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Bullet 2.82 update

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This commit is contained in:
rextimmy 2014-06-10 22:40:30 +10:00
parent d0a64026b0
commit 416c50690e
146 changed files with 12202 additions and 1422 deletions
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34
Engine/lib/bullet/src/BulletMultiThreaded/btParallelConstraintSolver.cpp
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@ -54,8 +54,8 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
const btScalar deltaVel1Dotn = c.m_contactNormal.dot(getBtVector3(body1.mDeltaLinearVelocity)) + c.m_relpos1CrossNormal.dot(getBtVector3(body1.mDeltaAngularVelocity));
const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(getBtVector3(body2.mDeltaLinearVelocity)) + c.m_relpos2CrossNormal.dot(getBtVector3(body2.mDeltaAngularVelocity));
const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(getBtVector3(body1.mDeltaLinearVelocity)) + c.m_relpos1CrossNormal.dot(getBtVector3(body1.mDeltaAngularVelocity));
const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(getBtVector3(body2.mDeltaLinearVelocity)) + c.m_relpos2CrossNormal.dot(getBtVector3(body2.mDeltaAngularVelocity));
// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
@ -79,7 +79,7 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
if (body1.mMassInv)
{
btVector3 linearComponent = c.m_contactNormal*body1.mMassInv;
btVector3 linearComponent = c.m_contactNormal1*body1.mMassInv;
body1.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
btVector3 tmp=c.m_angularComponentA*(btVector3(deltaImpulse,deltaImpulse,deltaImpulse));
body1.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
@ -87,14 +87,14 @@ unsigned char ATTRIBUTE_ALIGNED128(tmp_buff[TMP_BUFF_BYTES]);
if (body2.mMassInv)
{
btVector3 linearComponent = -c.m_contactNormal*body2.mMassInv;
btVector3 linearComponent = c.m_contactNormal2*body2.mMassInv;
body2.mDeltaLinearVelocity += vmVector3(linearComponent.getX()*deltaImpulse,linearComponent.getY()*deltaImpulse,linearComponent.getZ()*deltaImpulse);
btVector3 tmp = c.m_angularComponentB*((btVector3(deltaImpulse,deltaImpulse,deltaImpulse)));//*m_angularFactor);
body2.mDeltaAngularVelocity += vmVector3(tmp.getX(),tmp.getY(),tmp.getZ());
}
//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);
}
@ -1163,7 +1163,7 @@ btParallelConstraintSolver::~btParallelConstraintSolver()
btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher)
btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int numRigidBodies,btPersistentManifold** manifoldPtr,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
{
/* int sz = sizeof(PfxSolverBody);
@ -1217,8 +1217,8 @@ btScalar btParallelConstraintSolver::solveGroup(btCollisionObject** bodies1,int
btVector3 angVelPlusForces = rb->getAngularVelocity()+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;