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Bullet 2.85 update

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This commit is contained in:
rextimmy 2016-12-28 18:32:21 +10:00
parent 38bf2b8175
commit 540c9b72c0
391 changed files with 32183 additions and 58559 deletions
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79
Engine/lib/bullet/src/BulletSoftBody/btSoftBody.cpp
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@ -18,6 +18,8 @@ subject to the following restrictions:
#include "BulletSoftBody/btSoftBodySolvers.h"
#include "btSoftBodyData.h"
#include "LinearMath/btSerializer.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
//
@ -3018,6 +3020,7 @@ void btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti)
}
}
//
void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
{
@ -3027,21 +3030,65 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
{
const RContact& c = psb->m_rcontacts[i];
const sCti& cti = c.m_cti;
btRigidBody* tmpRigid = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
const btVector3 vr = vb-va;
const btScalar dn = btDot(vr, cti.m_normal);
if(dn<=SIMD_EPSILON)
if (cti.m_colObj->hasContactResponse())
{
const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
const btVector3 fv = vr - (cti.m_normal * dn);
// c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
c.m_node->m_x -= impulse * c.m_c2;
if (tmpRigid)
tmpRigid->applyImpulse(impulse,c.m_c1);
btVector3 va(0,0,0);
btRigidBody* rigidCol;
btMultiBodyLinkCollider* multibodyLinkCol;
btScalar* deltaV;
btMultiBodyJacobianData jacobianData;
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
va = rigidCol ? rigidCol->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj);
if (multibodyLinkCol)
{
const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
jacobianData.m_jacobians.resize(ndof);
jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof);
btScalar* jac=&jacobianData.m_jacobians[0];
multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m);
deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0];
multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0],deltaV,jacobianData.scratch_r, jacobianData.scratch_v);
btScalar vel = 0.0;
for (int j = 0; j < ndof ; ++j) {
vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j];
}
va = cti.m_normal*vel*dt;
}
}
const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
const btVector3 vr = vb-va;
const btScalar dn = btDot(vr, cti.m_normal);
if(dn<=SIMD_EPSILON)
{
const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
const btVector3 fv = vr - (cti.m_normal * dn);
// c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
c.m_node->m_x -= impulse * c.m_c2;
if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
{
if (rigidCol)
rigidCol->applyImpulse(impulse,c.m_c1);
}
else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
if (multibodyLinkCol)
{
double multiplier = 0.5;
multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV,-impulse.length()*multiplier);
}
}
}
}
}
}
@ -3603,8 +3650,8 @@ const char* btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
m_joints[i]->m_refs[0].serializeFloat(memPtr->m_refs[0]);
m_joints[i]->m_refs[1].serializeFloat(memPtr->m_refs[1]);
memPtr->m_cfm = m_joints[i]->m_cfm;
memPtr->m_erp = m_joints[i]->m_erp;
memPtr->m_split = m_joints[i]->m_split;
memPtr->m_erp = float(m_joints[i]->m_erp);
memPtr->m_split = float(m_joints[i]->m_split);
memPtr->m_delete = m_joints[i]->m_delete;
for (int j=0;j<4;j++)