diff --git a/Engine/lib/bullet/CMakeLists.txt b/Engine/lib/bullet/CMakeLists.txt index 594c908c6..18a089a9e 100644 --- a/Engine/lib/bullet/CMakeLists.txt +++ b/Engine/lib/bullet/CMakeLists.txt @@ -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} + ) diff --git a/Engine/lib/bullet/COPYING b/Engine/lib/bullet/COPYING new file mode 100644 index 000000000..794842d9b --- /dev/null +++ b/Engine/lib/bullet/COPYING @@ -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. diff --git a/Engine/lib/bullet/ChangeLog b/Engine/lib/bullet/ChangeLog index 4a0ccf492..f5c85c801 100644 --- a/Engine/lib/bullet/ChangeLog +++ b/Engine/lib/bullet/ChangeLog @@ -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 diff --git a/Engine/lib/bullet/RELEASING.TXT b/Engine/lib/bullet/RELEASING.TXT index 8fba4a5a8..49d6ba40e 100644 --- a/Engine/lib/bullet/RELEASING.TXT +++ b/Engine/lib/bullet/RELEASING.TXT @@ -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- 2) Generating the release .zip: Do an SVN export on a Windows machine into the directory: bullet-X.YY diff --git a/Engine/lib/bullet/VERSION b/Engine/lib/bullet/VERSION index 00ddb02a1..90c00fa39 100644 --- a/Engine/lib/bullet/VERSION +++ b/Engine/lib/bullet/VERSION @@ -1 +1 @@ -2.81 +2.82 diff --git a/Engine/lib/bullet/configure.ac b/Engine/lib/bullet/configure.ac index 1d793612a..3e9780b80 100644 --- a/Engine/lib/bullet/configure.ac +++ b/Engine/lib/bullet/configure.ac @@ -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([ diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h index 1ebb37797..89c307d14 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btDispatcher.h @@ -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. diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp index 041bbe05a..ae22dadc7 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp @@ -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(); diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index 7a3806c1d..eee90e473 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -96,6 +96,12 @@ class btHashedOverlappingPairCache : public btOverlappingPairCache btOverlapFilterCallback* m_overlapFilterCallback; bool m_blockedForChanges; +protected: + + btAlignedObjectArray m_hashTable; + btAlignedObjectArray m_next; + btOverlappingPairCallback* m_ghostPairCallback; + public: btHashedOverlappingPairCache(); @@ -265,11 +271,6 @@ private: virtual void sortOverlappingPairs(btDispatcher* dispatcher); -protected: - - btAlignedObjectArray m_hashTable; - btAlignedObjectArray m_next; - btOverlappingPairCallback* m_ghostPairCallback; }; diff --git a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp index c911435a9..889216df5 100644 --- a/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +++ b/Engine/lib/bullet/src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp @@ -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; + } } diff --git a/Engine/lib/bullet/src/BulletCollision/CMakeLists.txt b/Engine/lib/bullet/src/BulletCollision/CMakeLists.txt index e740e98ae..c4723ae25 100644 --- a/Engine/lib/bullet/src/BulletCollision/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletCollision/CMakeLists.txt @@ -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 diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h index f63e0923b..669498494 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h @@ -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; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp index d1ef1ffc9..669d0b6b5 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -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 diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp index cf8ed59a5..d09241000 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp @@ -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(); } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h index 2f17967fe..89cad1682 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -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 { diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h index 2b8ffeaa2..952440b7d 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h @@ -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; } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 91f4c6200..093c6f9b2 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -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) diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h index 9412242e8..b3fffdecd 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -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; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 290d67797..991841ee2 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -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 diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h index b16fc5246..536751456 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h @@ -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) diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp new file mode 100644 index 000000000..a52dd34fe --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp @@ -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(col0ObjWrap->getCollisionShape()); + m_compoundShapeRevision0 = compoundShape0->getUpdateRevision(); + + const btCompoundShape* compoundShape1 = static_cast(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;igetAllContactManifolds(manifoldArray); + } + } +} + + +void btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms() +{ + btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray(); + + int numChildren = pairs.size(); + int i; + for (i=0;i~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(m_compound0ColObjWrap->getCollisionShape()); + btAssert(childIndex0getNumChildShapes()); + + const btCompoundShape* compoundShape1 = static_cast(m_compound1ColObjWrap->getCollisionShape()); + btAssert(childIndex1getNumChildShapes()); + + 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 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(col0ObjWrap->getCollisionShape()); + const btCompoundShape* compoundShape1 = static_cast(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;igetAllContactManifolds(manifoldArray); + for (int m=0;mgetNumContacts()) + { + 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;igetChildShape(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;iremoveOverlappingPair(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; + +} + + + diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h new file mode 100644 index 000000000..7e2d7ad70 --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h @@ -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 diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp index 3e1afede1..4ec9ae713 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp @@ -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(); diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp index 6905e9737..e23f5f7a8 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -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(m_triBodyWrap->getCollisionObject()); btCollisionAlgorithmConstructionInfo ci; ci.m_dispatcher1 = m_dispatcher; //const btCollisionObject* ob = static_cast(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; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index 62f98a846..7f2722aa4 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -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(); diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp index 7faee6faf..c3cacec4a 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp @@ -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; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h index 474785bfc..2078420e1 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h @@ -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() { diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp new file mode 100644 index 000000000..cfcca5654 --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp @@ -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 + +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(getHash(static_cast(indexA), static_cast(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 + +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(getHash(static_cast(indexA),static_cast(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(getHash(static_cast(indexA),static_cast(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(getHash(static_cast(indexA),static_cast(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(getHash(static_cast(indexA),static_cast(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(getHash(static_cast(last->m_indexA), static_cast(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 + + + + + + + + + + diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h new file mode 100644 index 000000000..e88ef97e9 --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h @@ -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 btSimplePairArray; + + + +extern int gOverlappingSimplePairs; +extern int gRemoveSimplePairs; +extern int gAddedSimplePairs; +extern int gFindSimplePairs; + + + + +class btHashedSimplePairCache +{ + btSimplePairArray m_overlappingPairArray; + + bool m_blockedForChanges; + + +protected: + + btAlignedObjectArray m_hashTable; + btAlignedObjectArray 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(((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(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 + + diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h index d1c216298..493d63553 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h @@ -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. diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCompoundShape.cpp index 12f422f19..0aa75f2bf 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -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); } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp index 5e83087b3..2d83c8bfb 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp @@ -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 diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h index 5966ae48f..4a0df0d55 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConeShape.h @@ -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 diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp index 4d0ca1451..0623e351a 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp @@ -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(); } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.h index f4e8f644b..3bd598ec4 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexHullShape.h @@ -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() diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.cpp index 3ffa42228..f03d0b21e 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -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; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp index 8d4080a63..26322791d 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp @@ -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); } diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp index 5bae24250..a7362ea01 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp @@ -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(); diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp index 7dec689bd..4854f370f 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -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" diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp index 51a2f8a07..5fbed334e 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp @@ -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; diff --git a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.h b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.h index 29d1b5cda..0afc2321f 100644 --- a/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.h +++ b/Engine/lib/bullet/src/BulletCollision/CollisionShapes/btTriangleMesh.h @@ -27,7 +27,7 @@ subject to the following restrictions: class btTriangleMesh : public btTriangleIndexVertexArray { btAlignedObjectArray m_4componentVertices; - btAlignedObjectArray m_3componentVertices; + btAlignedObjectArray m_3componentVertices; btAlignedObjectArray m_32bitIndices; btAlignedObjectArray m_16bitIndices; diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h new file mode 100644 index 000000000..02f8b678a --- /dev/null +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btCompoundFromGimpact.h @@ -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 \ No newline at end of file diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp index 5997e443e..2e87475e3 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp @@ -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); + } + } }; diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h index c01b1eee8..f85a94cb4 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h @@ -210,6 +210,10 @@ public: manifoldArray.push_back(m_manifoldPtr); } + btManifoldResult* internalGetResultOut() + { + return m_resultOut; + } struct CreateFunc :public btCollisionAlgorithmCreateFunc { diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.cpp b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.cpp index cceace55e..ac8efdf38 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.cpp +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.cpp @@ -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 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 diff --git a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.h b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.h index dbcd4d701..3d1f48d47 100644 --- a/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.h +++ b/Engine/lib/bullet/src/BulletCollision/Gimpact/btGImpactShape.h @@ -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) diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h index 72eb5aec4..29620abff 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h @@ -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; }; diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h index f958cc523..46ce1ab75 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h @@ -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() {}; diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp index c6dc3f3a6..572ec36f5 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp @@ -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; diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h index a49689a15..1ed6340af 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h @@ -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 : diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 8af16b9cf..887757949 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -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; diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h index f0043b8b9..feeae6862 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -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); diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp index fe31f08d6..fa45f4903 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp @@ -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(); diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h index 6a8fe52f3..fd533b4fc 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h @@ -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 ); }; diff --git a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h index f012889a7..3999d4005 100644 --- a/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h +++ b/Engine/lib/bullet/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h @@ -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; diff --git a/Engine/lib/bullet/src/BulletDynamics/CMakeLists.txt b/Engine/lib/bullet/src/BulletDynamics/CMakeLists.txt index 100cd7a88..cc4727639 100644 --- a/Engine/lib/bullet/src/BulletDynamics/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletDynamics/CMakeLists.txt @@ -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) diff --git a/Engine/lib/bullet/src/BulletDynamics/Character/btCharacterControllerInterface.h b/Engine/lib/bullet/src/BulletDynamics/Character/btCharacterControllerInterface.h index c81813c92..dffb06dfe 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Character/btCharacterControllerInterface.h +++ b/Engine/lib/bullet/src/BulletDynamics/Character/btCharacterControllerInterface.h @@ -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 diff --git a/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.cpp b/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.cpp index 3b9a7f14c..8f1cd20bf 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.cpp @@ -14,6 +14,7 @@ subject to the following restrictions: */ +#include #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(collisionPair->m_pProxy0->m_clientObject); + btCollisionObject* obj1 = static_cast(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; +} diff --git a/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.h b/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.h index 8ec63735c..add6f30a6 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.h +++ b/Engine/lib/bullet/src/BulletDynamics/Character/btKinematicCharacterController.h @@ -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 diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp index 45589275e..15a4c92de 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp @@ -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) diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h index 09c048bed..1735b524d 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @@ -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; } diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h index 6f673102b..1ba1cd1e8 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h @@ -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; + + }; diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp new file mode 100644 index 000000000..f93a3280f --- /dev/null +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp @@ -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 + + +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]; + } + +} \ No newline at end of file diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h new file mode 100644 index 000000000..697e319e2 --- /dev/null +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h @@ -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 diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h index 60f600948..f9afcb912 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.h @@ -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 diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp index d4b4a9ad4..bc2b5a85d 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp @@ -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) { diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h index 0409f9537..431a52416 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h @@ -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; } diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h index 6fabb3036..1b2e0f62c 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h @@ -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 diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp index 20b35fb9c..c18974130 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp @@ -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); diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index a7f2cca55..7c33ac24e 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -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); diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp index 11b2ec801..3c0430b90 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp @@ -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(); diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h index 1e13416df..912189494 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h @@ -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); diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index 89cf46cfe..be93e3543 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -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;igetInvMass()) { @@ -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;iisEnabled()) - { - 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;jisEnabled()) - { - 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); diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 2eea6be0d..180d2a385 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -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 m_orderFrictionConstraintPool; btAlignedObjectArray 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; + } }; diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp index b69f46da1..aff9f27f5 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp @@ -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 diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h index ca8e715bc..57ebb47d8 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h @@ -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; } diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverBody.h index 4e1a8df6a..27ccefe41 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverBody.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverBody.h @@ -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) diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h index c3951f664..5515e6b31 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h @@ -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; diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp index 465c0746c..27fdd9d3d 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp @@ -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() diff --git a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h index 441fa3750..b58f984d0 100644 --- a/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h +++ b/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h @@ -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); } diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index 9ff2d9f11..fb8a4068e 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -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 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()); diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index fa934c49d..d8a34b7da 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -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 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 diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h index 7d5c621f8..35dd1400f 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDynamicsWorld.h @@ -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. diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.h b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.h index c5bf63b4c..ed90fb441 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.h +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.h @@ -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 diff --git a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp index 5fc2f3cf8..35dd38840 100644 --- a/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp +++ b/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp @@ -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 diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/CMakeLists.txt b/Engine/lib/bullet/src/BulletMultiThreaded/CMakeLists.txt index 6eeeb6d20..dcc542770 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletMultiThreaded/CMakeLists.txt @@ -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 ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE) diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt index e7492b542..52f335d23 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/DX11/CMakeLists.txt @@ -70,7 +70,10 @@ IF (INSTALL_LIBS) IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) INSTALL(TARGETS BulletSoftBodySolvers_DX11 DESTINATION .) ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) - INSTALL(TARGETS BulletSoftBodySolvers_DX11 DESTINATION lib${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) diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt index 9826f6378..1fc07328e 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/AMD/CMakeLists.txt @@ -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}.${CMAKE_MINOR_VERSION} GREATER 2.5) diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt index 35dd4eb2d..6e593a998 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Apple/CMakeLists.txt @@ -64,7 +64,10 @@ IF (INSTALL_LIBS) IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple DESTINATION .) ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) - INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Apple DESTINATION lib${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) diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt index 9503a5f40..ecca18130 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/Intel/CMakeLists.txt @@ -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}.${CMAKE_MINOR_VERSION} GREATER 2.5) diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt index 2ca3ca087..97deb7e46 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/MiniCL/CMakeLists.txt @@ -62,7 +62,10 @@ IF (INSTALL_LIBS) IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION .) ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) - INSTALL(TARGETS BulletSoftBodySolvers_OpenCL_Mini DESTINATION lib${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) diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt index ea0406390..884a0ffea 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/NVidia/CMakeLists.txt @@ -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) diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/PlatformDefinitions.h b/Engine/lib/bullet/src/BulletMultiThreaded/PlatformDefinitions.h index 142103a09..9bf8c96f5 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/PlatformDefinitions.h +++ b/Engine/lib/bullet/src/BulletMultiThreaded/PlatformDefinitions.h @@ -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; diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp b/Engine/lib/bullet/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp index b9e88a07f..c8712dab7 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp +++ b/Engine/lib/bullet/src/BulletMultiThreaded/SpuGatheringCollisionDispatcher.cpp @@ -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); diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h b/Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h index 449f19288..b1bd53d94 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h +++ b/Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h @@ -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; diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp b/Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp index 46e4d98c1..c2fe2905c 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp +++ b/Engine/lib/bullet/src/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.cpp @@ -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 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;igetAngularVelocity()+rb->getTotalTorque()*rb->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; btVector3 linVelPlusForces = rb->getLinearVelocity()+rb->getTotalForce()*rb->getInvMass()*infoGlobal.m_timeStep; - state.setAngularVelocity((const vmVector3&)angVelPlusForces); - state.setLinearVelocity((const vmVector3&) linVelPlusForces); + state.setAngularVelocity(btReadVector3(angVelPlusForces)); + state.setLinearVelocity(btReadVector3(linVelPlusForces)); state.setMotionType(PfxMotionTypeActive); vmMatrix3 ori(solverBody.mOrientation); @@ -1381,9 +1381,9 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int 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 @@ -1418,14 +1418,14 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int } { - 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); solverConstraint.m_jacDiagABInv = btScalar(1.)/sum; @@ -1436,8 +1436,8 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int ///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()); + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()); + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()); rel_vel = vel1Dotn+vel2Dotn; diff --git a/Engine/lib/bullet/src/BulletMultiThreaded/btParallelConstraintSolver.h b/Engine/lib/bullet/src/BulletMultiThreaded/btParallelConstraintSolver.h index af42a8380..b5b475a1b 100644 --- a/Engine/lib/bullet/src/BulletMultiThreaded/btParallelConstraintSolver.h +++ b/Engine/lib/bullet/src/BulletMultiThreaded/btParallelConstraintSolver.h @@ -279,7 +279,7 @@ public: virtual ~btParallelConstraintSolver(); - 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); }; diff --git a/Engine/lib/bullet/src/BulletSoftBody/CMakeLists.txt b/Engine/lib/bullet/src/BulletSoftBody/CMakeLists.txt index 105379582..e66bd02d4 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/CMakeLists.txt +++ b/Engine/lib/bullet/src/BulletSoftBody/CMakeLists.txt @@ -50,7 +50,9 @@ IF (INSTALL_LIBS) IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) INSTALL(TARGETS BulletSoftBody DESTINATION .) ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) - INSTALL(TARGETS BulletSoftBody DESTINATION lib${LIB_SUFFIX}) + INSTALL(TARGETS BulletSoftBody 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) diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.cpp b/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.cpp index 8fe34658e..a0c8cca4a 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.cpp +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.cpp @@ -1767,7 +1767,23 @@ void btSoftBody::predictMotion(btScalar dt) { Node& n=m_nodes[i]; n.m_q = n.m_x; - n.m_v += n.m_f*n.m_im*m_sst.sdt; + btVector3 deltaV = n.m_f*n.m_im*m_sst.sdt; + { + btScalar maxDisplacement = m_worldInfo->m_maxDisplacement; + btScalar clampDeltaV = maxDisplacement/m_sst.sdt; + for (int c=0;c<3;c++) + { + if (deltaV[c]>clampDeltaV) + { + deltaV[c] = clampDeltaV; + } + if (deltaV[c]<-clampDeltaV) + { + deltaV[c]=-clampDeltaV; + } + } + } + n.m_v += deltaV; n.m_x += n.m_v*m_sst.sdt; n.m_f = btVector3(0,0,0); } diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.h b/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.h index 2116c34f0..ee1a3d952 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.h +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftBody.h @@ -45,6 +45,7 @@ struct btSoftBodyWorldInfo btScalar air_density; btScalar water_density; btScalar water_offset; + btScalar m_maxDisplacement; btVector3 water_normal; btBroadphaseInterface* m_broadphase; btDispatcher* m_dispatcher; @@ -55,6 +56,7 @@ struct btSoftBodyWorldInfo :air_density((btScalar)1.2), water_density(0), water_offset(0), + m_maxDisplacement(1000.f),//avoid soft body from 'exploding' so use some upper threshold of maximum motion that a node can travel per frame water_normal(0,0,0), m_broadphase(0), m_dispatcher(0), diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp index 6e94d0a81..9f0d44526 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp @@ -117,9 +117,9 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, //copy over user pointers to temporary shape tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer()); - btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform()); + btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1); //btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->getWorldTransform());//?? - btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform()); + btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex); btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr); @@ -161,8 +161,8 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, tm->setUserPointer(m_triBody->getCollisionShape()->getUserPointer()); - btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform()); - btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform());//btTransform::getIdentity());//?? + btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1); + btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);//btTransform::getIdentity());//?? btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr); diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp b/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp index 0fb3560e9..36f675a6c 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp +++ b/Engine/lib/bullet/src/BulletSoftBody/btSoftBodyHelpers.cpp @@ -911,9 +911,9 @@ btSoftBody* btSoftBodyHelpers::CreateFromConvexHull(btSoftBodyWorldInfo& worldI &hres.m_OutputVertices[0],0); for(int i=0;i<(int)hres.mNumFaces;++i) { - const int idx[]={ hres.m_Indices[i*3+0], - hres.m_Indices[i*3+1], - hres.m_Indices[i*3+2]}; + const int idx[]={ static_cast(hres.m_Indices[i*3+0]), + static_cast(hres.m_Indices[i*3+1]), + static_cast(hres.m_Indices[i*3+2])}; if(idx[0]appendLink( idx[0],idx[1]); if(idx[1]appendLink( idx[1],idx[2]); if(idx[2]appendLink( idx[2],idx[0]); diff --git a/Engine/lib/bullet/src/BulletSoftBody/btSparseSDF.h b/Engine/lib/bullet/src/BulletSoftBody/btSparseSDF.h index 180e3c218..bcf0c7982 100644 --- a/Engine/lib/bullet/src/BulletSoftBody/btSparseSDF.h +++ b/Engine/lib/bullet/src/BulletSoftBody/btSparseSDF.h @@ -69,6 +69,7 @@ struct btSparseSdf btScalar voxelsz; int puid; int ncells; + int m_clampCells; int nprobes; int nqueries; @@ -77,10 +78,13 @@ struct btSparseSdf // // - void Initialize(int hashsize=2383) + void Initialize(int hashsize=2383, int clampCells = 256*1024) { + //avoid a crash due to running out of memory, so clamp the maximum number of cells allocated + //if this limit is reached, the SDF is reset (at the cost of some performance during the reset) + m_clampCells = clampCells; cells.resize(hashsize,0); - Reset(); + Reset(); } // void Reset() @@ -181,6 +185,15 @@ struct btSparseSdf { ++nprobes; ++ncells; + int sz = sizeof(Cell); + if (ncells>m_clampCells) + { + static int numResets=0; + numResets++; +// printf("numResets=%d\n",numResets); + Reset(); + } + c=new Cell(); c->next=root;root=c; c->pclient=shape; diff --git a/Engine/lib/bullet/src/LinearMath/CMakeLists.txt b/Engine/lib/bullet/src/LinearMath/CMakeLists.txt index cc77583a0..8d8a54b9e 100644 --- a/Engine/lib/bullet/src/LinearMath/CMakeLists.txt +++ b/Engine/lib/bullet/src/LinearMath/CMakeLists.txt @@ -54,7 +54,10 @@ IF (INSTALL_LIBS) IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) INSTALL(TARGETS LinearMath DESTINATION .) ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) - INSTALL(TARGETS LinearMath DESTINATION lib${LIB_SUFFIX}) + INSTALL(TARGETS LinearMath + 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) diff --git a/Engine/lib/bullet/src/LinearMath/btConvexHullComputer.cpp b/Engine/lib/bullet/src/LinearMath/btConvexHullComputer.cpp index c03c901c0..d58ac955f 100644 --- a/Engine/lib/bullet/src/LinearMath/btConvexHullComputer.cpp +++ b/Engine/lib/bullet/src/LinearMath/btConvexHullComputer.cpp @@ -1931,11 +1931,15 @@ void btConvexHullInternal::merge(IntermediateHull& h0, IntermediateHull& h1) } } - -static bool pointCmp(const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q) +class pointCmp { - return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z)))); -} + public: + + bool operator() ( const btConvexHullInternal::Point32& p, const btConvexHullInternal::Point32& q ) const + { + return (p.y < q.y) || ((p.y == q.y) && ((p.x < q.x) || ((p.x == q.x) && (p.z < q.z)))); + } +}; void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int stride, int count) { @@ -2026,7 +2030,7 @@ void btConvexHullInternal::compute(const void* coords, bool doubleCoords, int st points[i].index = i; } } - points.quickSort(pointCmp); + points.quickSort(pointCmp()); vertexPool.reset(); vertexPool.setArraySize(count); diff --git a/Engine/lib/bullet/src/LinearMath/btIDebugDraw.h b/Engine/lib/bullet/src/LinearMath/btIDebugDraw.h index a00d7763a..de97c3f87 100644 --- a/Engine/lib/bullet/src/LinearMath/btIDebugDraw.h +++ b/Engine/lib/bullet/src/LinearMath/btIDebugDraw.h @@ -62,29 +62,17 @@ class btIDebugDraw virtual void drawSphere(btScalar radius, const btTransform& transform, const btVector3& color) { - btVector3 start = transform.getOrigin(); - - const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0); - const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0); - const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius); - - // XY - drawLine(start-xoffs, start+yoffs, color); - drawLine(start+yoffs, start+xoffs, color); - drawLine(start+xoffs, start-yoffs, color); - drawLine(start-yoffs, start-xoffs, color); - - // XZ - drawLine(start-xoffs, start+zoffs, color); - drawLine(start+zoffs, start+xoffs, color); - drawLine(start+xoffs, start-zoffs, color); - drawLine(start-zoffs, start-xoffs, color); - - // YZ - drawLine(start-yoffs, start+zoffs, color); - drawLine(start+zoffs, start+yoffs, color); - drawLine(start+yoffs, start-zoffs, color); - drawLine(start-zoffs, start-yoffs, color); + + btVector3 center = transform.getOrigin(); + btVector3 up = transform.getBasis().getColumn(1); + btVector3 axis = transform.getBasis().getColumn(0); + btScalar minTh = -SIMD_HALF_PI; + btScalar maxTh = SIMD_HALF_PI; + btScalar minPs = -SIMD_HALF_PI; + btScalar maxPs = SIMD_HALF_PI; + btScalar stepDegrees = 30.f; + drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees ,false); + drawSpherePatch(center, up, -axis, radius,minTh, maxTh, minPs, maxPs, color, stepDegrees,false ); } virtual void drawSphere (const btVector3& p, btScalar radius, const btVector3& color) @@ -179,7 +167,7 @@ class btIDebugDraw } } virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius, - btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f)) + btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f),bool drawCenter = true) { btVector3 vA[74]; btVector3 vB[74]; @@ -261,18 +249,22 @@ class btIDebugDraw { drawLine(npole, pvB[j], color); } - if(isClosed) + + if (drawCenter) { - if(j == (n_vert-1)) + if(isClosed) { - drawLine(arcStart, pvB[j], color); + if(j == (n_vert-1)) + { + drawLine(arcStart, pvB[j], color); + } } - } - else - { - if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1)))) + else { - drawLine(center, pvB[j], color); + if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1)))) + { + drawLine(center, pvB[j], color); + } } } } @@ -314,6 +306,8 @@ class btIDebugDraw virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color) { + int stepDegrees = 30; + btVector3 capStart(0.f,0.f,0.f); capStart[upAxis] = -halfHeight; @@ -325,34 +319,47 @@ class btIDebugDraw btTransform childTransform = transform; childTransform.getOrigin() = transform * capStart; - drawSphere(radius, childTransform, color); + { + btVector3 center = childTransform.getOrigin(); + btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3); + btVector3 axis = -childTransform.getBasis().getColumn(upAxis); + btScalar minTh = -SIMD_HALF_PI; + btScalar maxTh = SIMD_HALF_PI; + btScalar minPs = -SIMD_HALF_PI; + btScalar maxPs = SIMD_HALF_PI; + + drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false); + } + + + } { btTransform childTransform = transform; childTransform.getOrigin() = transform * capEnd; - drawSphere(radius, childTransform, color); + { + btVector3 center = childTransform.getOrigin(); + btVector3 up = childTransform.getBasis().getColumn((upAxis+1)%3); + btVector3 axis = childTransform.getBasis().getColumn(upAxis); + btScalar minTh = -SIMD_HALF_PI; + btScalar maxTh = SIMD_HALF_PI; + btScalar minPs = -SIMD_HALF_PI; + btScalar maxPs = SIMD_HALF_PI; + drawSpherePatch(center, up, axis, radius,minTh, maxTh, minPs, maxPs, color, btScalar(stepDegrees) ,false); + } } // Draw some additional lines btVector3 start = transform.getOrigin(); - capStart[(upAxis+1)%3] = radius; - capEnd[(upAxis+1)%3] = radius; - drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); - capStart[(upAxis+1)%3] = -radius; - capEnd[(upAxis+1)%3] = -radius; - drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); - - capStart[(upAxis+1)%3] = 0.f; - capEnd[(upAxis+1)%3] = 0.f; - - capStart[(upAxis+2)%3] = radius; - capEnd[(upAxis+2)%3] = radius; - drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); - capStart[(upAxis+2)%3] = -radius; - capEnd[(upAxis+2)%3] = -radius; - drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); + for (int i=0;i<360;i+=stepDegrees) + { + capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); + } + } virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color) @@ -360,11 +367,18 @@ class btIDebugDraw btVector3 start = transform.getOrigin(); btVector3 offsetHeight(0,0,0); offsetHeight[upAxis] = halfHeight; - btVector3 offsetRadius(0,0,0); - offsetRadius[(upAxis+1)%3] = radius; - drawLine(start+transform.getBasis() * (offsetHeight+offsetRadius),start+transform.getBasis() * (-offsetHeight+offsetRadius),color); - drawLine(start+transform.getBasis() * (offsetHeight-offsetRadius),start+transform.getBasis() * (-offsetHeight-offsetRadius),color); + int stepDegrees=30; + btVector3 capStart(0.f,0.f,0.f); + capStart[upAxis] = -halfHeight; + btVector3 capEnd(0.f,0.f,0.f); + capEnd[upAxis] = halfHeight; + for (int i=0;i<360;i+=stepDegrees) + { + capEnd[(upAxis+1)%3] = capStart[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + capEnd[(upAxis+2)%3] = capStart[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color); + } // Drawing top and bottom caps of the cylinder btVector3 yaxis(0,0,0); yaxis[upAxis] = btScalar(1.0); @@ -376,16 +390,28 @@ class btIDebugDraw virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color) { - + int stepDegrees = 30; btVector3 start = transform.getOrigin(); btVector3 offsetHeight(0,0,0); - offsetHeight[upAxis] = height * btScalar(0.5); + btScalar halfHeight = height * btScalar(0.5); + offsetHeight[upAxis] = halfHeight; btVector3 offsetRadius(0,0,0); offsetRadius[(upAxis+1)%3] = radius; btVector3 offset2Radius(0,0,0); offset2Radius[(upAxis+2)%3] = radius; + + btVector3 capEnd(0.f,0.f,0.f); + capEnd[upAxis] = -halfHeight; + + for (int i=0;i<360;i+=stepDegrees) + { + capEnd[(upAxis+1)%3] = btSin(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + capEnd[(upAxis+2)%3] = btCos(btScalar(i)*SIMD_RADS_PER_DEG)*radius; + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * capEnd, color); + } + drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color); drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color); drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color); diff --git a/Engine/lib/bullet/src/LinearMath/btMatrix3x3.h b/Engine/lib/bullet/src/LinearMath/btMatrix3x3.h index d4f5c95aa..14fe704f8 100644 --- a/Engine/lib/bullet/src/LinearMath/btMatrix3x3.h +++ b/Engine/lib/bullet/src/LinearMath/btMatrix3x3.h @@ -22,10 +22,15 @@ subject to the following restrictions: #ifdef BT_USE_SSE //const __m128 ATTRIBUTE_ALIGNED16(v2220) = {2.0f, 2.0f, 2.0f, 0.0f}; -const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(vMPPP) = {-0.0f, +0.0f, +0.0f, +0.0f}; +#define vMPPP (_mm_set_ps (+0.0f, +0.0f, +0.0f, -0.0f)) #endif -#if defined(BT_USE_SSE) || defined(BT_USE_NEON) +#if defined(BT_USE_SSE) +#define v1000 (_mm_set_ps(0.0f,0.0f,0.0f,1.0f)) +#define v0100 (_mm_set_ps(0.0f,0.0f,1.0f,0.0f)) +#define v0010 (_mm_set_ps(0.0f,1.0f,0.0f,0.0f)) +#elif defined(BT_USE_NEON) const btSimdFloat4 ATTRIBUTE_ALIGNED16(v1000) = {1.0f, 0.0f, 0.0f, 0.0f}; const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0100) = {0.0f, 1.0f, 0.0f, 0.0f}; const btSimdFloat4 ATTRIBUTE_ALIGNED16(v0010) = {0.0f, 0.0f, 1.0f, 0.0f}; @@ -207,7 +212,7 @@ public: btFullAssert(d != btScalar(0.0)); btScalar s = btScalar(2.0) / d; - #if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + #if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 vs, Q = q.get128(); __m128i Qi = btCastfTo128i(Q); __m128 Y, Z; @@ -341,7 +346,7 @@ public: * @param m The array to be filled */ void getOpenGLSubMatrix(btScalar *m) const { -#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 v0 = m_el[0].mVec128; __m128 v1 = m_el[1].mVec128; __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 @@ -362,7 +367,7 @@ public: vm[2] = v2; #elif defined(BT_USE_NEON) // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. - static const uint32x2_t zMask = (const uint32x2_t) {-1, 0 }; + static const uint32x2_t zMask = (const uint32x2_t) {static_cast(-1), 0 }; float32x4_t *vm = (float32x4_t *)m; float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 ); // {x0 x1 z0 z1}, {y0 y1 w0 w1} float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) ); // {x2 0 }, {y2 0} @@ -740,7 +745,7 @@ public: SIMD_FORCE_INLINE btMatrix3x3& btMatrix3x3::operator*=(const btMatrix3x3& m) { -#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 rv00, rv01, rv02; __m128 rv10, rv11, rv12; __m128 rv20, rv21, rv22; @@ -953,7 +958,7 @@ btMatrix3x3::determinant() const SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::absolute() const { -#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) return btMatrix3x3( _mm_and_ps(m_el[0].mVec128, btvAbsfMask), _mm_and_ps(m_el[1].mVec128, btvAbsfMask), @@ -974,7 +979,7 @@ btMatrix3x3::absolute() const SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::transpose() const { -#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) __m128 v0 = m_el[0].mVec128; __m128 v1 = m_el[1].mVec128; __m128 v2 = m_el[2].mVec128; // x2 y2 z2 w2 @@ -993,7 +998,7 @@ btMatrix3x3::transpose() const return btMatrix3x3( v0, v1, v2 ); #elif defined(BT_USE_NEON) // note: zeros the w channel. We can preserve it at the cost of two more vtrn instructions. - static const uint32x2_t zMask = (const uint32x2_t) {-1, 0 }; + static const uint32x2_t zMask = (const uint32x2_t) {static_cast(-1), 0 }; float32x4x2_t top = vtrnq_f32( m_el[0].mVec128, m_el[1].mVec128 ); // {x0 x1 z0 z1}, {y0 y1 w0 w1} float32x2x2_t bl = vtrn_f32( vget_low_f32(m_el[2].mVec128), vdup_n_f32(0.0f) ); // {x2 0 }, {y2 0} float32x4_t v0 = vcombine_f32( vget_low_f32(top.val[0]), bl.val[0] ); @@ -1031,7 +1036,7 @@ btMatrix3x3::inverse() const SIMD_FORCE_INLINE btMatrix3x3 btMatrix3x3::transposeTimes(const btMatrix3x3& m) const { -#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) // zeros w // static const __m128i xyzMask = (const __m128i){ -1ULL, 0xffffffffULL }; __m128 row = m_el[0].mVec128; @@ -1053,7 +1058,7 @@ btMatrix3x3::transposeTimes(const btMatrix3x3& m) const #elif defined BT_USE_NEON // zeros w - static const uint32x4_t xyzMask = (const uint32x4_t){ -1, -1, -1, 0 }; + static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast(-1), static_cast(-1), static_cast(-1), 0 }; float32x4_t m0 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(0).mVec128, xyzMask ); float32x4_t m1 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(1).mVec128, xyzMask ); float32x4_t m2 = (float32x4_t) vandq_u32( (uint32x4_t) m.getRow(2).mVec128, xyzMask ); @@ -1151,7 +1156,7 @@ operator*(const btMatrix3x3& m, const btVector3& v) SIMD_FORCE_INLINE btVector3 operator*(const btVector3& v, const btMatrix3x3& m) { -#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) const __m128 vv = v.mVec128; @@ -1191,7 +1196,7 @@ operator*(const btVector3& v, const btMatrix3x3& m) SIMD_FORCE_INLINE btMatrix3x3 operator*(const btMatrix3x3& m1, const btMatrix3x3& m2) { -#if (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) __m128 m10 = m1[0].mVec128; __m128 m11 = m1[1].mVec128; diff --git a/Engine/lib/bullet/src/LinearMath/btMatrixX.h b/Engine/lib/bullet/src/LinearMath/btMatrixX.h new file mode 100644 index 000000000..1c29632c5 --- /dev/null +++ b/Engine/lib/bullet/src/LinearMath/btMatrixX.h @@ -0,0 +1,504 @@ +/* +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. +*/ +///original version written by Erwin Coumans, October 2013 + +#ifndef BT_MATRIX_X_H +#define BT_MATRIX_X_H + +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btAlignedObjectArray.h" + +class btIntSortPredicate +{ + public: + bool operator() ( const int& a, const int& b ) const + { + return a < b; + } +}; + + +template +struct btMatrixX +{ + int m_rows; + int m_cols; + int m_operations; + int m_resizeOperations; + int m_setElemOperations; + + btAlignedObjectArray m_storage; + btAlignedObjectArray< btAlignedObjectArray > m_rowNonZeroElements1; + btAlignedObjectArray< btAlignedObjectArray > m_colNonZeroElements; + + T* getBufferPointerWritable() + { + return m_storage.size() ? &m_storage[0] : 0; + } + + const T* getBufferPointer() const + { + return m_storage.size() ? &m_storage[0] : 0; + } + btMatrixX() + :m_rows(0), + m_cols(0), + m_operations(0), + m_resizeOperations(0), + m_setElemOperations(0) + { + } + btMatrixX(int rows,int cols) + :m_rows(rows), + m_cols(cols), + m_operations(0), + m_resizeOperations(0), + m_setElemOperations(0) + { + resize(rows,cols); + } + void resize(int rows, int cols) + { + m_resizeOperations++; + m_rows = rows; + m_cols = cols; + { + BT_PROFILE("m_storage.resize"); + m_storage.resize(rows*cols); + } + clearSparseInfo(); + } + int cols() const + { + return m_cols; + } + int rows() const + { + return m_rows; + } + ///we don't want this read/write operator(), because we cannot keep track of non-zero elements, use setElem instead + /*T& operator() (int row,int col) + { + return m_storage[col*m_rows+row]; + } + */ + + void addElem(int row,int col, T val) + { + if (val) + { + if (m_storage[col+row*m_cols]==0.f) + { + setElem(row,col,val); + } else + { + m_storage[row*m_cols+col] += val; + } + } + } + + void copyLowerToUpperTriangle() + { + int count=0; + for (int row=0;row0 && numRowsOther>0 && B && C); + const btScalar *bb = B; + for ( int i = 0;i +struct btVectorX +{ + btAlignedObjectArray m_storage; + + btVectorX() + { + } + btVectorX(int numRows) + { + m_storage.resize(numRows); + } + + void resize(int rows) + { + m_storage.resize(rows); + } + int cols() const + { + return 1; + } + int rows() const + { + return m_storage.size(); + } + int size() const + { + return rows(); + } + void setZero() + { + // for (int i=0;i +void setElem(btMatrixX& mat, int row, int col, T val) +{ + mat.setElem(row,col,val); +} +*/ + + +typedef btMatrixX btMatrixXf; +typedef btVectorX btVectorXf; + +typedef btMatrixX btMatrixXd; +typedef btVectorX btVectorXd; + + + +inline void setElem(btMatrixXd& mat, int row, int col, double val) +{ + mat.setElem(row,col,val); +} + +inline void setElem(btMatrixXf& mat, int row, int col, float val) +{ + mat.setElem(row,col,val); +} + +#ifdef BT_USE_DOUBLE_PRECISION + #define btVectorXu btVectorXd + #define btMatrixXu btMatrixXd +#else + #define btVectorXu btVectorXf + #define btMatrixXu btMatrixXf +#endif //BT_USE_DOUBLE_PRECISION + + + +#endif//BT_MATRIX_H_H diff --git a/Engine/lib/bullet/src/LinearMath/btPolarDecomposition.cpp b/Engine/lib/bullet/src/LinearMath/btPolarDecomposition.cpp index d7de20408..a4dca7fdd 100644 --- a/Engine/lib/bullet/src/LinearMath/btPolarDecomposition.cpp +++ b/Engine/lib/bullet/src/LinearMath/btPolarDecomposition.cpp @@ -60,10 +60,10 @@ unsigned int btPolarDecomposition::decompose(const btMatrix3x3& a, btMatrix3x3& break; const btScalar gamma = btPow(h_norm / u_norm, 0.25f); - const btScalar inv_gamma = 1.0 / gamma; + const btScalar inv_gamma = btScalar(1.0) / gamma; // Determine the delta to 'u' - const btMatrix3x3 delta = (u * (gamma - 2.0) + h.transpose() * inv_gamma) * 0.5; + const btMatrix3x3 delta = (u * (gamma - btScalar(2.0)) + h.transpose() * inv_gamma) * btScalar(0.5); // Update the matrices u += delta; diff --git a/Engine/lib/bullet/src/LinearMath/btQuaternion.h b/Engine/lib/bullet/src/LinearMath/btQuaternion.h index a1db819de..665421de1 100644 --- a/Engine/lib/bullet/src/LinearMath/btQuaternion.h +++ b/Engine/lib/bullet/src/LinearMath/btQuaternion.h @@ -27,11 +27,17 @@ subject to the following restrictions: #ifdef BT_USE_SSE -const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(vOnes) = {1.0f, 1.0f, 1.0f, 1.0f}; +#define vOnes (_mm_set_ps(1.0f, 1.0f, 1.0f, 1.0f)) #endif -#if defined(BT_USE_SSE) || defined(BT_USE_NEON) +#if defined(BT_USE_SSE) + +#define vQInv (_mm_set_ps(+0.0f, -0.0f, -0.0f, -0.0f)) +#define vPPPM (_mm_set_ps(-0.0f, +0.0f, +0.0f, +0.0f)) + +#elif defined(BT_USE_NEON) const btSimdFloat4 ATTRIBUTE_ALIGNED16(vQInv) = {-0.0f, -0.0f, -0.0f, +0.0f}; const btSimdFloat4 ATTRIBUTE_ALIGNED16(vPPPM) = {+0.0f, +0.0f, +0.0f, -0.0f}; @@ -285,7 +291,7 @@ public: * @param q The other quaternion */ btScalar dot(const btQuaternion& q) const { -#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 vd; vd = _mm_mul_ps(mVec128, q.mVec128); @@ -384,7 +390,7 @@ public: { return *this / length(); } - /**@brief Return the angle between this quaternion and the other + /**@brief Return the ***half*** angle between this quaternion and the other * @param q The other quaternion */ btScalar angle(const btQuaternion& q) const { @@ -392,6 +398,19 @@ public: btAssert(s != btScalar(0.0)); return btAcos(dot(q) / s); } + + /**@brief Return the angle between this quaternion and the other along the shortest path + * @param q The other quaternion */ + btScalar angleShortestPath(const btQuaternion& q) const + { + btScalar s = btSqrt(length2() * q.length2()); + btAssert(s != btScalar(0.0)); + if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp + return btAcos(dot(-q) / s) * btScalar(2.0); + else + return btAcos(dot(q) / s) * btScalar(2.0); + } + /**@brief Return the angle of rotation represented by this quaternion */ btScalar getAngle() const { @@ -399,6 +418,19 @@ public: return s; } + /**@brief Return the angle of rotation represented by this quaternion along the shortest path*/ + btScalar getAngleShortestPath() const + { + btScalar s; + if (dot(*this) < 0) + s = btScalar(2.) * btAcos(m_floats[3]); + else + s = btScalar(2.) * btAcos(-m_floats[3]); + + return s; + } + + /**@brief Return the axis of the rotation represented by this quaternion */ btVector3 getAxis() const { @@ -498,7 +530,7 @@ public: btAssert(magnitude > btScalar(0)); btScalar product = dot(q) / magnitude; - if (btFabs(product) != btScalar(1)) + if (btFabs(product) < btScalar(1)) { // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp const btScalar sign = (product < 0) ? btScalar(-1) : btScalar(1); @@ -835,7 +867,7 @@ quatRotate(const btQuaternion& rotation, const btVector3& v) { btQuaternion q = rotation * v; q *= rotation.inverse(); -#if defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) return btVector3(_mm_and_ps(q.get128(), btvFFF0fMask)); #elif defined(BT_USE_NEON) return btVector3((float32x4_t)vandq_s32((int32x4_t)q.get128(), btvFFF0Mask)); diff --git a/Engine/lib/bullet/src/LinearMath/btScalar.h b/Engine/lib/bullet/src/LinearMath/btScalar.h index 7154b8f0b..37c6dec19 100644 --- a/Engine/lib/bullet/src/LinearMath/btScalar.h +++ b/Engine/lib/bullet/src/LinearMath/btScalar.h @@ -28,7 +28,7 @@ subject to the following restrictions: #include /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 281 +#define BT_BULLET_VERSION 282 inline int btGetVersion() { @@ -68,6 +68,10 @@ inline int btGetVersion() #else #if (defined (_WIN32) && (_MSC_VER) && _MSC_VER >= 1400) && (!defined (BT_USE_DOUBLE_PRECISION)) + #if _MSC_VER>1400 + #define BT_USE_SIMD_VECTOR3 + #endif + #define BT_USE_SSE #ifdef BT_USE_SSE //BT_USE_SSE_IN_API is disabled under Windows by default, because @@ -159,7 +163,8 @@ inline int btGetVersion() #if (defined (__APPLE__) && (!defined (BT_USE_DOUBLE_PRECISION))) #if defined (__i386__) || defined (__x86_64__) - #define BT_USE_SSE + #define BT_USE_SIMD_VECTOR3 + #define BT_USE_SSE //BT_USE_SSE_IN_API is enabled on Mac OSX by default, because memory is automatically aligned on 16-byte boundaries //if apps run into issues, we will disable the next line #define BT_USE_SSE_IN_API @@ -175,10 +180,11 @@ inline int btGetVersion() #include #endif #endif //BT_USE_SSE - #elif defined( __armv7__ ) + #elif defined( __ARM_NEON__ ) #ifdef __clang__ #define BT_USE_NEON 1 - + #define BT_USE_SIMD_VECTOR3 + #if defined BT_USE_NEON && defined (__clang__) #include #endif//BT_USE_NEON @@ -207,8 +213,7 @@ inline int btGetVersion() } #else//defined (__i386__) || defined (__x86_64__) #define btAssert assert - #end//defined (__i386__) || defined (__x86_64__) - #endif + #endif//defined (__i386__) || defined (__x86_64__) #else//defined(DEBUG) || defined (_DEBUG) #define btAssert(x) #endif//defined(DEBUG) || defined (_DEBUG) @@ -252,10 +257,12 @@ inline int btGetVersion() ///The btScalar type abstracts floating point numbers, to easily switch between double and single floating point precision. #if defined(BT_USE_DOUBLE_PRECISION) + typedef double btScalar; //this number could be bigger in double precision #define BT_LARGE_FLOAT 1e30 #else + typedef float btScalar; //keep BT_LARGE_FLOAT*BT_LARGE_FLOAT < FLT_MAX #define BT_LARGE_FLOAT 1e18f @@ -265,7 +272,8 @@ typedef float btScalar; typedef __m128 btSimdFloat4; #endif//BT_USE_SSE -#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE) +#if defined (BT_USE_SSE) +//#if defined BT_USE_SSE_IN_API && defined (BT_USE_SSE) #ifdef _WIN32 #ifndef BT_NAN @@ -278,6 +286,8 @@ static int btInfinityMask = 0x7F800000; #define BT_INFINITY (*(float*)&btInfinityMask) #endif +//use this, in case there are clashes (such as xnamath.h) +#ifndef BT_NO_SIMD_OPERATOR_OVERLOADS inline __m128 operator + (const __m128 A, const __m128 B) { return _mm_add_ps(A, B); @@ -292,6 +302,7 @@ inline __m128 operator * (const __m128 A, const __m128 B) { return _mm_mul_ps(A, B); } +#endif //BT_NO_SIMD_OPERATOR_OVERLOADS #define btCastfTo128i(a) (_mm_castps_si128(a)) #define btCastfTo128d(a) (_mm_castps_pd(a)) @@ -311,7 +322,24 @@ inline __m128 operator * (const __m128 A, const __m128 B) #define BT_INFINITY INFINITY #define BT_NAN NAN #endif//_WIN32 -#endif //BT_USE_SSE_IN_API +#else + +#ifdef BT_USE_NEON + #include + + typedef float32x4_t btSimdFloat4; + #define BT_INFINITY INFINITY + #define BT_NAN NAN + #define btAssign128(r0,r1,r2,r3) (float32x4_t){r0,r1,r2,r3} +#else//BT_USE_NEON + + #ifndef BT_INFINITY + static int btInfinityMask = 0x7F800000; + #define BT_INFINITY (*(float*)&btInfinityMask) + #endif +#endif//BT_USE_NEON + +#endif //BT_USE_SSE #ifdef BT_USE_NEON #include @@ -403,15 +431,15 @@ SIMD_FORCE_INLINE btScalar btFmod(btScalar x,btScalar y) { return fmodf(x,y); } #endif -#define SIMD_2_PI btScalar(6.283185307179586232) -#define SIMD_PI (SIMD_2_PI * btScalar(0.5)) -#define SIMD_HALF_PI (SIMD_2_PI * btScalar(0.25)) +#define SIMD_PI btScalar(3.1415926535897932384626433832795029) +#define SIMD_2_PI btScalar(2.0) * SIMD_PI +#define SIMD_HALF_PI (SIMD_PI * btScalar(0.5)) #define SIMD_RADS_PER_DEG (SIMD_2_PI / btScalar(360.0)) #define SIMD_DEGS_PER_RAD (btScalar(360.0) / SIMD_2_PI) #define SIMDSQRT12 btScalar(0.7071067811865475244008443621048490) #define btRecipSqrt(x) ((btScalar)(btScalar(1.0)/btSqrt(btScalar(x)))) /* reciprocal square root */ - +#define btRecip(x) (btScalar(1.0)/btScalar(x)) #ifdef BT_USE_DOUBLE_PRECISION #define SIMD_EPSILON DBL_EPSILON @@ -602,6 +630,46 @@ SIMD_FORCE_INLINE double btUnswapEndianDouble(const unsigned char *src) return d; } +template +SIMD_FORCE_INLINE void btSetZero(T* a, int n) +{ + T* acurr = a; + size_t ncurr = n; + while (ncurr > 0) + { + *(acurr++) = 0; + --ncurr; + } +} + + +SIMD_FORCE_INLINE btScalar btLargeDot(const btScalar *a, const btScalar *b, int n) +{ + btScalar p0,q0,m0,p1,q1,m1,sum; + sum = 0; + n -= 2; + while (n >= 0) { + p0 = a[0]; q0 = b[0]; + m0 = p0 * q0; + p1 = a[1]; q1 = b[1]; + m1 = p1 * q1; + sum += m0; + sum += m1; + a += 2; + b += 2; + n -= 2; + } + n += 2; + while (n > 0) { + sum += (*a) * (*b); + a++; + b++; + n--; + } + return sum; +} + + // returns normalized value in range [-SIMD_PI, SIMD_PI] SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) { @@ -620,6 +688,8 @@ SIMD_FORCE_INLINE btScalar btNormalizeAngle(btScalar angleInRadians) } } + + ///rudimentary class to provide type info struct btTypedObject { diff --git a/Engine/lib/bullet/src/LinearMath/btSerializer.cpp b/Engine/lib/bullet/src/LinearMath/btSerializer.cpp index d6b2b3a5a..ba3449395 100644 --- a/Engine/lib/bullet/src/LinearMath/btSerializer.cpp +++ b/Engine/lib/bullet/src/LinearMath/btSerializer.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(63),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(69),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -58,238 +58,242 @@ 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+char(7),char(0),char(-23),char(0),char(4),char(0),char(53),char(0),char(81),char(0),char(6),char(0),char(15),char(0),char(-22),char(0),char(13),char(0),char(-24),char(0), +char(13),char(0),char(-21),char(0),char(58),char(0),char(-20),char(0),char(4),char(0),char(-19),char(0),char(7),char(0),char(-23),char(0),char(82),char(0),char(26),char(0), +char(4),char(0),char(-18),char(0),char(7),char(0),char(-17),char(0),char(7),char(0),char(-76),char(0),char(7),char(0),char(-16),char(0),char(7),char(0),char(-15),char(0), +char(7),char(0),char(-14),char(0),char(7),char(0),char(-13),char(0),char(7),char(0),char(-12),char(0),char(7),char(0),char(-11),char(0),char(7),char(0),char(-10),char(0), +char(7),char(0),char(-9),char(0),char(7),char(0),char(-8),char(0),char(7),char(0),char(-7),char(0),char(7),char(0),char(-6),char(0),char(7),char(0),char(-5),char(0), +char(7),char(0),char(-4),char(0),char(7),char(0),char(-3),char(0),char(7),char(0),char(-2),char(0),char(7),char(0),char(-1),char(0),char(7),char(0),char(0),char(1), +char(7),char(0),char(1),char(1),char(4),char(0),char(2),char(1),char(4),char(0),char(3),char(1),char(4),char(0),char(4),char(1),char(4),char(0),char(5),char(1), +char(4),char(0),char(118),char(0),char(83),char(0),char(12),char(0),char(15),char(0),char(6),char(1),char(15),char(0),char(7),char(1),char(15),char(0),char(8),char(1), +char(13),char(0),char(9),char(1),char(13),char(0),char(10),char(1),char(7),char(0),char(11),char(1),char(4),char(0),char(12),char(1),char(4),char(0),char(13),char(1), +char(4),char(0),char(14),char(1),char(4),char(0),char(15),char(1),char(7),char(0),char(-25),char(0),char(4),char(0),char(53),char(0),char(84),char(0),char(27),char(0), +char(17),char(0),char(16),char(1),char(15),char(0),char(17),char(1),char(15),char(0),char(18),char(1),char(13),char(0),char(9),char(1),char(13),char(0),char(19),char(1), +char(13),char(0),char(20),char(1),char(13),char(0),char(21),char(1),char(13),char(0),char(22),char(1),char(13),char(0),char(23),char(1),char(4),char(0),char(24),char(1), +char(7),char(0),char(25),char(1),char(4),char(0),char(26),char(1),char(4),char(0),char(27),char(1),char(4),char(0),char(28),char(1),char(7),char(0),char(29),char(1), +char(7),char(0),char(30),char(1),char(4),char(0),char(31),char(1),char(4),char(0),char(32),char(1),char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1), +char(7),char(0),char(35),char(1),char(7),char(0),char(36),char(1),char(7),char(0),char(37),char(1),char(7),char(0),char(38),char(1),char(4),char(0),char(39),char(1), +char(4),char(0),char(40),char(1),char(4),char(0),char(41),char(1),char(85),char(0),char(12),char(0),char(9),char(0),char(42),char(1),char(9),char(0),char(43),char(1), +char(13),char(0),char(44),char(1),char(7),char(0),char(45),char(1),char(7),char(0),char(-57),char(0),char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1), +char(13),char(0),char(48),char(1),char(4),char(0),char(49),char(1),char(4),char(0),char(50),char(1),char(4),char(0),char(51),char(1),char(4),char(0),char(53),char(0), +char(86),char(0),char(19),char(0),char(48),char(0),char(126),char(0),char(83),char(0),char(52),char(1),char(76),char(0),char(53),char(1),char(77),char(0),char(54),char(1), +char(78),char(0),char(55),char(1),char(79),char(0),char(56),char(1),char(80),char(0),char(57),char(1),char(81),char(0),char(58),char(1),char(84),char(0),char(59),char(1), +char(85),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(4),char(0),char(27),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1), +char(4),char(0),char(64),char(1),char(4),char(0),char(65),char(1),char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(82),char(0),char(68),char(1), +}; int sBulletDNAlen= sizeof(sBulletDNAstr); + char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(63),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(69),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -512,238 +554,242 @@ char(102),char(111),char(114),char(109),char(0),char(42),char(109),char(95),char char(95),char(99),char(104),char(105),char(108),char(100),char(83),char(104),char(97),char(112),char(101),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(99),char(104), char(105),char(108),char(100),char(77),char(97),char(114),char(103),char(105),char(110),char(0),char(42),char(109),char(95),char(99),char(104),char(105),char(108),char(100),char(83),char(104), char(97),char(112),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117),char(109),char(67),char(104),char(105),char(108),char(100),char(83),char(104),char(97), -char(112),char(101),char(115),char(0),char(109),char(95),char(117),char(112),char(65),char(120),char(105),char(115),char(0),char(109),char(95),char(102),char(108),char(97),char(103),char(115), -char(0),char(109),char(95),char(101),char(100),char(103),char(101),char(86),char(48),char(86),char(49),char(65),char(110),char(103),char(108),char(101),char(0),char(109),char(95),char(101), -char(100),char(103),char(101),char(86),char(49),char(86),char(50),char(65),char(110),char(103),char(108),char(101),char(0),char(109),char(95),char(101),char(100),char(103),char(101),char(86), -char(50),char(86),char(48),char(65),char(110),char(103),char(108),char(101),char(0),char(42),char(109),char(95),char(104),char(97),char(115),char(104),char(84),char(97),char(98),char(108), -char(101),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(110),char(101),char(120),char(116),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(118), -char(97),char(108),char(117),char(101),char(65),char(114),char(114),char(97),char(121),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(107),char(101),char(121),char(65), -char(114),char(114),char(97),char(121),char(80),char(116),char(114),char(0),char(109),char(95),char(99),char(111),char(110),char(118),char(101),char(120),char(69),char(112),char(115),char(105), -char(108),char(111),char(110),char(0),char(109),char(95),char(112),char(108),char(97),char(110),char(97),char(114),char(69),char(112),char(115),char(105),char(108),char(111),char(110),char(0), -char(109),char(95),char(101),char(113),char(117),char(97),char(108),char(86),char(101),char(114),char(116),char(101),char(120),char(84),char(104),char(114),char(101),char(115),char(104),char(111), -char(108),char(100),char(0),char(109),char(95),char(101),char(100),char(103),char(101),char(68),char(105),char(115),char(116),char(97),char(110),char(99),char(101),char(84),char(104),char(114), -char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(122),char(101),char(114),char(111),char(65),char(114),char(101),char(97),char(84),char(104),char(114), -char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110),char(101),char(120),char(116),char(83),char(105),char(122),char(101),char(0),char(109),char(95), -char(104),char(97),char(115),char(104),char(84),char(97),char(98),char(108),char(101),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(110),char(117),char(109),char(86), -char(97),char(108),char(117),char(101),char(115),char(0),char(109),char(95),char(110),char(117),char(109),char(75),char(101),char(121),char(115),char(0),char(109),char(95),char(103),char(105), -char(109),char(112),char(97),char(99),char(116),char(83),char(117),char(98),char(84),char(121),char(112),char(101),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99), -char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),char(70),char(108),char(111),char(97),char(116),char(80),char(116),char(114),char(0),char(42), -char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),char(68),char(111),char(117),char(98), -char(108),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117),char(109),char(85),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80), -char(111),char(105),char(110),char(116),char(115),char(0),char(109),char(95),char(112),char(97),char(100),char(100),char(105),char(110),char(103),char(51),char(91),char(52),char(93),char(0), -char(42),char(109),char(95),char(98),char(114),char(111),char(97),char(100),char(112),char(104),char(97),char(115),char(101),char(72),char(97),char(110),char(100),char(108),char(101),char(0), -char(42),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(42),char(109), -char(95),char(114),char(111),char(111),char(116),char(67),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0), -char(109),char(95),char(119),char(111),char(114),char(108),char(100),char(84),char(114),char(97),char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(105), -char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),char(111),char(110),char(87),char(111),char(114),char(108),char(100),char(84),char(114),char(97), +char(112),char(101),char(115),char(0),char(109),char(95),char(117),char(112),char(65),char(120),char(105),char(115),char(0),char(109),char(95),char(117),char(112),char(73),char(110),char(100), +char(101),char(120),char(0),char(109),char(95),char(102),char(108),char(97),char(103),char(115),char(0),char(109),char(95),char(101),char(100),char(103),char(101),char(86),char(48),char(86), +char(49),char(65),char(110),char(103),char(108),char(101),char(0),char(109),char(95),char(101),char(100),char(103),char(101),char(86),char(49),char(86),char(50),char(65),char(110),char(103), +char(108),char(101),char(0),char(109),char(95),char(101),char(100),char(103),char(101),char(86),char(50),char(86),char(48),char(65),char(110),char(103),char(108),char(101),char(0),char(42), +char(109),char(95),char(104),char(97),char(115),char(104),char(84),char(97),char(98),char(108),char(101),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(110),char(101), +char(120),char(116),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(118),char(97),char(108),char(117),char(101),char(65),char(114),char(114),char(97),char(121),char(80), +char(116),char(114),char(0),char(42),char(109),char(95),char(107),char(101),char(121),char(65),char(114),char(114),char(97),char(121),char(80),char(116),char(114),char(0),char(109),char(95), +char(99),char(111),char(110),char(118),char(101),char(120),char(69),char(112),char(115),char(105),char(108),char(111),char(110),char(0),char(109),char(95),char(112),char(108),char(97),char(110), +char(97),char(114),char(69),char(112),char(115),char(105),char(108),char(111),char(110),char(0),char(109),char(95),char(101),char(113),char(117),char(97),char(108),char(86),char(101),char(114), +char(116),char(101),char(120),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(101),char(100),char(103),char(101),char(68), +char(105),char(115),char(116),char(97),char(110),char(99),char(101),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(122), +char(101),char(114),char(111),char(65),char(114),char(101),char(97),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110), +char(101),char(120),char(116),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(104),char(97),char(115),char(104),char(84),char(97),char(98),char(108),char(101),char(83), +char(105),char(122),char(101),char(0),char(109),char(95),char(110),char(117),char(109),char(86),char(97),char(108),char(117),char(101),char(115),char(0),char(109),char(95),char(110),char(117), +char(109),char(75),char(101),char(121),char(115),char(0),char(109),char(95),char(103),char(105),char(109),char(112),char(97),char(99),char(116),char(83),char(117),char(98),char(84),char(121), +char(112),char(101),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115), +char(70),char(108),char(111),char(97),char(116),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100), +char(80),char(111),char(105),char(110),char(116),char(115),char(68),char(111),char(117),char(98),char(108),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117), +char(109),char(85),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),char(0),char(109),char(95),char(112),char(97), +char(100),char(100),char(105),char(110),char(103),char(51),char(91),char(52),char(93),char(0),char(42),char(109),char(95),char(98),char(114),char(111),char(97),char(100),char(112),char(104), +char(97),char(115),char(101),char(72),char(97),char(110),char(100),char(108),char(101),char(0),char(42),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105), +char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(42),char(109),char(95),char(114),char(111),char(111),char(116),char(67),char(111),char(108),char(108),char(105), +char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(109),char(95),char(119),char(111),char(114),char(108),char(100),char(84),char(114),char(97), char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(105),char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105), -char(111),char(110),char(76),char(105),char(110),char(101),char(97),char(114),char(86),char(101),char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),char(105), 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+char(13),char(0),char(-27),char(0),char(76),char(0),char(-40),char(0),char(4),char(0),char(-26),char(0),char(7),char(0),char(-25),char(0),char(7),char(0),char(-24),char(0), +char(7),char(0),char(-23),char(0),char(4),char(0),char(53),char(0),char(81),char(0),char(6),char(0),char(15),char(0),char(-22),char(0),char(13),char(0),char(-24),char(0), +char(13),char(0),char(-21),char(0),char(58),char(0),char(-20),char(0),char(4),char(0),char(-19),char(0),char(7),char(0),char(-23),char(0),char(82),char(0),char(26),char(0), +char(4),char(0),char(-18),char(0),char(7),char(0),char(-17),char(0),char(7),char(0),char(-76),char(0),char(7),char(0),char(-16),char(0),char(7),char(0),char(-15),char(0), +char(7),char(0),char(-14),char(0),char(7),char(0),char(-13),char(0),char(7),char(0),char(-12),char(0),char(7),char(0),char(-11),char(0),char(7),char(0),char(-10),char(0), +char(7),char(0),char(-9),char(0),char(7),char(0),char(-8),char(0),char(7),char(0),char(-7),char(0),char(7),char(0),char(-6),char(0),char(7),char(0),char(-5),char(0), +char(7),char(0),char(-4),char(0),char(7),char(0),char(-3),char(0),char(7),char(0),char(-2),char(0),char(7),char(0),char(-1),char(0),char(7),char(0),char(0),char(1), +char(7),char(0),char(1),char(1),char(4),char(0),char(2),char(1),char(4),char(0),char(3),char(1),char(4),char(0),char(4),char(1),char(4),char(0),char(5),char(1), +char(4),char(0),char(118),char(0),char(83),char(0),char(12),char(0),char(15),char(0),char(6),char(1),char(15),char(0),char(7),char(1),char(15),char(0),char(8),char(1), +char(13),char(0),char(9),char(1),char(13),char(0),char(10),char(1),char(7),char(0),char(11),char(1),char(4),char(0),char(12),char(1),char(4),char(0),char(13),char(1), +char(4),char(0),char(14),char(1),char(4),char(0),char(15),char(1),char(7),char(0),char(-25),char(0),char(4),char(0),char(53),char(0),char(84),char(0),char(27),char(0), +char(17),char(0),char(16),char(1),char(15),char(0),char(17),char(1),char(15),char(0),char(18),char(1),char(13),char(0),char(9),char(1),char(13),char(0),char(19),char(1), +char(13),char(0),char(20),char(1),char(13),char(0),char(21),char(1),char(13),char(0),char(22),char(1),char(13),char(0),char(23),char(1),char(4),char(0),char(24),char(1), +char(7),char(0),char(25),char(1),char(4),char(0),char(26),char(1),char(4),char(0),char(27),char(1),char(4),char(0),char(28),char(1),char(7),char(0),char(29),char(1), +char(7),char(0),char(30),char(1),char(4),char(0),char(31),char(1),char(4),char(0),char(32),char(1),char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1), +char(7),char(0),char(35),char(1),char(7),char(0),char(36),char(1),char(7),char(0),char(37),char(1),char(7),char(0),char(38),char(1),char(4),char(0),char(39),char(1), +char(4),char(0),char(40),char(1),char(4),char(0),char(41),char(1),char(85),char(0),char(12),char(0),char(9),char(0),char(42),char(1),char(9),char(0),char(43),char(1), +char(13),char(0),char(44),char(1),char(7),char(0),char(45),char(1),char(7),char(0),char(-57),char(0),char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1), +char(13),char(0),char(48),char(1),char(4),char(0),char(49),char(1),char(4),char(0),char(50),char(1),char(4),char(0),char(51),char(1),char(4),char(0),char(53),char(0), +char(86),char(0),char(19),char(0),char(48),char(0),char(126),char(0),char(83),char(0),char(52),char(1),char(76),char(0),char(53),char(1),char(77),char(0),char(54),char(1), +char(78),char(0),char(55),char(1),char(79),char(0),char(56),char(1),char(80),char(0),char(57),char(1),char(81),char(0),char(58),char(1),char(84),char(0),char(59),char(1), +char(85),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(4),char(0),char(27),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1), +char(4),char(0),char(64),char(1),char(4),char(0),char(65),char(1),char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(82),char(0),char(68),char(1), +}; int sBulletDNAlen64= sizeof(sBulletDNAstr64); diff --git a/Engine/lib/bullet/src/LinearMath/btSerializer.h b/Engine/lib/bullet/src/LinearMath/btSerializer.h index c5bc96b78..ff1dc574c 100644 --- a/Engine/lib/bullet/src/LinearMath/btSerializer.h +++ b/Engine/lib/bullet/src/LinearMath/btSerializer.h @@ -17,7 +17,6 @@ subject to the following restrictions: #define BT_SERIALIZER_H #include "btScalar.h" // has definitions like SIMD_FORCE_INLINE -#include "btStackAlloc.h" #include "btHashMap.h" #if !defined( __CELLOS_LV2__) && !defined(__MWERKS__) @@ -439,7 +438,7 @@ public: buffer[9] = '2'; buffer[10] = '8'; - buffer[11] = '1'; + buffer[11] = '2'; } diff --git a/Engine/lib/bullet/src/LinearMath/btVector3.cpp b/Engine/lib/bullet/src/LinearMath/btVector3.cpp index 24bd521a9..9389a25ca 100644 --- a/Engine/lib/bullet/src/LinearMath/btVector3.cpp +++ b/Engine/lib/bullet/src/LinearMath/btVector3.cpp @@ -19,9 +19,17 @@ #define BT_USE_SSE_IN_API #endif + #include "btVector3.h" -#if defined (BT_USE_SSE) || defined (BT_USE_NEON) + + +#if defined BT_USE_SIMD_VECTOR3 + +#if DEBUG +#include //for memset +#endif + #ifdef __APPLE__ #include @@ -43,7 +51,7 @@ long _maxdot_large( const float *vv, const float *vec, unsigned long count, floa long _maxdot_large( const float *vv, const float *vec, unsigned long count, float *dotResult ) { const float4 *vertices = (const float4*) vv; - static const unsigned char indexTable[16] = {-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; + static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; float4 dotMax = btAssign128( -BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY ); float4 vvec = _mm_loadu_ps( vec ); float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa )); /// zzzz @@ -428,7 +436,7 @@ long _mindot_large( const float *vv, const float *vec, unsigned long count, floa long _mindot_large( const float *vv, const float *vec, unsigned long count, float *dotResult ) { const float4 *vertices = (const float4*) vv; - static const unsigned char indexTable[16] = {-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; + static const unsigned char indexTable[16] = {(unsigned char)-1, 0, 1, 0, 2, 0, 1, 0, 3, 0, 1, 0, 2, 0, 1, 0 }; float4 dotmin = btAssign128( BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY ); float4 vvec = _mm_loadu_ps( vec ); float4 vHi = btCastiTo128f(_mm_shuffle_epi32( btCastfTo128i( vvec), 0xaa )); /// zzzz @@ -815,7 +823,8 @@ long _mindot_large( const float *vv, const float *vec, unsigned long count, floa #elif defined BT_USE_NEON #define ARM_NEON_GCC_COMPATIBILITY 1 #include - +#include +#include //for sysctlbyname static long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, float *dotResult ); static long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, float *dotResult ); @@ -827,11 +836,34 @@ static long _mindot_large_sel( const float *vv, const float *vec, unsigned long long (*_maxdot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _maxdot_large_sel; long (*_mindot_large)( const float *vv, const float *vec, unsigned long count, float *dotResult ) = _mindot_large_sel; -extern "C" {int _get_cpu_capabilities( void );} + +static inline uint32_t btGetCpuCapabilities( void ) +{ + static uint32_t capabilities = 0; + static bool testedCapabilities = false; + + if( 0 == testedCapabilities) + { + uint32_t hasFeature = 0; + size_t featureSize = sizeof( hasFeature ); + int err = sysctlbyname( "hw.optional.neon_hpfp", &hasFeature, &featureSize, NULL, 0 ); + + if( 0 == err && hasFeature) + capabilities |= 0x2000; + + testedCapabilities = true; + } + + return capabilities; +} + + + static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ) { - if( _get_cpu_capabilities() & 0x2000 ) + + if( btGetCpuCapabilities() & 0x2000 ) _maxdot_large = _maxdot_large_v1; else _maxdot_large = _maxdot_large_v0; @@ -841,7 +873,8 @@ static long _maxdot_large_sel( const float *vv, const float *vec, unsigned long static long _mindot_large_sel( const float *vv, const float *vec, unsigned long count, float *dotResult ) { - if( _get_cpu_capabilities() & 0x2000 ) + + if( btGetCpuCapabilities() & 0x2000 ) _mindot_large = _mindot_large_v1; else _mindot_large = _mindot_large_v0; @@ -864,8 +897,8 @@ long _maxdot_large_v0( const float *vv, const float *vec, unsigned long count, f float32x2_t dotMaxHi = (float32x2_t) { -BT_INFINITY, -BT_INFINITY }; uint32x2_t indexLo = (uint32x2_t) {0, 1}; uint32x2_t indexHi = (uint32x2_t) {2, 3}; - uint32x2_t iLo = (uint32x2_t) {-1, -1}; - uint32x2_t iHi = (uint32x2_t) {-1, -1}; + uint32x2_t iLo = (uint32x2_t) {static_cast(-1), static_cast(-1)}; + uint32x2_t iHi = (uint32x2_t) {static_cast(-1), static_cast(-1)}; const uint32x2_t four = (uint32x2_t) {4,4}; for( ; i+8 <= count; i+= 8 ) @@ -1051,7 +1084,7 @@ long _maxdot_large_v1( const float *vv, const float *vec, unsigned long count, f float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0); const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 }; uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3}; - uint32x4_t index = (uint32x4_t) { -1, -1, -1, -1 }; + uint32x4_t index = (uint32x4_t) { static_cast(-1), static_cast(-1), static_cast(-1), static_cast(-1) }; float32x4_t maxDot = (float32x4_t) { -BT_INFINITY, -BT_INFINITY, -BT_INFINITY, -BT_INFINITY }; unsigned long i = 0; @@ -1249,8 +1282,8 @@ long _mindot_large_v0( const float *vv, const float *vec, unsigned long count, f float32x2_t dotMinHi = (float32x2_t) { BT_INFINITY, BT_INFINITY }; uint32x2_t indexLo = (uint32x2_t) {0, 1}; uint32x2_t indexHi = (uint32x2_t) {2, 3}; - uint32x2_t iLo = (uint32x2_t) {-1, -1}; - uint32x2_t iHi = (uint32x2_t) {-1, -1}; + uint32x2_t iLo = (uint32x2_t) {static_cast(-1), static_cast(-1)}; + uint32x2_t iHi = (uint32x2_t) {static_cast(-1), static_cast(-1)}; const uint32x2_t four = (uint32x2_t) {4,4}; for( ; i+8 <= count; i+= 8 ) @@ -1434,7 +1467,7 @@ long _mindot_large_v1( const float *vv, const float *vec, unsigned long count, f float32x4_t vHi = vdupq_lane_f32(vget_high_f32(vvec), 0); const uint32x4_t four = (uint32x4_t){ 4, 4, 4, 4 }; uint32x4_t local_index = (uint32x4_t) {0, 1, 2, 3}; - uint32x4_t index = (uint32x4_t) { -1, -1, -1, -1 }; + uint32x4_t index = (uint32x4_t) { static_cast(-1), static_cast(-1), static_cast(-1), static_cast(-1) }; float32x4_t minDot = (float32x4_t) { BT_INFINITY, BT_INFINITY, BT_INFINITY, BT_INFINITY }; unsigned long i = 0; diff --git a/Engine/lib/bullet/src/LinearMath/btVector3.h b/Engine/lib/bullet/src/LinearMath/btVector3.h index 5001dfa9f..896859292 100644 --- a/Engine/lib/bullet/src/LinearMath/btVector3.h +++ b/Engine/lib/bullet/src/LinearMath/btVector3.h @@ -53,19 +53,24 @@ subject to the following restrictions: #define btvxyzMaskf btvFFF0fMask #define btvAbsfMask btCastiTo128f(btvAbsMask) +//there is an issue with XCode 3.2 (LCx errors) +#define btvMzeroMask (_mm_set_ps(-0.0f, -0.0f, -0.0f, -0.0f)) +#define v1110 (_mm_set_ps(0.0f, 1.0f, 1.0f, 1.0f)) +#define vHalf (_mm_set_ps(0.5f, 0.5f, 0.5f, 0.5f)) +#define v1_5 (_mm_set_ps(1.5f, 1.5f, 1.5f, 1.5f)) - -const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f}; -const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f}; -const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f}; -const __m128 ATTRIBUTE_ALIGNED16(v1_5) = {1.5f, 1.5f, 1.5f, 1.5f}; +//const __m128 ATTRIBUTE_ALIGNED16(btvMzeroMask) = {-0.0f, -0.0f, -0.0f, -0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(v1110) = {1.0f, 1.0f, 1.0f, 0.0f}; +//const __m128 ATTRIBUTE_ALIGNED16(vHalf) = {0.5f, 0.5f, 0.5f, 0.5f}; +//const __m128 ATTRIBUTE_ALIGNED16(v1_5) = {1.5f, 1.5f, 1.5f, 1.5f}; #endif #ifdef BT_USE_NEON const float32x4_t ATTRIBUTE_ALIGNED16(btvMzeroMask) = (float32x4_t){-0.0f, -0.0f, -0.0f, -0.0f}; -const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){0xFFFFFFFF, 0xFFFFFFFF, 0xFFFFFFFF, 0x0}; +const int32x4_t ATTRIBUTE_ALIGNED16(btvFFF0Mask) = (int32x4_t){static_cast(0xFFFFFFFF), + static_cast(0xFFFFFFFF), static_cast(0xFFFFFFFF), 0x0}; const int32x4_t ATTRIBUTE_ALIGNED16(btvAbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF}; const int32x4_t ATTRIBUTE_ALIGNED16(btv3AbsMask) = (int32x4_t){0x7FFFFFFF, 0x7FFFFFFF, 0x7FFFFFFF, 0x0}; @@ -229,7 +234,7 @@ public: * @param v The other vector in the dot product */ SIMD_FORCE_INLINE btScalar dot(const btVector3& v) const { -#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 vd = _mm_mul_ps(mVec128, v.mVec128); __m128 z = _mm_movehl_ps(vd, vd); __m128 y = _mm_shuffle_ps(vd, vd, 0x55); @@ -260,6 +265,12 @@ public: return btSqrt(length2()); } + /**@brief Return the norm (length) of the vector */ + SIMD_FORCE_INLINE btScalar norm() const + { + return length(); + } + /**@brief Return the distance squared between the ends of this and another vector * This is symantically treating the vector like a point */ SIMD_FORCE_INLINE btScalar distance2(const btVector3& v) const; @@ -285,6 +296,9 @@ public: * x^2 + y^2 + z^2 = 1 */ SIMD_FORCE_INLINE btVector3& normalize() { + + btAssert(length() != btScalar(0)); + #if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) // dot product first __m128 vd = _mm_mul_ps(mVec128, mVec128); @@ -345,7 +359,8 @@ public: /**@brief Return a vector will the absolute values of each element */ SIMD_FORCE_INLINE btVector3 absolute() const { -#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) + +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) return btVector3(_mm_and_ps(mVec128, btv3AbsfMask)); #elif defined(BT_USE_NEON) return btVector3(vabsq_f32(mVec128)); @@ -400,7 +415,7 @@ public: SIMD_FORCE_INLINE btScalar triple(const btVector3& v1, const btVector3& v2) const { -#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) // cross: __m128 T = _mm_shuffle_ps(v1.mVec128, v1.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) __m128 V = _mm_shuffle_ps(v2.mVec128, v2.mVec128, BT_SHUFFLE(1, 2, 0, 3)); // (Y Z X 0) @@ -632,7 +647,7 @@ public: void getSkewSymmetricMatrix(btVector3* v0,btVector3* v1,btVector3* v2) const { -#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 V = _mm_and_ps(mVec128, btvFFF0fMask); __m128 V0 = _mm_xor_ps(btvMzeroMask, V); @@ -702,7 +717,7 @@ public: /* create a vector as btVector3( this->dot( btVector3 v0 ), this->dot( btVector3 v1), this->dot( btVector3 v2 )) */ SIMD_FORCE_INLINE btVector3 dot3( const btVector3 &v0, const btVector3 &v1, const btVector3 &v2 ) const { -#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 a0 = _mm_mul_ps( v0.mVec128, this->mVec128 ); __m128 a1 = _mm_mul_ps( v1.mVec128, this->mVec128 ); @@ -717,7 +732,7 @@ public: return btVector3(r); #elif defined(BT_USE_NEON) - static const uint32x4_t xyzMask = (const uint32x4_t){ -1, -1, -1, 0 }; + static const uint32x4_t xyzMask = (const uint32x4_t){ static_cast(-1), static_cast(-1), static_cast(-1), 0 }; float32x4_t a0 = vmulq_f32( v0.mVec128, this->mVec128); float32x4_t a1 = vmulq_f32( v1.mVec128, this->mVec128); float32x4_t a2 = vmulq_f32( v2.mVec128, this->mVec128); @@ -768,7 +783,7 @@ operator*(const btVector3& v1, const btVector3& v2) SIMD_FORCE_INLINE btVector3 operator-(const btVector3& v1, const btVector3& v2) { -#if (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined(BT_USE_SSE)) // without _mm_and_ps this code causes slowdown in Concave moving __m128 r = _mm_sub_ps(v1.mVec128, v2.mVec128); @@ -788,7 +803,7 @@ operator-(const btVector3& v1, const btVector3& v2) SIMD_FORCE_INLINE btVector3 operator-(const btVector3& v) { -#if (defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE)) __m128 r = _mm_xor_ps(v.mVec128, btvMzeroMask); return btVector3(_mm_and_ps(r, btvFFF0fMask)); #elif defined(BT_USE_NEON) @@ -842,7 +857,7 @@ operator/(const btVector3& v, const btScalar& s) SIMD_FORCE_INLINE btVector3 operator/(const btVector3& v1, const btVector3& v2) { -#if (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) +#if defined BT_USE_SIMD_VECTOR3 && (defined(BT_USE_SSE_IN_API)&& defined (BT_USE_SSE)) __m128 vec = _mm_div_ps(v1.mVec128, v2.mVec128); vec = _mm_and_ps(vec, btvFFF0fMask); return btVector3(vec); @@ -935,20 +950,16 @@ SIMD_FORCE_INLINE btScalar btVector3::distance(const btVector3& v) const SIMD_FORCE_INLINE btVector3 btVector3::normalized() const { -#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) btVector3 norm = *this; return norm.normalize(); -#else - return *this / length(); -#endif } SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btScalar _angle ) const { // wAxis must be a unit lenght vector -#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined (BT_USE_SSE_IN_API) && defined (BT_USE_SSE) __m128 O = _mm_mul_ps(wAxis.mVec128, mVec128); btScalar ssin = btSin( _angle ); @@ -988,7 +999,7 @@ SIMD_FORCE_INLINE btVector3 btVector3::rotate( const btVector3& wAxis, const btS SIMD_FORCE_INLINE long btVector3::maxDot( const btVector3 *array, long array_count, btScalar &dotOut ) const { -#if defined (BT_USE_SSE) || defined (BT_USE_NEON) +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) #if defined _WIN32 || defined (BT_USE_SSE) const long scalar_cutoff = 10; long _maxdot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut ); @@ -996,10 +1007,8 @@ SIMD_FORCE_INLINE long btVector3::maxDot( const btVector3 *array, long arra const long scalar_cutoff = 4; extern long (*_maxdot_large)( const float *array, const float *vec, unsigned long array_count, float *dotOut ); #endif - if( array_count < scalar_cutoff ) -#else - -#endif//BT_USE_SSE || BT_USE_NEON + if( array_count < scalar_cutoff ) +#endif { btScalar maxDot = -SIMD_INFINITY; int i = 0; @@ -1018,14 +1027,14 @@ SIMD_FORCE_INLINE long btVector3::maxDot( const btVector3 *array, long arra dotOut = maxDot; return ptIndex; } -#if defined (BT_USE_SSE) || defined (BT_USE_NEON) +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) return _maxdot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut ); #endif } SIMD_FORCE_INLINE long btVector3::minDot( const btVector3 *array, long array_count, btScalar &dotOut ) const { -#if defined (BT_USE_SSE) || defined (BT_USE_NEON) +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) #if defined BT_USE_SSE const long scalar_cutoff = 10; long _mindot_large( const float *array, const float *vec, unsigned long array_count, float *dotOut ); @@ -1037,7 +1046,7 @@ SIMD_FORCE_INLINE long btVector3::minDot( const btVector3 *array, long arra #endif if( array_count < scalar_cutoff ) -#endif//BT_USE_SSE || BT_USE_NEON +#endif { btScalar minDot = SIMD_INFINITY; int i = 0; @@ -1058,9 +1067,9 @@ SIMD_FORCE_INLINE long btVector3::minDot( const btVector3 *array, long arra return ptIndex; } -#if defined (BT_USE_SSE) || defined (BT_USE_NEON) +#if (defined BT_USE_SSE && defined BT_USE_SIMD_VECTOR3 && defined BT_USE_SSE_IN_API) || defined (BT_USE_NEON) return _mindot_large( (float*) array, (float*) &m_floats[0], array_count, &dotOut ); -#endif +#endif//BT_USE_SIMD_VECTOR3 } @@ -1098,7 +1107,7 @@ public: SIMD_FORCE_INLINE btVector4 absolute4() const { -#if defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) +#if defined BT_USE_SIMD_VECTOR3 && defined(BT_USE_SSE_IN_API) && defined (BT_USE_SSE) return btVector4(_mm_and_ps(mVec128, btvAbsfMask)); #elif defined(BT_USE_NEON) return btVector4(vabsq_f32(mVec128)); diff --git a/Engine/lib/bullet/src/Makefile.am b/Engine/lib/bullet/src/Makefile.am index ec39e7a05..0ecb5c9f5 100644 --- a/Engine/lib/bullet/src/Makefile.am +++ b/Engine/lib/bullet/src/Makefile.am @@ -160,6 +160,8 @@ libBulletCollision_la_SOURCES = \ BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp \ BulletCollision/CollisionDispatch/btUnionFind.cpp \ BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp \ + BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp \ + BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp \ BulletCollision/CollisionShapes/btTetrahedronShape.cpp \ BulletCollision/CollisionShapes/btShapeHull.cpp \ BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp \ @@ -223,7 +225,7 @@ libBulletCollision_la_SOURCES = \ BulletCollision/NarrowPhaseCollision/btManifoldPoint.h \ BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h \ BulletCollision/CollisionDispatch/btCollisionObject.h \ - BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h \ + BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h \ BulletCollision/CollisionDispatch/btGhostObject.h \ BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h \ BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h \ @@ -239,6 +241,8 @@ libBulletCollision_la_SOURCES = \ BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h \ BulletCollision/CollisionDispatch/btUnionFind.h \ BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btHashedSimplePairCache.h \ + BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h \ BulletCollision/CollisionDispatch/btSimulationIslandManager.h \ BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h \ BulletCollision/CollisionDispatch/btCollisionWorld.h \ @@ -313,6 +317,7 @@ libBulletDynamics_la_SOURCES = \ BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp \ BulletDynamics/Dynamics/Bullet-C-API.cpp \ BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp \ + BulletDynamics/ConstraintSolver/btFixedConstraint.cpp \ BulletDynamics/ConstraintSolver/btGearConstraint.cpp \ BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp \ BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp \ @@ -356,7 +361,35 @@ libBulletDynamics_la_SOURCES = \ BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h \ BulletDynamics/Vehicle/btVehicleRaycaster.h \ BulletDynamics/Vehicle/btRaycastVehicle.h \ - BulletDynamics/Vehicle/btWheelInfo.h + BulletDynamics/Vehicle/btWheelInfo.h \ + BulletDynamics/Featherstone/btMultiBody.cpp \ + BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp \ + BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp \ + BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp \ + BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp \ + BulletDynamics/Featherstone/btMultiBodyJointMotor.h \ + BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h \ + BulletDynamics/Featherstone/btMultiBody.h \ + BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h \ + BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h \ + BulletDynamics/Featherstone/btMultiBodyLink.h \ + BulletDynamics/Featherstone/btMultiBodyLinkCollider.h \ + BulletDynamics/Featherstone/btMultiBodySolverConstraint.h \ + BulletDynamics/Featherstone/btMultiBodyConstraint.h \ + BulletDynamics/Featherstone/btMultiBodyPoint2Point.h \ + BulletDynamics/Featherstone/btMultiBodyConstraint.cpp \ + BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp \ + BulletDynamics/MLCPSolvers/btDantzigLCP.cpp \ + BulletDynamics/MLCPSolvers/btMLCPSolver.cpp \ + BulletDynamics/MLCPSolvers/btDantzigLCP.h \ + BulletDynamics/MLCPSolvers/btDantzigSolver.h \ + BulletDynamics/MLCPSolvers/btMLCPSolver.h \ + BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h \ + BulletDynamics/MLCPSolvers/btPATHSolver.h \ + BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h + + + libBulletSoftBody_la_SOURCES = \ BulletSoftBody/btDefaultSoftBodySolver.cpp \ @@ -417,6 +450,20 @@ nobase_bullet_include_HEADERS += \ BulletDynamics/ConstraintSolver/btSolverBody.h \ BulletDynamics/Character/btCharacterControllerInterface.h \ BulletDynamics/Character/btKinematicCharacterController.h \ + BulletDynamics/Featherstone/btMultiBody.h \ + BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h \ + BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h \ + BulletDynamics/Featherstone/btMultiBodyLink.h \ + BulletDynamics/Featherstone/btMultiBodyLinkCollider.h \ + BulletDynamics/Featherstone/btMultiBodySolverConstraint.h \ + BulletDynamics/Featherstone/btMultiBodyConstraint.h \ + BulletDynamics/Featherstone/btMultiBodyPoint2Point.h \ + BulletDynamics/MLCPSolvers/btDantzigLCP.h \ + BulletDynamics/MLCPSolvers/btDantzigSolver.h \ + BulletDynamics/MLCPSolvers/btMLCPSolver.h \ + BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h \ + BulletDynamics/MLCPSolvers/btPATHSolver.h \ + BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h \ BulletCollision/CollisionShapes/btShapeHull.h \ BulletCollision/CollisionShapes/btConcaveShape.h \ BulletCollision/CollisionShapes/btCollisionMargin.h \ @@ -501,6 +548,8 @@ nobase_bullet_include_HEADERS += \ BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h \ BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h \ BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h \ + BulletCollision/CollisionDispatch/btHashedSimplePairCache.h \ + BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h \ BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h \ BulletCollision/CollisionDispatch/btGhostObject.h \ BulletCollision/CollisionDispatch/btSimulationIslandManager.h \ diff --git a/Engine/lib/bullet/src/MiniCL/CMakeLists.txt b/Engine/lib/bullet/src/MiniCL/CMakeLists.txt index ed47db0cb..f351b1ce7 100644 --- a/Engine/lib/bullet/src/MiniCL/CMakeLists.txt +++ b/Engine/lib/bullet/src/MiniCL/CMakeLists.txt @@ -45,7 +45,10 @@ IF (INSTALL_LIBS) IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) INSTALL(TARGETS MiniCL DESTINATION .) ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK) - INSTALL(TARGETS MiniCL DESTINATION lib${LIB_SUFFIX}) + INSTALL(TARGETS MiniCL + RUNTIME DESTINATION bin + LIBRARY DESTINATION lib${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) diff --git a/Engine/lib/bullet/src/btBulletDynamicsCommon.h b/Engine/lib/bullet/src/btBulletDynamicsCommon.h index dbd175c3f..50282bf21 100644 --- a/Engine/lib/bullet/src/btBulletDynamicsCommon.h +++ b/Engine/lib/bullet/src/btBulletDynamicsCommon.h @@ -33,6 +33,8 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btUniversalConstraint.h" #include "BulletDynamics/ConstraintSolver/btHinge2Constraint.h" #include "BulletDynamics/ConstraintSolver/btGearConstraint.h" +#include "BulletDynamics/ConstraintSolver/btFixedConstraint.h" + #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"