mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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Bullet 2.82 update
This commit is contained in:
rextimmy
parent
d0a64026b0
commit
416c50690e
146 changed files with 12202 additions and 1422 deletions
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@ -14,6 +14,8 @@ subject to the following restrictions:
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*/
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//#define COMPUTE_IMPULSE_DENOM 1
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//#define BT_ADDITIONAL_DEBUG
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//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
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#include "btSequentialImpulseConstraintSolver.h"
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@ -63,8 +65,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
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__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
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__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
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__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)));
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__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
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__m128 deltaVel2Dotn = _mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
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__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
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__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128));
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deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
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deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
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btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
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@ -77,12 +79,12 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
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__m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp);
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deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) );
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c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) );
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__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
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__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
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__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
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__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128,body2.internalGetInvMass().mVec128);
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__m128 impulseMagnitude = deltaImpulse;
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body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
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body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
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body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
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body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
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body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
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#else
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resolveSingleConstraintRowGeneric(body1,body2,c);
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@ -93,8 +95,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
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void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
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{
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btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
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const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
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const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
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const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
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const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
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// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
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deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
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@ -116,8 +118,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
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c.m_appliedImpulse = sum;
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}
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body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
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body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
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body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
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body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
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}
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void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
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@ -127,8 +129,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
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__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
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__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
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__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)));
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__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
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__m128 deltaVel2Dotn = _mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetDeltaLinearVelocity().mVec128));
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__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetDeltaAngularVelocity().mVec128));
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__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetDeltaAngularVelocity().mVec128));
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deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
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deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
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btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
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@ -138,24 +140,24 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
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__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
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deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
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c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
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__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
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__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
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__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
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__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128);
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__m128 impulseMagnitude = deltaImpulse;
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body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
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body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
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body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
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body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
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body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
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#else
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resolveSingleConstraintRowLowerLimit(body1,body2,c);
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#endif
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}
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// Project Gauss Seidel or the equivalent Sequential Impulse
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// Projected Gauss Seidel or the equivalent Sequential Impulse
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void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
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{
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btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
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const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
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const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
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const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
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const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
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deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
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deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
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@ -169,8 +171,8 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
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{
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c.m_appliedImpulse = sum;
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}
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body1.internalApplyImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
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body2.internalApplyImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
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body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
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body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
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}
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@ -183,8 +185,8 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
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{
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gNumSplitImpulseRecoveries++;
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btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
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const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
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const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
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const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
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const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
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deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
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deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
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@ -198,8 +200,8 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
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{
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c.m_appliedPushImpulse = sum;
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}
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body1.internalApplyPushImpulse(c.m_contactNormal*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
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body2.internalApplyPushImpulse(-c.m_contactNormal*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
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body1.internalApplyPushImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
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body2.internalApplyPushImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
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}
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}
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@ -215,8 +217,8 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
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__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
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__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
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__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)));
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__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
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__m128 deltaVel2Dotn = _mm_sub_ps(btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128),btSimdDot3((c.m_contactNormal).mVec128,body2.internalGetPushVelocity().mVec128));
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__m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
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__m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128));
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deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
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deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
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btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
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@ -226,12 +228,12 @@ void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFri
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__m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp);
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deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) );
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c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) );
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__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.internalGetInvMass().mVec128);
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__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.internalGetInvMass().mVec128);
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__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
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__m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128);
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__m128 impulseMagnitude = deltaImpulse;
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body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
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body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
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body2.internalGetPushVelocity().mVec128 = _mm_sub_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
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body2.internalGetPushVelocity().mVec128 = _mm_add_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
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body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
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#else
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resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c);
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@ -278,7 +280,7 @@ int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
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void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject)
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void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep)
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{
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btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0;
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@ -297,6 +299,9 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
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solverBody->m_linearFactor = rb->getLinearFactor();
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solverBody->m_linearVelocity = rb->getLinearVelocity();
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solverBody->m_angularVelocity = rb->getAngularVelocity();
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solverBody->m_externalForceImpulse = rb->getTotalForce()*rb->getInvMass()*timeStep;
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solverBody->m_externalTorqueImpulse = rb->getTotalTorque()*rb->getInvInertiaTensorWorld()*timeStep ;
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} else
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{
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solverBody->m_worldTransform.setIdentity();
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@ -306,6 +311,8 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
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solverBody->m_linearFactor.setValue(1,1,1);
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solverBody->m_linearVelocity.setValue(0,0,0);
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solverBody->m_angularVelocity.setValue(0,0,0);
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solverBody->m_externalForceImpulse.setValue(0,0,0);
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solverBody->m_externalTorqueImpulse.setValue(0,0,0);
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}
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@ -324,8 +331,7 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel,
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static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
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static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode)
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void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode)
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{
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@ -349,7 +355,6 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
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{
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solverConstraint.m_contactNormal = normalAxis;
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btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
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btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
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@ -365,15 +370,30 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
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solverConstraint.m_appliedImpulse = 0.f;
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solverConstraint.m_appliedPushImpulse = 0.f;
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if (body0)
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{
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btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
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solverConstraint.m_contactNormal1 = normalAxis;
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btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal1);
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solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
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solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0);
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}
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solverConstraint.m_angularComponentA = body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor();
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}else
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{
|
||||
btVector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
|
||||
solverConstraint.m_contactNormal1.setZero();
|
||||
solverConstraint.m_relpos1CrossNormal.setZero();
|
||||
solverConstraint.m_angularComponentA .setZero();
|
||||
}
|
||||
|
||||
if (body1)
|
||||
{
|
||||
solverConstraint.m_contactNormal2 = -normalAxis;
|
||||
btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2);
|
||||
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
|
||||
solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
|
||||
solverConstraint.m_angularComponentB = body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor();
|
||||
} else
|
||||
{
|
||||
solverConstraint.m_contactNormal2.setZero();
|
||||
solverConstraint.m_relpos2CrossNormal.setZero();
|
||||
solverConstraint.m_angularComponentB.setZero();
|
||||
}
|
||||
|
||||
{
|
||||
|
|
@ -398,9 +418,9 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
|
|||
|
||||
|
||||
btScalar rel_vel;
|
||||
btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:btVector3(0,0,0))
|
||||
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0))
|
||||
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
|
||||
btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:btVector3(0,0,0))
|
||||
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
|
||||
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
|
||||
|
||||
rel_vel = vel1Dotn+vel2Dotn;
|
||||
|
|
@ -411,8 +431,8 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
|
|||
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
|
||||
solverConstraint.m_rhs = velocityImpulse;
|
||||
solverConstraint.m_cfm = cfmSlip;
|
||||
solverConstraint.m_lowerLimit = 0;
|
||||
solverConstraint.m_upperLimit = 1e10f;
|
||||
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
|
||||
solverConstraint.m_upperLimit = solverConstraint.m_friction;
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -436,7 +456,8 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv
|
|||
btVector3 normalAxis(0,0,0);
|
||||
|
||||
|
||||
solverConstraint.m_contactNormal = normalAxis;
|
||||
solverConstraint.m_contactNormal1 = normalAxis;
|
||||
solverConstraint.m_contactNormal2 = -normalAxis;
|
||||
btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
|
||||
btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
|
||||
|
||||
|
|
@ -477,9 +498,9 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv
|
|||
|
||||
|
||||
btScalar rel_vel;
|
||||
btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?solverBodyA.m_linearVelocity:btVector3(0,0,0))
|
||||
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0))
|
||||
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
|
||||
btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?solverBodyB.m_linearVelocity:btVector3(0,0,0))
|
||||
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
|
||||
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
|
||||
|
||||
rel_vel = vel1Dotn+vel2Dotn;
|
||||
|
|
@ -490,8 +511,8 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv
|
|||
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
|
||||
solverConstraint.m_rhs = velocityImpulse;
|
||||
solverConstraint.m_cfm = cfmSlip;
|
||||
solverConstraint.m_lowerLimit = 0;
|
||||
solverConstraint.m_upperLimit = 1e10f;
|
||||
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
|
||||
solverConstraint.m_upperLimit = solverConstraint.m_friction;
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -513,7 +534,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addRollingFrictionConst
|
|||
}
|
||||
|
||||
|
||||
int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body)
|
||||
int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body,btScalar timeStep)
|
||||
{
|
||||
|
||||
int solverBodyIdA = -1;
|
||||
|
|
@ -531,11 +552,19 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
|
|||
{
|
||||
solverBodyIdA = m_tmpSolverBodyPool.size();
|
||||
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
|
||||
initSolverBody(&solverBody,&body);
|
||||
initSolverBody(&solverBody,&body,timeStep);
|
||||
body.setCompanionId(solverBodyIdA);
|
||||
} else
|
||||
{
|
||||
return 0;//assume first one is a fixed solver body
|
||||
|
||||
if (m_fixedBodyId<0)
|
||||
{
|
||||
m_fixedBodyId = m_tmpSolverBodyPool.size();
|
||||
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
|
||||
initSolverBody(&fixedBody,0,timeStep);
|
||||
}
|
||||
return m_fixedBodyId;
|
||||
// return 0;//assume first one is a fixed solver body
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -548,8 +577,8 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
|
|||
void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint,
|
||||
int solverBodyIdA, int solverBodyIdB,
|
||||
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
|
||||
btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
|
||||
btVector3& rel_pos1, btVector3& rel_pos2)
|
||||
btScalar& relaxation,
|
||||
const btVector3& rel_pos1, const btVector3& rel_pos2)
|
||||
{
|
||||
|
||||
const btVector3& pos1 = cp.getPositionWorldOnA();
|
||||
|
|
@ -563,8 +592,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
|
|||
|
||||
// btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
|
||||
// btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
|
||||
rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
|
||||
rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
|
||||
//rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
|
||||
//rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
|
||||
|
||||
relaxation = 1.f;
|
||||
|
||||
|
|
@ -597,9 +626,24 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
|
|||
solverConstraint.m_jacDiagABInv = denom;
|
||||
}
|
||||
|
||||
solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
|
||||
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
|
||||
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
|
||||
if (rb0)
|
||||
{
|
||||
solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB;
|
||||
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
|
||||
} else
|
||||
{
|
||||
solverConstraint.m_contactNormal1.setZero();
|
||||
solverConstraint.m_relpos1CrossNormal.setZero();
|
||||
}
|
||||
if (rb1)
|
||||
{
|
||||
solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB;
|
||||
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
|
||||
}else
|
||||
{
|
||||
solverConstraint.m_contactNormal2.setZero();
|
||||
solverConstraint.m_relpos2CrossNormal.setZero();
|
||||
}
|
||||
|
||||
btScalar restitution = 0.f;
|
||||
btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
|
||||
|
|
@ -611,8 +655,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
|
|||
vel2 = rb1? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
|
||||
|
||||
// btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
|
||||
vel = vel1 - vel2;
|
||||
rel_vel = cp.m_normalWorldOnB.dot(vel);
|
||||
btVector3 vel = vel1 - vel2;
|
||||
btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
|
||||
|
||||
|
||||
|
||||
|
|
@ -632,9 +676,9 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
|
|||
{
|
||||
solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
|
||||
if (rb0)
|
||||
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
|
||||
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
|
||||
if (rb1)
|
||||
bodyB->internalApplyImpulse(solverConstraint.m_contactNormal*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
|
||||
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
|
||||
} else
|
||||
{
|
||||
solverConstraint.m_appliedImpulse = 0.f;
|
||||
|
|
@ -643,10 +687,17 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
|
|||
solverConstraint.m_appliedPushImpulse = 0.f;
|
||||
|
||||
{
|
||||
btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?bodyA->m_linearVelocity:btVector3(0,0,0))
|
||||
+ solverConstraint.m_relpos1CrossNormal.dot(rb0?bodyA->m_angularVelocity:btVector3(0,0,0));
|
||||
btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?bodyB->m_linearVelocity:btVector3(0,0,0))
|
||||
+ solverConstraint.m_relpos2CrossNormal.dot(rb1?bodyB->m_angularVelocity:btVector3(0,0,0));
|
||||
|
||||
btVector3 externalForceImpulseA = bodyA->m_originalBody ? bodyA->m_externalForceImpulse: btVector3(0,0,0);
|
||||
btVector3 externalTorqueImpulseA = bodyA->m_originalBody ? bodyA->m_externalTorqueImpulse: btVector3(0,0,0);
|
||||
btVector3 externalForceImpulseB = bodyB->m_originalBody ? bodyB->m_externalForceImpulse: btVector3(0,0,0);
|
||||
btVector3 externalTorqueImpulseB = bodyB->m_originalBody ?bodyB->m_externalTorqueImpulse : btVector3(0,0,0);
|
||||
|
||||
|
||||
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(bodyA->m_linearVelocity+externalForceImpulseA)
|
||||
+ solverConstraint.m_relpos1CrossNormal.dot(bodyA->m_angularVelocity+externalTorqueImpulseA);
|
||||
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyB->m_linearVelocity+externalForceImpulseB)
|
||||
+ solverConstraint.m_relpos2CrossNormal.dot(bodyB->m_angularVelocity+externalTorqueImpulseB);
|
||||
btScalar rel_vel = vel1Dotn+vel2Dotn;
|
||||
|
||||
btScalar positionalError = 0.f;
|
||||
|
|
@ -675,7 +726,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
|
|||
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
|
||||
{
|
||||
//combine position and velocity into rhs
|
||||
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
|
||||
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;//-solverConstraint.m_contactNormal1.dot(bodyA->m_externalForce*bodyA->m_invMass-bodyB->m_externalForce/bodyB->m_invMass)*solverConstraint.m_jacDiagABInv;
|
||||
solverConstraint.m_rhsPenetration = 0.f;
|
||||
|
||||
} else
|
||||
|
|
@ -713,9 +764,9 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolver
|
|||
{
|
||||
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
|
||||
if (rb0)
|
||||
bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
|
||||
bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal1*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse);
|
||||
if (rb1)
|
||||
bodyB->internalApplyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse);
|
||||
bodyB->internalApplyImpulse(-frictionConstraint1.m_contactNormal2*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(btScalar)frictionConstraint1.m_appliedImpulse);
|
||||
} else
|
||||
{
|
||||
frictionConstraint1.m_appliedImpulse = 0.f;
|
||||
|
|
@ -729,9 +780,9 @@ void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse( btSolver
|
|||
{
|
||||
frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
|
||||
if (rb0)
|
||||
bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
|
||||
bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal1*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse);
|
||||
if (rb1)
|
||||
bodyB->internalApplyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse);
|
||||
bodyB->internalApplyImpulse(-frictionConstraint2.m_contactNormal2*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(btScalar)frictionConstraint2.m_appliedImpulse);
|
||||
} else
|
||||
{
|
||||
frictionConstraint2.m_appliedImpulse = 0.f;
|
||||
|
|
@ -749,8 +800,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
|
|||
colObj0 = (btCollisionObject*)manifold->getBody0();
|
||||
colObj1 = (btCollisionObject*)manifold->getBody1();
|
||||
|
||||
int solverBodyIdA = getOrInitSolverBody(*colObj0);
|
||||
int solverBodyIdB = getOrInitSolverBody(*colObj1);
|
||||
int solverBodyIdA = getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
|
||||
int solverBodyIdB = getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
|
||||
|
||||
// btRigidBody* bodyA = btRigidBody::upcast(colObj0);
|
||||
// btRigidBody* bodyB = btRigidBody::upcast(colObj1);
|
||||
|
|
@ -761,7 +812,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
|
|||
|
||||
|
||||
///avoid collision response between two static objects
|
||||
if (!solverBodyA || (!solverBodyA->m_originalBody && (!solverBodyB || !solverBodyB->m_originalBody)))
|
||||
if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero())))
|
||||
return;
|
||||
|
||||
int rollingFriction=1;
|
||||
|
|
@ -775,19 +826,35 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
|
|||
btVector3 rel_pos1;
|
||||
btVector3 rel_pos2;
|
||||
btScalar relaxation;
|
||||
btScalar rel_vel;
|
||||
btVector3 vel;
|
||||
|
||||
|
||||
int frictionIndex = m_tmpSolverContactConstraintPool.size();
|
||||
btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
|
||||
// btRigidBody* rb0 = btRigidBody::upcast(colObj0);
|
||||
// btRigidBody* rb1 = btRigidBody::upcast(colObj1);
|
||||
btRigidBody* rb0 = btRigidBody::upcast(colObj0);
|
||||
btRigidBody* rb1 = btRigidBody::upcast(colObj1);
|
||||
solverConstraint.m_solverBodyIdA = solverBodyIdA;
|
||||
solverConstraint.m_solverBodyIdB = solverBodyIdB;
|
||||
|
||||
solverConstraint.m_originalContactPoint = &cp;
|
||||
|
||||
setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
|
||||
const btVector3& pos1 = cp.getPositionWorldOnA();
|
||||
const btVector3& pos2 = cp.getPositionWorldOnB();
|
||||
|
||||
rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
|
||||
rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
|
||||
|
||||
btVector3 vel1;// = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
|
||||
btVector3 vel2;// = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
|
||||
|
||||
solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1,vel1);
|
||||
solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2,vel2 );
|
||||
|
||||
btVector3 vel = vel1 - vel2;
|
||||
btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
|
||||
|
||||
setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2);
|
||||
|
||||
|
||||
|
||||
// const btVector3& pos1 = cp.getPositionWorldOnA();
|
||||
// const btVector3& pos2 = cp.getPositionWorldOnB();
|
||||
|
|
@ -796,9 +863,11 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
|
|||
|
||||
solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
|
||||
btVector3 angVelA,angVelB;
|
||||
solverBodyA->getAngularVelocity(angVelA);
|
||||
solverBodyB->getAngularVelocity(angVelB);
|
||||
btVector3 angVelA(0,0,0),angVelB(0,0,0);
|
||||
if (rb0)
|
||||
angVelA = rb0->getAngularVelocity();
|
||||
if (rb1)
|
||||
angVelB = rb1->getAngularVelocity();
|
||||
btVector3 relAngVel = angVelB-angVelA;
|
||||
|
||||
if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0))
|
||||
|
|
@ -852,6 +921,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
|
|||
if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
|
||||
{
|
||||
cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel);
|
||||
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
|
||||
|
||||
if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
|
||||
{
|
||||
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
|
||||
|
|
@ -859,17 +932,16 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
|
|||
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
|
||||
|
||||
}
|
||||
|
||||
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
|
||||
|
||||
} else
|
||||
{
|
||||
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
|
||||
|
||||
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
|
||||
|
||||
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
|
||||
{
|
||||
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
|
|
@ -877,9 +949,6 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
|
|||
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
|
||||
}
|
||||
|
||||
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
|
||||
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
|
||||
|
||||
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
|
||||
{
|
||||
|
|
@ -894,8 +963,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
|
|||
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
|
||||
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
|
||||
|
||||
setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
|
||||
}
|
||||
setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
|
||||
|
||||
|
||||
|
||||
|
|
@ -904,15 +973,29 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
|
|||
}
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
|
||||
void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal)
|
||||
{
|
||||
int i;
|
||||
btPersistentManifold* manifold = 0;
|
||||
// btCollisionObject* colObj0=0,*colObj1=0;
|
||||
|
||||
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
manifold = manifoldPtr[i];
|
||||
convertContact(manifold,infoGlobal);
|
||||
}
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
|
||||
{
|
||||
m_fixedBodyId = -1;
|
||||
BT_PROFILE("solveGroupCacheFriendlySetup");
|
||||
(void)stackAlloc;
|
||||
(void)debugDrawer;
|
||||
|
||||
m_maxOverrideNumSolverIterations = 0;
|
||||
|
||||
#ifdef BT_DEBUG
|
||||
#ifdef BT_ADDITIONAL_DEBUG
|
||||
//make sure that dynamic bodies exist for all (enabled) constraints
|
||||
for (int i=0;i<numConstraints;i++)
|
||||
{
|
||||
|
|
@ -979,7 +1062,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
|
|||
btAssert(found);
|
||||
}
|
||||
}
|
||||
#endif //BT_DEBUG
|
||||
#endif //BT_ADDITIONAL_DEBUG
|
||||
|
||||
|
||||
for (int i = 0; i < numBodies; i++)
|
||||
|
|
@ -991,14 +1074,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
|
|||
m_tmpSolverBodyPool.reserve(numBodies+1);
|
||||
m_tmpSolverBodyPool.resize(0);
|
||||
|
||||
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
|
||||
initSolverBody(&fixedBody,0);
|
||||
//btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
|
||||
//initSolverBody(&fixedBody,0);
|
||||
|
||||
//convert all bodies
|
||||
|
||||
for (int i=0;i<numBodies;i++)
|
||||
{
|
||||
int bodyId = getOrInitSolverBody(*bodies[i]);
|
||||
int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep);
|
||||
|
||||
btRigidBody* body = btRigidBody::upcast(bodies[i]);
|
||||
if (body && body->getInvMass())
|
||||
{
|
||||
|
|
@ -1007,9 +1091,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
|
|||
if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE)
|
||||
{
|
||||
gyroForce = body->computeGyroscopicForce(infoGlobal.m_maxGyroscopicForce);
|
||||
solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
|
||||
}
|
||||
solverBody.m_linearVelocity += body->getTotalForce()*body->getInvMass()*infoGlobal.m_timeStep;
|
||||
solverBody.m_angularVelocity += (body->getTotalTorque()-gyroForce)*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1079,8 +1162,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
|
|||
btRigidBody& rbA = constraint->getRigidBodyA();
|
||||
btRigidBody& rbB = constraint->getRigidBodyB();
|
||||
|
||||
int solverBodyIdA = getOrInitSolverBody(rbA);
|
||||
int solverBodyIdB = getOrInitSolverBody(rbB);
|
||||
int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep);
|
||||
int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep);
|
||||
|
||||
btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
|
||||
btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
|
||||
|
|
@ -1119,9 +1202,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
|
|||
btTypedConstraint::btConstraintInfo2 info2;
|
||||
info2.fps = 1.f/infoGlobal.m_timeStep;
|
||||
info2.erp = infoGlobal.m_erp;
|
||||
info2.m_J1linearAxis = currentConstraintRow->m_contactNormal;
|
||||
info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1;
|
||||
info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
|
||||
info2.m_J2linearAxis = 0;
|
||||
info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2;
|
||||
info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
|
||||
info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
|
||||
///the size of btSolverConstraint needs be a multiple of btScalar
|
||||
|
|
@ -1162,14 +1245,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
|
|||
}
|
||||
|
||||
{
|
||||
btVector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass();
|
||||
btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass();
|
||||
btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal;
|
||||
btVector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal?
|
||||
btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal?
|
||||
btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal;
|
||||
|
||||
btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
|
||||
btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1);
|
||||
sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
|
||||
sum += iMJlB.dot(solverConstraint.m_contactNormal);
|
||||
sum += iMJlB.dot(solverConstraint.m_contactNormal2);
|
||||
sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
|
||||
btScalar fsum = btFabs(sum);
|
||||
btAssert(fsum > SIMD_EPSILON);
|
||||
|
|
@ -1177,15 +1260,22 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
|
|||
}
|
||||
|
||||
|
||||
///fix rhs
|
||||
///todo: add force/torque accelerators
|
||||
|
||||
{
|
||||
btScalar rel_vel;
|
||||
btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity());
|
||||
btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity());
|
||||
btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0);
|
||||
btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0);
|
||||
|
||||
btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0);
|
||||
btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0);
|
||||
|
||||
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA)
|
||||
+ solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA);
|
||||
|
||||
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB)
|
||||
+ solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB);
|
||||
|
||||
rel_vel = vel1Dotn+vel2Dotn;
|
||||
|
||||
btScalar restitution = 0.f;
|
||||
btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
|
||||
btScalar velocityError = restitution - rel_vel * info2.m_damping;
|
||||
|
|
@ -1194,6 +1284,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
|
|||
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
|
||||
solverConstraint.m_appliedImpulse = 0.f;
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1201,18 +1292,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
|
|||
}
|
||||
}
|
||||
|
||||
{
|
||||
int i;
|
||||
btPersistentManifold* manifold = 0;
|
||||
// btCollisionObject* colObj0=0,*colObj1=0;
|
||||
convertContacts(manifoldPtr,numManifolds,infoGlobal);
|
||||
|
||||
|
||||
for (i=0;i<numManifolds;i++)
|
||||
{
|
||||
manifold = manifoldPtr[i];
|
||||
convertContact(manifold,infoGlobal);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// btContactSolverInfo info = infoGlobal;
|
||||
|
|
@ -1251,7 +1332,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
|
|||
}
|
||||
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
|
||||
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
|
||||
{
|
||||
|
||||
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
|
||||
|
|
@ -1304,14 +1385,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
{
|
||||
for (int j=0;j<numConstraints;j++)
|
||||
{
|
||||
if (constraints[j]->isEnabled())
|
||||
{
|
||||
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
|
||||
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
|
||||
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
|
||||
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
|
||||
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
|
||||
}
|
||||
if (constraints[j]->isEnabled())
|
||||
{
|
||||
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
|
||||
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
|
||||
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
|
||||
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
|
||||
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
|
||||
}
|
||||
}
|
||||
|
||||
///solve all contact constraints using SIMD, if available
|
||||
|
|
@ -1371,7 +1452,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
for (j=0;j<numPoolConstraints;j++)
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
//resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -1390,7 +1472,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
|
||||
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
//resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1432,14 +1515,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
{
|
||||
for (int j=0;j<numConstraints;j++)
|
||||
{
|
||||
if (constraints[j]->isEnabled())
|
||||
{
|
||||
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
|
||||
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
|
||||
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
|
||||
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
|
||||
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
|
||||
}
|
||||
if (constraints[j]->isEnabled())
|
||||
{
|
||||
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
|
||||
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
|
||||
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
|
||||
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
|
||||
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
|
||||
}
|
||||
}
|
||||
///solve all contact constraints
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
|
|
@ -1487,7 +1570,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
}
|
||||
|
||||
|
||||
void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
|
||||
void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
|
||||
{
|
||||
int iteration;
|
||||
if (infoGlobal.m_splitImpulse)
|
||||
|
|
@ -1527,20 +1610,20 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
|
|||
}
|
||||
}
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
|
||||
{
|
||||
BT_PROFILE("solveGroupCacheFriendlyIterations");
|
||||
|
||||
{
|
||||
///this is a special step to resolve penetrations (just for contacts)
|
||||
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
|
||||
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
|
||||
|
||||
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
|
||||
|
||||
for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
|
||||
//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
|
||||
{
|
||||
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
|
||||
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1580,10 +1663,10 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
|
|||
btJointFeedback* fb = constr->getJointFeedback();
|
||||
if (fb)
|
||||
{
|
||||
fb->m_appliedForceBodyA += solverConstr.m_contactNormal*solverConstr.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep;
|
||||
fb->m_appliedForceBodyB += -solverConstr.m_contactNormal*solverConstr.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep;
|
||||
fb->m_appliedForceBodyA += solverConstr.m_contactNormal1*solverConstr.m_appliedImpulse*constr->getRigidBodyA().getLinearFactor()/infoGlobal.m_timeStep;
|
||||
fb->m_appliedForceBodyB += solverConstr.m_contactNormal2*solverConstr.m_appliedImpulse*constr->getRigidBodyB().getLinearFactor()/infoGlobal.m_timeStep;
|
||||
fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal* constr->getRigidBodyA().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep;
|
||||
fb->m_appliedTorqueBodyB += -solverConstr.m_relpos1CrossNormal* constr->getRigidBodyB().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep;
|
||||
fb->m_appliedTorqueBodyB += solverConstr.m_relpos2CrossNormal* constr->getRigidBodyB().getAngularFactor()*solverConstr.m_appliedImpulse/infoGlobal.m_timeStep; /*RGM ???? */
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -1605,9 +1688,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
|
|||
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
|
||||
else
|
||||
m_tmpSolverBodyPool[i].writebackVelocity();
|
||||
|
||||
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(
|
||||
m_tmpSolverBodyPool[i].m_linearVelocity+
|
||||
m_tmpSolverBodyPool[i].m_externalForceImpulse);
|
||||
|
||||
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(
|
||||
m_tmpSolverBodyPool[i].m_angularVelocity+
|
||||
m_tmpSolverBodyPool[i].m_externalTorqueImpulse);
|
||||
|
||||
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
|
||||
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
|
||||
if (infoGlobal.m_splitImpulse)
|
||||
m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform);
|
||||
|
||||
|
|
@ -1627,15 +1716,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
|
|||
|
||||
|
||||
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
|
||||
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btDispatcher* /*dispatcher*/)
|
||||
{
|
||||
|
||||
BT_PROFILE("solveGroup");
|
||||
//you need to provide at least some bodies
|
||||
|
||||
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
|
||||
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
|
||||
|
||||
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
|
||||
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
|
||||
|
||||
solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue