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyB->m_linearVelocity+externalForceImpulseB)
+ solverConstraint.m_relpos2CrossNormal.dot(bodyB->m_angularVelocity+externalTorqueImpulseB);
btScalar rel_vel = vel1Dotn+vel2Dotn;
btScalar positionalError = 0.f;
@ -675,7 +726,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;//-solverConstraint.m_contactNormal1.dot(bodyA->m_externalForce*bodyA->m_invMass-bodyB->m_externalForce/bodyB->m_invMass)*solverConstraint.m_jacDiagABInv;
solverConstraint.m_rhsPenetration = 0.f;
} else
@ -713,9 +764,9 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolver
{
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
if (rb0)
bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
if (rb1)
bodyB->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse);
bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse);
} else
{
frictionConstraint1.m_appliedImpulse = 0.f;
@ -729,9 +780,9 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolver
{
frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
if (rb0)
bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
if (rb1)
bodyB->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse);
bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse);
} else
{
frictionConstraint2.m_appliedImpulse = 0.f;
@ -749,8 +800,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
colObj0 = (btCollisionObject*)manifold->getBody0();
colObj1 = (btCollisionObject*)manifold->getBody1();
int solverBodyIdA = getOrInitSolverBody(*colObj0);
int solverBodyIdB = getOrInitSolverBody(*colObj1);
int solverBodyIdA = getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
int solverBodyIdB = getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
// btRigidBody* bodyA = btRigidBody::upcast(colObj0);
// btRigidBody* bodyB = btRigidBody::upcast(colObj1);
@ -761,7 +812,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
///avoid collision response between two static objects
if (!solverBodyA || (!solverBodyA->m_originalBody && (!solverBodyB || !solverBodyB->m_originalBody)))
if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero())))
return;
int rollingFriction=1;
@ -775,19 +826,35 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
btVector3 rel_pos1;
btVector3 rel_pos2;
btScalar relaxation;
btScalar rel_vel;
btVector3 vel;
int frictionIndex = m_tmpSolverContactConstraintPool.size();
btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
// btRigidBody* rb0 = btRigidBody::upcast(colObj0);
// btRigidBody* rb1 = btRigidBody::upcast(colObj1);
btRigidBody* rb0 = btRigidBody::upcast(colObj0);
btRigidBody* rb1 = btRigidBody::upcast(colObj1);
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_originalContactPoint = &cp;
setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB();
rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
btVector3 vel1;// = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
btVector3 vel2;// = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1,vel1);
solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2,vel2 );
btVector3 vel = vel1 - vel2;
btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2);
// const btVector3& pos1 = cp.getPositionWorldOnA();
// const btVector3& pos2 = cp.getPositionWorldOnB();
@ -796,9 +863,11 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
btVector3 angVelA,angVelB;
solverBodyA->getAngularVelocity(angVelA);
solverBodyB->getAngularVelocity(angVelB);
btVector3 angVelA(0,0,0),angVelB(0,0,0);
if (rb0)
angVelA = rb0->getAngularVelocity();
if (rb1)
angVelB = rb1->getAngularVelocity();
btVector3 relAngVel = angVelB-angVelA;
if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0))
@ -852,6 +921,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
{
cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
@ -859,17 +932,16 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
} else
{
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
@ -877,9 +949,6 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
{
@ -894,8 +963,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
}
setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
@ -904,15 +973,29 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
}
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal)
{
int i;
btPersistentManifold* manifold = 0;
// btCollisionObject* colObj0=0,*colObj1=0;
for (i=0;i<numManifolds;i++)
{
manifold = manifoldPtr[i];
convertContact(manifold,infoGlobal);
}
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
m_fixedBodyId = -1;
BT_PROFILE("solveGroupCacheFriendlySetup");
(void)stackAlloc;
(void)debugDrawer;
m_maxOverrideNumSolverIterations = 0;
#ifdef BT_DEBUG
#ifdef BT_ADDITIONAL_DEBUG
//make sure that dynamic bodies exist for all (enabled) constraints
for (int i=0;i<numConstraints;i++)
{
@ -979,7 +1062,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btAssert(found);
}
}
#endif //BT_DEBUG
#endif //BT_ADDITIONAL_DEBUG
for (int i = 0; i < numBodies; i++)
@ -991,14 +1074,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
m_tmpSolverBodyPool.reserve(numBodies+1);
m_tmpSolverBodyPool.resize(0);
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
initSolverBody(&fixedBody,0);
//btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
//initSolverBody(&fixedBody,0);
//convert all bodies
for (int i=0;i<numBodies;i++)
{
int bodyId = getOrInitSolverBody(*bodies[i]);
int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep);
btRigidBody* body = btRigidBody::upcast(bodies[i]);
if (body && body->getInvMass())
{
@ -1007,9 +1091,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE)
{
gyroForce = body->computeGyroscopicForce(infoGlobal.m_maxGyroscopicForce);
solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
}
solverBody.m_linearVelocity += body->getTotalForce()*body->getInvMass()*infoGlobal.m_timeStep;
solverBody.m_angularVelocity += (body->getTotalTorque()-gyroForce)*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
}
}
@ -1079,8 +1162,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btRigidBody& rbA = constraint->getRigidBodyA();
btRigidBody& rbB = constraint->getRigidBodyB();
int solverBodyIdA = getOrInitSolverBody(rbA);
int solverBodyIdB = getOrInitSolverBody(rbB);
int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep);
int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep);
btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
@ -1119,9 +1202,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btTypedConstraint::btConstraintInfo2 info2;
info2.fps = 1.f/infoGlobal.m_timeStep;
info2.erp = infoGlobal.m_erp;
info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1;
info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
info2.m_J2linearAxis = 0;
info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2;
info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
///the size of btSolverConstraint needs be a multiple of btScalar
@ -1162,14 +1245,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
{
btVector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass();
btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass();
btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal;
btVector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal?
btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal?
btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal;
btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1);
sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
sum += iMJlB.dot(solverConstraint.m_contactNormal);
sum += iMJlB.dot(solverConstraint.m_contactNormal2);
sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
btScalar fsum = btFabs(sum);
btAssert(fsum > SIMD_EPSILON);
@ -1177,15 +1260,22 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
///fix rhs
///todo: add force/torque accelerators
{
btScalar rel_vel;
btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity());
btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity());
btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0);
btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0);
btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0);
btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0);
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA)
+ solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA);
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB)
+ solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB);
rel_vel = vel1Dotn+vel2Dotn;
btScalar restitution = 0.f;
btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
btScalar velocityError = restitution - rel_vel * info2.m_damping;
@ -1194,6 +1284,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
solverConstraint.m_appliedImpulse = 0.f;
}
}
}
@ -1201,18 +1292,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
}
{
int i;
btPersistentManifold* manifold = 0;
// btCollisionObject* colObj0=0,*colObj1=0;
convertContacts(manifoldPtr,numManifolds,infoGlobal);
for (i=0;i<numManifolds;i++)
{
manifold = manifoldPtr[i];
convertContact(manifold,infoGlobal);
}
}
}
// btContactSolverInfo info = infoGlobal;
@ -1251,7 +1332,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
{
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
@ -1304,14 +1385,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
{
for (int j=0;j<numConstraints;j++)
{
if (constraints[j]->isEnabled())
{
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
}
if (constraints[j]->isEnabled())
{
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
}
}
///solve all contact constraints using SIMD, if available
@ -1371,7 +1452,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
for (j=0;j<numPoolConstraints;j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
//resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
}
@ -1390,7 +1472,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
//resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
}
}
@ -1432,14 +1515,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
{
for (int j=0;j<numConstraints;j++)
{
if (constraints[j]->isEnabled())
{
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
}
if (constraints[j]->isEnabled())
{
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
}
}
///solve all contact constraints
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
@ -1487,7 +1570,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
}
void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
int iteration;
if (infoGlobal.m_splitImpulse)
@ -1527,20 +1610,20 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
}
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
BT_PROFILE("solveGroupCacheFriendlyIterations");
{
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
{
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
}
}
@ -1580,10 +1663,10 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
btJointFeedback* fb = constr->getJointFeedback();
if (fb)
{
fb->m_appliedForceBodyA += solverConstr.m_contactNormal*solverConstr.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep;
fb->m_appliedForceBodyB += -solverConstr.m_contactNormal*solverConstr.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep;
fb->m_appliedForceBodyA += solverConstr.m_contactNormal1*solverConstr.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep;
fb->m_appliedForceBodyB += solverConstr.m_contactNormal2*solverConstr.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep;
fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal* constr->getRigidBodyA().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep;
fb->m_appliedTorqueBodyB += -solverConstr.m_relpos1CrossNormal* constr->getRigidBodyB().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep;
fb->m_appliedTorqueBodyB += solverConstr.m_relpos2CrossNormal* constr->getRigidBodyB().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep; /*RGM ???? */
}
@ -1605,9 +1688,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
else
m_tmpSolverBodyPool[i].writebackVelocity();
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(
m_tmpSolverBodyPool[i].m_linearVelocity+
m_tmpSolverBodyPool[i].m_externalForceImpulse);
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(
m_tmpSolverBodyPool[i].m_angularVelocity+
m_tmpSolverBodyPool[i].m_externalTorqueImpulse);
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
if (infoGlobal.m_splitImpulse)
m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform);
@ -1627,15 +1716,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btDispatcher* /*dispatcher*/)
{
BT_PROFILE("solveGroup");
//you need to provide at least some bodies
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);

31
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View file

@ -18,7 +18,6 @@ subject to the following restrictions:
class btIDebugDraw;
class btPersistentManifold;
class btStackAlloc;
class btDispatcher;
class btCollisionObject;
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
@ -43,7 +42,7 @@ protected:
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
int m_maxOverrideNumSolverIterations;
int m_fixedBodyId;
void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
@ -57,10 +56,11 @@ protected:
btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
btSolverConstraint& addRollingFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
btVector3& rel_pos1, btVector3& rel_pos2);
const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
@ -71,6 +71,8 @@ protected:
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
@ -83,8 +85,8 @@ protected:
const btSolverConstraint& contactConstraint);
//internal method
int getOrInitSolverBody(btCollisionObject& body);
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
void resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
@ -97,12 +99,12 @@ protected:
protected:
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
public:
@ -112,7 +114,7 @@ public:
btSequentialImpulseConstraintSolver();
virtual ~btSequentialImpulseConstraintSolver();
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
@ -132,6 +134,11 @@ public:
return m_btSeed2;
}
virtual btConstraintSolverType getSolverType() const
{
return BT_SEQUENTIAL_IMPULSE_SOLVER;
}
};

7
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
View file

@ -426,6 +426,8 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
for (i=0; i<3; i++) info->m_J2angularAxis[s3+i] = -tmpB[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i];
}
else
{ // old way - maybe incorrect if bodies are not on the slider axis
@ -440,6 +442,8 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
for (i=0; i<3; i++) info->m_J1linearAxis[s2+i] = p[i];
for (i=0; i<3; i++) info->m_J1linearAxis[s3+i] = q[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s2+i] = -p[i];
for (i=0; i<3; i++) info->m_J2linearAxis[s3+i] = -q[i];
}
// compute two elements of right hand side
@ -479,6 +483,9 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
info->m_J1linearAxis[srow+0] = ax1[0];
info->m_J1linearAxis[srow+1] = ax1[1];
info->m_J1linearAxis[srow+2] = ax1[2];
info->m_J2linearAxis[srow+0] = -ax1[0];
info->m_J2linearAxis[srow+1] = -ax1[1];
info->m_J2linearAxis[srow+2] = -ax1[2];
// linear torque decoupling step:
//
// we have to be careful that the linear constraint forces (+/- ax1) applied to the two bodies

46
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
View file

@ -25,7 +25,13 @@ TODO:
#ifndef BT_SLIDER_CONSTRAINT_H
#define BT_SLIDER_CONSTRAINT_H
#ifdef BT_USE_DOUBLE_PRECISION
#define btSliderConstraintData2 btSliderConstraintDoubleData
#define btSliderConstraintDataName "btSliderConstraintDoubleData"
#else
#define btSliderConstraintData2 btSliderConstraintData
#define btSliderConstraintDataName "btSliderConstraintData"
#endif //BT_USE_DOUBLE_PRECISION
#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
@ -283,7 +289,10 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btSliderConstraintData
{
btTypedConstraintData m_typeConstraintData;
@ -302,31 +311,48 @@ struct btSliderConstraintData
};
struct btSliderConstraintDoubleData
{
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransformDoubleData m_rbBFrame;
double m_linearUpperLimit;
double m_linearLowerLimit;
double m_angularUpperLimit;
double m_angularLowerLimit;
int m_useLinearReferenceFrameA;
int m_useOffsetForConstraintFrame;
};
SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
{
return sizeof(btSliderConstraintData);
return sizeof(btSliderConstraintData2);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer;
btSliderConstraintData2* sliderData = (btSliderConstraintData2*) dataBuffer;
btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
m_frameInA.serializeFloat(sliderData->m_rbAFrame);
m_frameInB.serializeFloat(sliderData->m_rbBFrame);
m_frameInA.serialize(sliderData->m_rbAFrame);
m_frameInB.serialize(sliderData->m_rbBFrame);
sliderData->m_linearUpperLimit = float(m_upperLinLimit);
sliderData->m_linearLowerLimit = float(m_lowerLinLimit);
sliderData->m_linearUpperLimit = m_upperLinLimit;
sliderData->m_linearLowerLimit = m_lowerLinLimit;
sliderData->m_angularUpperLimit = float(m_upperAngLimit);
sliderData->m_angularLowerLimit = float(m_lowerAngLimit);
sliderData->m_angularUpperLimit = m_upperAngLimit;
sliderData->m_angularLowerLimit = m_lowerAngLimit;
sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
return "btSliderConstraintData";
return btSliderConstraintDataName;
}

15
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverBody.h
View file

@ -105,7 +105,7 @@ operator+(const btSimdScalar& v1, const btSimdScalar& v2)
#endif
///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
ATTRIBUTE_ALIGNED64 (struct) btSolverBody
ATTRIBUTE_ALIGNED16 (struct) btSolverBody
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btTransform m_worldTransform;
@ -118,6 +118,8 @@ ATTRIBUTE_ALIGNED64 (struct) btSolverBody
btVector3 m_turnVelocity;
btVector3 m_linearVelocity;
btVector3 m_angularVelocity;
btVector3 m_externalForceImpulse;
btVector3 m_externalTorqueImpulse;
btRigidBody* m_originalBody;
void setWorldTransform(const btTransform& worldTransform)
@ -130,6 +132,17 @@ ATTRIBUTE_ALIGNED64 (struct) btSolverBody
return m_worldTransform;
}
SIMD_FORCE_INLINE void getVelocityInLocalPointNoDelta(const btVector3& rel_pos, btVector3& velocity ) const
{
if (m_originalBody)
velocity = m_linearVelocity + m_externalForceImpulse + (m_angularVelocity+m_externalTorqueImpulse).cross(rel_pos);
else
velocity.setValue(0,0,0);
}
SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
{
if (m_originalBody)

5
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
View file

@ -32,10 +32,10 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
BT_DECLARE_ALIGNED_ALLOCATOR();
btVector3 m_relpos1CrossNormal;
btVector3 m_contactNormal;
btVector3 m_contactNormal1;
btVector3 m_relpos2CrossNormal;
//btVector3 m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
@ -55,6 +55,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
{
void* m_originalContactPoint;
btScalar m_unusedPadding4;
int m_numRowsForNonContactConstraint;
};
int m_overrideNumSolverIterations;

10
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
View file

@ -109,7 +109,7 @@ btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScal
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btTypedConstraintData* tcd = (btTypedConstraintData*) dataBuffer;
btTypedConstraintData2* tcd = (btTypedConstraintData2*) dataBuffer;
tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA);
tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB);
@ -123,14 +123,14 @@ const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
tcd->m_objectType = m_objectType;
tcd->m_needsFeedback = m_needsFeedback;
tcd->m_overrideNumSolverIterations = m_overrideNumSolverIterations;
tcd->m_breakingImpulseThreshold = float(m_breakingImpulseThreshold);
tcd->m_breakingImpulseThreshold = m_breakingImpulseThreshold;
tcd->m_isEnabled = m_isEnabled? 1: 0;
tcd->m_userConstraintId =m_userConstraintId;
tcd->m_userConstraintType =m_userConstraintType;
tcd->m_appliedImpulse = float(m_appliedImpulse);
tcd->m_dbgDrawSize = float(m_dbgDrawSize );
tcd->m_appliedImpulse = m_appliedImpulse;
tcd->m_dbgDrawSize = m_dbgDrawSize;
tcd->m_disableCollisionsBetweenLinkedBodies = false;
@ -142,7 +142,7 @@ const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
if (m_rbB.getConstraintRef(i) == this)
tcd->m_disableCollisionsBetweenLinkedBodies = true;
return "btTypedConstraintData";
return btTypedConstraintDataName;
}
btRigidBody& btTypedConstraint::getFixedBody()

64
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
View file

@ -21,6 +21,15 @@ subject to the following restrictions:
#include "btSolverConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btTypedConstraintData2 btTypedConstraintDoubleData
#define btTypedConstraintDataName "btTypedConstraintDoubleData"
#else
#define btTypedConstraintData2 btTypedConstraintFloatData
#define btTypedConstraintDataName "btTypedConstraintFloatData"
#endif //BT_USE_DOUBLE_PRECISION
class btSerializer;
//Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
@ -34,6 +43,7 @@ enum btTypedConstraintType
CONTACT_CONSTRAINT_TYPE,
D6_SPRING_CONSTRAINT_TYPE,
GEAR_CONSTRAINT_TYPE,
FIXED_CONSTRAINT_TYPE,
MAX_CONSTRAINT_TYPE
};
@ -356,6 +366,33 @@ SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScal
}
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btTypedConstraintFloatData
{
btRigidBodyFloatData *m_rbA;
btRigidBodyFloatData *m_rbB;
char *m_name;
int m_objectType;
int m_userConstraintType;
int m_userConstraintId;
int m_needsFeedback;
float m_appliedImpulse;
float m_dbgDrawSize;
int m_disableCollisionsBetweenLinkedBodies;
int m_overrideNumSolverIterations;
float m_breakingImpulseThreshold;
int m_isEnabled;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
#define BT_BACKWARDS_COMPATIBLE_SERIALIZATION
#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
///this structure is not used, except for loading pre-2.82 .bullet files
struct btTypedConstraintData
{
btRigidBodyData *m_rbA;
@ -377,10 +414,35 @@ struct btTypedConstraintData
int m_isEnabled;
};
#endif //BACKWARDS_COMPATIBLE
struct btTypedConstraintDoubleData
{
btRigidBodyDoubleData *m_rbA;
btRigidBodyDoubleData *m_rbB;
char *m_name;
int m_objectType;
int m_userConstraintType;
int m_userConstraintId;
int m_needsFeedback;
double m_appliedImpulse;
double m_dbgDrawSize;
int m_disableCollisionsBetweenLinkedBodies;
int m_overrideNumSolverIterations;
double m_breakingImpulseThreshold;
int m_isEnabled;
char padding[4];
};
SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const
{
return sizeof(btTypedConstraintData);
return sizeof(btTypedConstraintData2);
}

39
Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View file

@ -87,7 +87,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
btTypedConstraint** m_sortedConstraints;
int m_numConstraints;
btIDebugDraw* m_debugDrawer;
btStackAlloc* m_stackAlloc;
btDispatcher* m_dispatcher;
btAlignedObjectArray<btCollisionObject*> m_bodies;
@ -104,7 +103,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
m_sortedConstraints(NULL),
m_numConstraints(0),
m_debugDrawer(NULL),
m_stackAlloc(stackAlloc),
m_dispatcher(dispatcher)
{
@ -135,7 +133,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
if (islandId<0)
{
///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
} else
{
//also add all non-contact constraints/joints for this island
@ -163,7 +161,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
if (m_solverInfo->m_minimumSolverBatchSize<=1)
{
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
} else
{
@ -190,7 +188,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher);
m_bodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
@ -210,7 +208,9 @@ m_gravity(0,-10,0),
m_localTime(0),
m_synchronizeAllMotionStates(false),
m_applySpeculativeContactRestitution(false),
m_profileTimings(0)
m_profileTimings(0),
m_fixedTimeStep(0),
m_latencyMotionStateInterpolation(true)
{
if (!m_constraintSolver)
@ -232,7 +232,7 @@ m_profileTimings(0)
{
void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16);
m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, m_stackAlloc, dispatcher);
m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, 0, dispatcher);
}
}
@ -359,7 +359,9 @@ void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
{
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),
(m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(),
interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}
@ -403,6 +405,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
if (maxSubSteps)
{
//fixed timestep with interpolation
m_fixedTimeStep = fixedTimeStep;
m_localTime += timeStep;
if (m_localTime >= fixedTimeStep)
{
@ -413,7 +416,8 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
{
//variable timestep
fixedTimeStep = timeStep;
m_localTime = timeStep;
m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
m_fixedTimeStep = 0;
if (btFuzzyZero(timeStep))
{
numSimulationSubSteps = 0;
@ -724,7 +728,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
m_solverIslandCallback->processConstraints();
m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
}
@ -746,12 +750,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
if (colObj0->isActive() || colObj1->isActive())
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
}
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
}
}
}
@ -770,12 +769,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
if (colObj0->isActive() || colObj1->isActive())
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
}
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
}
}
}
@ -1131,7 +1125,6 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
//don't integrate/update velocities here, it happens in the constraint solver
//damping
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());

15
Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
View file

@ -53,6 +53,7 @@ protected:
//for variable timesteps
btScalar m_localTime;
btScalar m_fixedTimeStep;
//for variable timesteps
bool m_ownsIslandManager;
@ -64,6 +65,8 @@ protected:
int m_profileTimings;
bool m_latencyMotionStateInterpolation;
btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
virtual void predictUnconstraintMotion(btScalar timeStep);
@ -74,7 +77,7 @@ protected:
virtual void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(btScalar timeStep);
virtual void updateActivationState(btScalar timeStep);
void updateActions(btScalar timeStep);
@ -216,6 +219,16 @@ public:
///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
virtual void serialize(btSerializer* serializer);
///Interpolate motion state between previous and current transform, instead of current and next transform.
///This can relieve discontinuities in the rendering, due to penetrations
void setLatencyMotionStateInterpolation(bool latencyInterpolation )
{
m_latencyMotionStateInterpolation = latencyInterpolation;
}
bool getLatencyMotionStateInterpolation() const
{
return m_latencyMotionStateInterpolation;
}
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H

3
Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h
View file

@ -33,7 +33,8 @@ enum btDynamicsWorldType
BT_SIMPLE_DYNAMICS_WORLD=1,
BT_DISCRETE_DYNAMICS_WORLD=2,
BT_CONTINUOUS_DYNAMICS_WORLD=3,
BT_SOFT_RIGID_DYNAMICS_WORLD=4
BT_SOFT_RIGID_DYNAMICS_WORLD=4,
BT_GPU_DYNAMICS_WORLD=5
};
///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.

6
Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.h
View file

@ -97,7 +97,7 @@ class btRigidBody : public btCollisionObject
protected:
ATTRIBUTE_ALIGNED64(btVector3 m_deltaLinearVelocity);
ATTRIBUTE_ALIGNED16(btVector3 m_deltaLinearVelocity);
btVector3 m_deltaAngularVelocity;
btVector3 m_angularFactor;
btVector3 m_invMass;
@ -363,11 +363,13 @@ public:
inline void setLinearVelocity(const btVector3& lin_vel)
{
m_updateRevision++;
m_linearVelocity = lin_vel;
}
inline void setAngularVelocity(const btVector3& ang_vel)
{
m_updateRevision++;
m_angularVelocity = ang_vel;
}
@ -484,11 +486,13 @@ public:
void setAngularFactor(const btVector3& angFac)
{
m_updateRevision++;
m_angularFactor = angFac;
}
void setAngularFactor(btScalar angFac)
{
m_updateRevision++;
m_angularFactor.setValue(angFac,angFac,angFac);
}
const btVector3& getAngularFactor() const

4
Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
View file

@ -78,8 +78,8 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
m_constraintSolver->prepareSolve(0,numManifolds);
m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
}
///integrate transforms

5
Engine/lib/bullet/src/BulletMultiThreaded/CMakeLists.txt
View file

@ -102,7 +102,10 @@ IF (INSTALL_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletMultiThreaded DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletMultiThreaded DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletMultiThreaded
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY
${CMAKE_CURRENT_SOURCE_DIR} DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING
PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

5
Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt
View file

@ -70,7 +70,10 @@ IF (INSTALL_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_DX11 DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_DX11 DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletSoftBodySolvers_DX11
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
#headers are already installed by BulletMultiThreaded library
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)

5
Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt
View file

@ -49,7 +49,10 @@ IF (INSTALL_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_AMD DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_AMD DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_AMD
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
#headers are already installed by BulletMultiThreaded library
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)

5
Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt
View file

@ -64,7 +64,10 @@ IF (INSTALL_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
#headers are already installed by BulletMultiThreaded library
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)

5
Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt
View file

@ -69,7 +69,10 @@ IF (INSTALL_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Intel DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Intel DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Intel
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
#headers are already installed by BulletMultiThreaded library
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)

5
Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt
View file

@ -62,7 +62,10 @@ IF (INSTALL_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
#headers are already installed by BulletMultiThreaded library
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)

5
Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt
View file

@ -68,7 +68,10 @@ IF (INSTALL_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_NVidia DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_NVidia DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_NVidia
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
#headers are already installed by BulletMultiThreaded library
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)

4
Engine/lib/bullet/src/BulletMultiThreaded/PlatformDefinitions.h
View file

@ -38,7 +38,11 @@ typedef union
#ifndef __PHYSICS_COMMON_H__
#ifndef PFX_USE_FREE_VECTORMATH
#ifndef __BT_SKIP_UINT64_H
#if defined(_WIN64) && defined(_MSC_VER)
typedef unsigned __int64 uint64_t;
#else
typedef unsigned long int uint64_t;
#endif
#endif //__BT_SKIP_UINT64_H
#endif //PFX_USE_FREE_VECTORMATH
typedef unsigned int uint32_t;

8
Engine/lib/bullet/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp
View file

@ -166,8 +166,8 @@ public:
collisionPair.m_internalTmpValue = 2;
} else
{
btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);
collisionPair.m_algorithm = m_dispatcher->findAlgorithm(&ob0,&ob1);
collisionPair.m_internalTmpValue = 3;
@ -245,8 +245,8 @@ void SpuGatheringCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPai
if (dispatcher->needsCollision(colObj0,colObj1))
{
//discrete collision detection query
btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform());
btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform());
btCollisionObjectWrapper ob0(0,colObj0->getCollisionShape(),colObj0,colObj0->getWorldTransform(),-1,-1);
btCollisionObjectWrapper ob1(0,colObj1->getCollisionShape(),colObj1,colObj1->getWorldTransform(),-1,-1);
btManifoldResult contactPointResult(&ob0,&ob1);

3
Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h
View file

@ -20,7 +20,6 @@ subject to the following restrictions:
class btStackAlloc;
class btIDebugDraw;
#include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h"
@ -37,7 +36,7 @@ public:
void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
class btIDebugDraw* debugDraw,
struct SpuConvexPolyhedronVertexData* convexVertexDataA,
struct SpuConvexPolyhedronVertexData* convexVertexDataB
) const = 0;

10
Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp
View file

@ -127,7 +127,7 @@ bool gUseEpa = false;
//int gNumConvexPoints0=0;
///Make sure no destructors are called on this memory
struct CollisionTask_LocalStoreMemory
ATTRIBUTE_ALIGNED16(struct) CollisionTask_LocalStoreMemory
{
///This CollisionTask_LocalStoreMemory is mainly used for the SPU version, using explicit DMA
///Other platforms can use other memory programming models.
@ -142,7 +142,7 @@ struct CollisionTask_LocalStoreMemory
btPersistentManifold gPersistentManifoldBuffer;
CollisionShape_LocalStoreMemory gCollisionShapes[2];
bvhMeshShape_LocalStoreMemory bvhShapeData;
SpuConvexPolyhedronVertexData convexVertexData[2];
ATTRIBUTE_ALIGNED16(SpuConvexPolyhedronVertexData convexVertexData[2]);
CompoundShape_LocalStoreMemory compoundShapeData[2];
///The following pointers might either point into this local store memory, or to the original/other memory locations.
@ -199,7 +199,7 @@ btAlignedObjectArray<CollisionTask_LocalStoreMemory*> sLocalStorePointers;
void* createCollisionLocalStoreMemory()
{
CollisionTask_LocalStoreMemory* localStore = new CollisionTask_LocalStoreMemory;
CollisionTask_LocalStoreMemory* localStore = (CollisionTask_LocalStoreMemory*)btAlignedAlloc( sizeof(CollisionTask_LocalStoreMemory),16);
sLocalStorePointers.push_back(localStore);
return localStore;
}
@ -208,7 +208,7 @@ void deleteCollisionLocalStoreMemory()
{
for (int i=0;i<sLocalStorePointers.size();i++)
{
delete sLocalStorePointers[i];
btAlignedFree(sLocalStorePointers[i]);
}
sLocalStorePointers.clear();
}
@ -291,7 +291,7 @@ SIMD_FORCE_INLINE void small_cache_read_triple( void* ls0, ppu_address_t ea0,
class spuNodeCallback : public btNodeOverlapCallback
ATTRIBUTE_ALIGNED16(class) spuNodeCallback : public btNodeOverlapCallback
{
SpuCollisionPairInput* m_wuInput;
SpuContactResult& m_spuContacts;

3
Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.cpp
View file

@ -72,10 +72,9 @@ bool SpuMinkowskiPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface&
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc)
class btIDebugDraw* debugDraw)
{
#if 0
(void)stackAlloc;
(void)v;

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