mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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* Adjustment: Initial CMake reworking.
This commit is contained in:
Robert MacGregor
parent
516163fd5d
commit
d7cdf54661
5394 changed files with 2615532 additions and 8711 deletions
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@ -0,0 +1,60 @@
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btContactConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btContactConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btContactConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btFixedConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btFixedConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGearConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGearConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofSpring2Constraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofSpring2Constraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHinge2Constraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHinge2Constraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHingeConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHingeConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btNNCGConstraintSolver.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btNNCGConstraintSolver.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btPoint2PointConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btPoint2PointConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSequentialImpulseConstraintSolver.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSequentialImpulseConstraintSolver.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSliderConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSliderConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSolve2LinearConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSolve2LinearConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btTypedConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btTypedConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btUniversalConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btUniversalConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btDiscreteDynamicsWorld.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btDiscreteDynamicsWorld.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Dynamics/btRigidBody.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btRigidBody.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btRigidBody.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btSimpleDynamicsWorld.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btSimpleDynamicsWorld.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBody.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBody.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBody.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyConstraintSolver.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyConstraintSolver.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyDynamicsWorld.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyDynamicsWorld.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyFixedConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyFixedConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointLimitConstraint.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointLimitConstraint.o.d"
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"/Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyPoint2Point.o" "gcc" "Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyPoint2Point.o.d"
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cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -MD -MT Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.o -MF CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.o.d -o CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.o -c /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
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||||
|
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Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.i: cmake_force
|
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@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.i"
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||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp > CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.i
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.s: cmake_force
|
||||
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.s"
|
||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp -o CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.s
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||||
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.o: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/flags.make
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.o: Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
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||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.o: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/compiler_depend.ts
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@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/Users/ragora/Documents/Projects/Torque3D/CMakeFiles --progress-num=$(CMAKE_PROGRESS_32) "Building CXX object Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.o"
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||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -MD -MT Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.o -MF CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.o.d -o CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.o -c /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
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||||
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.i: cmake_force
|
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@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.i"
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||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp > CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.i
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||||
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.s: cmake_force
|
||||
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.s"
|
||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp -o CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.s
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.o: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/flags.make
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.o: Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.o: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/compiler_depend.ts
|
||||
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/Users/ragora/Documents/Projects/Torque3D/CMakeFiles --progress-num=$(CMAKE_PROGRESS_33) "Building CXX object Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.o"
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||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -MD -MT Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.o -MF CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.o.d -o CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.o -c /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
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||||
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.i: cmake_force
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@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.i"
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||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp > CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.i
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||||
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.s: cmake_force
|
||||
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.s"
|
||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp -o CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.s
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.o: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/flags.make
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||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.o: Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.o: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/compiler_depend.ts
|
||||
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/Users/ragora/Documents/Projects/Torque3D/CMakeFiles --progress-num=$(CMAKE_PROGRESS_34) "Building CXX object Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.o"
|
||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -MD -MT Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.o -MF CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.o.d -o CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.o -c /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.i: cmake_force
|
||||
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.i"
|
||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp > CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.i
|
||||
|
||||
Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.s: cmake_force
|
||||
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.s"
|
||||
cd /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics && /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics/MLCPSolvers/btLemkeAlgorithm.cpp -o CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.s
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|
||||
# Object files for target BulletDynamics
|
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BulletDynamics_OBJECTS = \
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||||
"CMakeFiles/BulletDynamics.dir/Character/btKinematicCharacterController.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btConeTwistConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btContactConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btFixedConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGearConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofSpringConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofSpring2Constraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHinge2Constraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHingeConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btPoint2PointConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSequentialImpulseConstraintSolver.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btNNCGConstraintSolver.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSliderConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSolve2LinearConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btTypedConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/ConstraintSolver/btUniversalConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/Dynamics/btDiscreteDynamicsWorld.o" \
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"CMakeFiles/BulletDynamics.dir/Dynamics/btSimpleDynamicsWorld.o" \
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"CMakeFiles/BulletDynamics.dir/Vehicle/btRaycastVehicle.o" \
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"CMakeFiles/BulletDynamics.dir/Vehicle/btWheelInfo.o" \
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"CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBody.o" \
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"CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyPoint2Point.o" \
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"CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyFixedConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodySliderConstraint.o" \
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"CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.o" \
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"CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.o" \
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"CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.o" \
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"CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.o"
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|
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# External object files for target BulletDynamics
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btConeTwistConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btContactConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btFixedConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGearConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofConstraint.o
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||||
Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofSpringConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btGeneric6DofSpring2Constraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHinge2Constraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btHingeConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btPoint2PointConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSequentialImpulseConstraintSolver.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btNNCGConstraintSolver.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSliderConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btSolve2LinearConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btTypedConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/ConstraintSolver/btUniversalConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btDiscreteDynamicsWorld.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btRigidBody.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Dynamics/btSimpleDynamicsWorld.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Vehicle/btRaycastVehicle.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Vehicle/btWheelInfo.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBody.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyConstraintSolver.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyDynamicsWorld.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointLimitConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyPoint2Point.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyFixedConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodySliderConstraint.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/Featherstone/btMultiBodyJointMotor.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btDantzigLCP.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btMLCPSolver.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/BulletDynamics/CMakeFiles/BulletDynamics.dir/MLCPSolvers/btLemkeAlgorithm.o
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Engine/lib/bullet/src/BulletDynamics/libBulletDynamics.2.85.dylib: Engine/lib/bullet/src/LinearMath/libLinearMath.2.85.dylib
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set(CMAKE_RELATIVE_PATH_TOP_BINARY "/Users/ragora/Documents/Projects/Torque3D")
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@ -0,0 +1 @@
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13
|
||||
|
|
@ -21,8 +21,6 @@ SET(BulletDynamics_SRCS
|
|||
ConstraintSolver/btTypedConstraint.cpp
|
||||
ConstraintSolver/btUniversalConstraint.cpp
|
||||
Dynamics/btDiscreteDynamicsWorld.cpp
|
||||
Dynamics/btDiscreteDynamicsWorldMt.cpp
|
||||
Dynamics/btSimulationIslandManagerMt.cpp
|
||||
Dynamics/btRigidBody.cpp
|
||||
Dynamics/btSimpleDynamicsWorld.cpp
|
||||
# Dynamics/Bullet-C-API.cpp
|
||||
|
|
@ -37,7 +35,6 @@ SET(BulletDynamics_SRCS
|
|||
Featherstone/btMultiBodyFixedConstraint.cpp
|
||||
Featherstone/btMultiBodySliderConstraint.cpp
|
||||
Featherstone/btMultiBodyJointMotor.cpp
|
||||
Featherstone/btMultiBodyGearConstraint.cpp
|
||||
MLCPSolvers/btDantzigLCP.cpp
|
||||
MLCPSolvers/btMLCPSolver.cpp
|
||||
MLCPSolvers/btLemkeAlgorithm.cpp
|
||||
|
|
@ -73,8 +70,6 @@ SET(ConstraintSolver_HDRS
|
|||
SET(Dynamics_HDRS
|
||||
Dynamics/btActionInterface.h
|
||||
Dynamics/btDiscreteDynamicsWorld.h
|
||||
Dynamics/btDiscreteDynamicsWorldMt.h
|
||||
Dynamics/btSimulationIslandManagerMt.h
|
||||
Dynamics/btDynamicsWorld.h
|
||||
Dynamics/btSimpleDynamicsWorld.h
|
||||
Dynamics/btRigidBody.h
|
||||
|
|
@ -99,7 +94,6 @@ SET(Featherstone_HDRS
|
|||
Featherstone/btMultiBodyFixedConstraint.h
|
||||
Featherstone/btMultiBodySliderConstraint.h
|
||||
Featherstone/btMultiBodyJointMotor.h
|
||||
Featherstone/btMultiBodyGearConstraint.h
|
||||
)
|
||||
|
||||
SET(MLCPSolvers_HDRS
|
||||
|
|
|
|||
6
Engine/lib/bullet/src/BulletDynamics/CTestTestfile.cmake
Normal file
6
Engine/lib/bullet/src/BulletDynamics/CTestTestfile.cmake
Normal file
|
|
@ -0,0 +1,6 @@
|
|||
# CMake generated Testfile for
|
||||
# Source directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics
|
||||
# Build directory: /Users/ragora/Documents/Projects/Torque3D/Engine/lib/bullet/src/BulletDynamics
|
||||
#
|
||||
# This file includes the relevant testing commands required for
|
||||
# testing this directory and lists subdirectories to be tested as well.
|
||||
|
|
@ -137,6 +137,8 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho
|
|||
m_ghostObject = ghostObject;
|
||||
m_up.setValue(0.0f, 0.0f, 1.0f);
|
||||
m_jumpAxis.setValue(0.0f, 0.0f, 1.0f);
|
||||
setUp(up);
|
||||
setStepHeight(stepHeight);
|
||||
m_addedMargin = 0.02;
|
||||
m_walkDirection.setValue(0.0,0.0,0.0);
|
||||
m_AngVel.setValue(0.0, 0.0, 0.0);
|
||||
|
|
@ -154,16 +156,13 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho
|
|||
m_wasOnGround = false;
|
||||
m_wasJumping = false;
|
||||
m_interpolateUp = true;
|
||||
setMaxSlope(btRadians(45.0));
|
||||
m_currentStepOffset = 0.0;
|
||||
m_maxPenetrationDepth = 0.2;
|
||||
full_drop = false;
|
||||
bounce_fix = false;
|
||||
m_linearDamping = btScalar(0.0);
|
||||
m_angularDamping = btScalar(0.0);
|
||||
|
||||
setUp(up);
|
||||
setStepHeight(stepHeight);
|
||||
setMaxSlope(btRadians(45.0));
|
||||
}
|
||||
|
||||
btKinematicCharacterController::~btKinematicCharacterController ()
|
||||
|
|
@ -560,7 +559,7 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
|
|||
break;
|
||||
}
|
||||
|
||||
if ((m_ghostObject->hasContactResponse() && (callback.hasHit() && needsCollision(m_ghostObject, callback.m_hitCollisionObject))) || runonce == true)
|
||||
if (m_ghostObject->hasContactResponse() && (callback.hasHit() && needsCollision(m_ghostObject, callback.m_hitCollisionObject)) || runonce == true)
|
||||
{
|
||||
// we dropped a fraction of the height -> hit floor
|
||||
btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2;
|
||||
|
|
@ -658,7 +657,7 @@ void btKinematicCharacterController::setLinearVelocity(const btVector3& velocity
|
|||
if (c != 0)
|
||||
{
|
||||
//there is a component in walkdirection for vertical velocity
|
||||
btVector3 upComponent = m_up * (btSin(SIMD_HALF_PI - btAcos(c)) * m_walkDirection.length());
|
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btVector3 upComponent = m_up * (sinf(SIMD_HALF_PI - acosf(c)) * m_walkDirection.length());
|
||||
m_walkDirection -= upComponent;
|
||||
m_verticalVelocity = (c < 0.0f ? -1 : 1) * upComponent.length();
|
||||
|
||||
|
|
@ -752,7 +751,7 @@ void btKinematicCharacterController::playerStep ( btCollisionWorld* collisionWo
|
|||
m_wasOnGround = onGround();
|
||||
|
||||
//btVector3 lvel = m_walkDirection;
|
||||
//btScalar c = 0.0f;
|
||||
btScalar c = 0.0f;
|
||||
|
||||
if (m_walkDirection.length2() > 0)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -642,7 +642,7 @@ void btConeTwistConstraint::calcAngleInfo2(const btTransform& transA, const btTr
|
|||
btTransform trDeltaAB = trB * trPose * trA.inverse();
|
||||
btQuaternion qDeltaAB = trDeltaAB.getRotation();
|
||||
btVector3 swingAxis = btVector3(qDeltaAB.x(), qDeltaAB.y(), qDeltaAB.z());
|
||||
btScalar swingAxisLen2 = swingAxis.length2();
|
||||
float swingAxisLen2 = swingAxis.length2();
|
||||
if(btFuzzyZero(swingAxisLen2))
|
||||
{
|
||||
return;
|
||||
|
|
@ -903,7 +903,7 @@ btVector3 btConeTwistConstraint::GetPointForAngle(btScalar fAngleInRadians, btSc
|
|||
// a^2 b^2
|
||||
// Do the math and it should be clear.
|
||||
|
||||
btScalar swingLimit = m_swingSpan1; // if xEllipse == 0, just use axis b (1)
|
||||
float swingLimit = m_swingSpan1; // if xEllipse == 0, just use axis b (1)
|
||||
if (fabs(xEllipse) > SIMD_EPSILON)
|
||||
{
|
||||
btScalar surfaceSlope2 = (yEllipse*yEllipse)/(xEllipse*xEllipse);
|
||||
|
|
|
|||
|
|
@ -260,7 +260,7 @@ public:
|
|||
|
||||
inline int getSolveSwingLimit()
|
||||
{
|
||||
return m_solveSwingLimit;
|
||||
return m_solveTwistLimit;
|
||||
}
|
||||
|
||||
inline btScalar getTwistLimitSign()
|
||||
|
|
|
|||
|
|
@ -28,13 +28,11 @@ protected:
|
|||
|
||||
btPersistentManifold m_contactManifold;
|
||||
|
||||
protected:
|
||||
public:
|
||||
|
||||
|
||||
btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
|
||||
|
||||
public:
|
||||
|
||||
void setContactManifold(btPersistentManifold* contactManifold);
|
||||
|
||||
btPersistentManifold* getContactManifold()
|
||||
|
|
|
|||
|
|
@ -43,13 +43,10 @@ struct btContactSolverInfoData
|
|||
btScalar m_restitution;
|
||||
int m_numIterations;
|
||||
btScalar m_maxErrorReduction;
|
||||
btScalar m_sor;//successive over-relaxation term
|
||||
btScalar m_erp;//error reduction for non-contact constraints
|
||||
btScalar m_erp2;//error reduction for contact constraints
|
||||
btScalar m_globalCfm;//constraint force mixing for contacts and non-contacts
|
||||
btScalar m_frictionERP;//error reduction for friction constraints
|
||||
btScalar m_frictionCFM;//constraint force mixing for friction constraints
|
||||
|
||||
btScalar m_sor;
|
||||
btScalar m_erp;//used as Baumgarte factor
|
||||
btScalar m_erp2;//used in Split Impulse
|
||||
btScalar m_globalCfm;//constraint force mixing
|
||||
int m_splitImpulse;
|
||||
btScalar m_splitImpulsePenetrationThreshold;
|
||||
btScalar m_splitImpulseTurnErp;
|
||||
|
|
@ -61,8 +58,7 @@ struct btContactSolverInfoData
|
|||
int m_minimumSolverBatchSize;
|
||||
btScalar m_maxGyroscopicForce;
|
||||
btScalar m_singleAxisRollingFrictionThreshold;
|
||||
btScalar m_leastSquaresResidualThreshold;
|
||||
btScalar m_restitutionVelocityThreshold;
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
|
@ -83,8 +79,6 @@ struct btContactSolverInfo : public btContactSolverInfoData
|
|||
m_erp = btScalar(0.2);
|
||||
m_erp2 = btScalar(0.2);
|
||||
m_globalCfm = btScalar(0.);
|
||||
m_frictionERP = btScalar(0.2);//positional friction 'anchors' are disabled by default
|
||||
m_frictionCFM = btScalar(0.);
|
||||
m_sor = btScalar(1.);
|
||||
m_splitImpulse = true;
|
||||
m_splitImpulsePenetrationThreshold = -.04f;
|
||||
|
|
@ -97,8 +91,6 @@ struct btContactSolverInfo : public btContactSolverInfoData
|
|||
m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
|
||||
m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
|
||||
m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
|
||||
m_leastSquaresResidualThreshold = 0.f;
|
||||
m_restitutionVelocityThreshold = 0.2f;//if the relative velocity is below this threshold, there is zero restitution
|
||||
}
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -141,14 +141,6 @@ SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSe
|
|||
|
||||
gear->m_ratio = m_ratio;
|
||||
|
||||
// Fill padding with zeros to appease msan.
|
||||
#ifndef BT_USE_DOUBLE_PRECISION
|
||||
gear->m_padding[0] = 0;
|
||||
gear->m_padding[1] = 0;
|
||||
gear->m_padding[2] = 0;
|
||||
gear->m_padding[3] = 0;
|
||||
#endif
|
||||
|
||||
return btGearConstraintDataName;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -776,7 +776,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
|
|||
btConstraintInfo2 *info, int row, btVector3& ax1, int rotational,int rotAllowed)
|
||||
{
|
||||
int srow = row * info->rowskip;
|
||||
bool powered = limot->m_enableMotor;
|
||||
int powered = limot->m_enableMotor;
|
||||
int limit = limot->m_currentLimit;
|
||||
if (powered || limit)
|
||||
{ // if the joint is powered, or has joint limits, add in the extra row
|
||||
|
|
@ -840,7 +840,7 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
|
|||
}
|
||||
// if we're limited low and high simultaneously, the joint motor is
|
||||
// ineffective
|
||||
if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = false;
|
||||
if (limit && (limot->m_loLimit == limot->m_hiLimit)) powered = 0;
|
||||
info->m_constraintError[srow] = btScalar(0.f);
|
||||
if (powered)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -729,21 +729,6 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
|
|||
if (limot->m_enableMotor && limot->m_servoMotor)
|
||||
{
|
||||
btScalar error = limot->m_currentPosition - limot->m_servoTarget;
|
||||
btScalar curServoTarget = limot->m_servoTarget;
|
||||
if (rotational)
|
||||
{
|
||||
if (error > SIMD_PI)
|
||||
{
|
||||
error -= SIMD_2_PI;
|
||||
curServoTarget +=SIMD_2_PI;
|
||||
}
|
||||
if (error < -SIMD_PI)
|
||||
{
|
||||
error += SIMD_2_PI;
|
||||
curServoTarget -=SIMD_2_PI;
|
||||
}
|
||||
}
|
||||
|
||||
calculateJacobi(limot,transA,transB,info,srow,ax1,rotational,rotAllowed);
|
||||
btScalar targetvelocity = error<0 ? -limot->m_targetVelocity : limot->m_targetVelocity;
|
||||
btScalar tag_vel = -targetvelocity;
|
||||
|
|
@ -754,13 +739,13 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
|
|||
btScalar hiLimit;
|
||||
if(limot->m_loLimit > limot->m_hiLimit)
|
||||
{
|
||||
lowLimit = error > 0 ? curServoTarget : -SIMD_INFINITY;
|
||||
hiLimit = error < 0 ? curServoTarget : SIMD_INFINITY;
|
||||
lowLimit = error > 0 ? limot->m_servoTarget : -SIMD_INFINITY;
|
||||
hiLimit = error < 0 ? limot->m_servoTarget : SIMD_INFINITY;
|
||||
}
|
||||
else
|
||||
{
|
||||
lowLimit = error > 0 && curServoTarget>limot->m_loLimit ? curServoTarget : limot->m_loLimit;
|
||||
hiLimit = error < 0 && curServoTarget<limot->m_hiLimit ? curServoTarget : limot->m_hiLimit;
|
||||
lowLimit = error > 0 && limot->m_servoTarget>limot->m_loLimit ? limot->m_servoTarget : limot->m_loLimit;
|
||||
hiLimit = error < 0 && limot->m_servoTarget<limot->m_hiLimit ? limot->m_servoTarget : limot->m_hiLimit;
|
||||
}
|
||||
mot_fact = getMotorFactor(limot->m_currentPosition, lowLimit, hiLimit, tag_vel, info->fps * limot->m_motorERP);
|
||||
}
|
||||
|
|
@ -1013,49 +998,13 @@ void btGeneric6DofSpring2Constraint::setTargetVelocity(int index, btScalar veloc
|
|||
m_angularLimits[index - 3].m_targetVelocity = velocity;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar targetOrg)
|
||||
void btGeneric6DofSpring2Constraint::setServoTarget(int index, btScalar target)
|
||||
{
|
||||
btAssert((index >= 0) && (index < 6));
|
||||
if (index<3)
|
||||
{
|
||||
m_linearLimits.m_servoTarget[index] = targetOrg;
|
||||
}
|
||||
m_linearLimits.m_servoTarget[index] = target;
|
||||
else
|
||||
{
|
||||
//wrap between -PI and PI, see also
|
||||
//https://stackoverflow.com/questions/4633177/c-how-to-wrap-a-float-to-the-interval-pi-pi
|
||||
|
||||
btScalar target = targetOrg+SIMD_PI;
|
||||
if (1)
|
||||
{
|
||||
btScalar m = target - SIMD_2_PI * floor(target/SIMD_2_PI);
|
||||
// handle boundary cases resulted from floating-point cut off:
|
||||
{
|
||||
if (m>=SIMD_2_PI)
|
||||
{
|
||||
target = 0;
|
||||
} else
|
||||
{
|
||||
if (m<0 )
|
||||
{
|
||||
if (SIMD_2_PI+m == SIMD_2_PI)
|
||||
target = 0;
|
||||
else
|
||||
target = SIMD_2_PI+m;
|
||||
}
|
||||
else
|
||||
{
|
||||
target = m;
|
||||
}
|
||||
}
|
||||
}
|
||||
target -= SIMD_PI;
|
||||
}
|
||||
|
||||
m_angularLimits[index - 3].m_servoTarget = target;
|
||||
}
|
||||
}
|
||||
|
||||
void btGeneric6DofSpring2Constraint::setMaxMotorForce(int index, btScalar force)
|
||||
|
|
|
|||
|
|
@ -664,11 +664,6 @@ SIMD_FORCE_INLINE const char* btGeneric6DofSpring2Constraint::serialize(void* da
|
|||
|
||||
dof->m_rotateOrder = m_rotateOrder;
|
||||
|
||||
dof->m_padding1[0] = 0;
|
||||
dof->m_padding1[1] = 0;
|
||||
dof->m_padding1[2] = 0;
|
||||
dof->m_padding1[3] = 0;
|
||||
|
||||
return btGeneric6DofSpring2ConstraintDataName;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -556,8 +556,12 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
|
|||
|
||||
}
|
||||
// if the hinge has joint limits or motor, add in the extra row
|
||||
bool powered = getEnableAngularMotor();
|
||||
if(limit || powered)
|
||||
int powered = 0;
|
||||
if(getEnableAngularMotor())
|
||||
{
|
||||
powered = 1;
|
||||
}
|
||||
if(limit || powered)
|
||||
{
|
||||
nrow++;
|
||||
srow = nrow * info->rowskip;
|
||||
|
|
@ -573,7 +577,7 @@ void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransf
|
|||
btScalar histop = getUpperLimit();
|
||||
if(limit && (lostop == histop))
|
||||
{ // the joint motor is ineffective
|
||||
powered = false;
|
||||
powered = 0;
|
||||
}
|
||||
info->m_constraintError[srow] = btScalar(0.0f);
|
||||
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
|
||||
|
|
@ -947,8 +951,12 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
|
|||
|
||||
}
|
||||
// if the hinge has joint limits or motor, add in the extra row
|
||||
bool powered = getEnableAngularMotor();
|
||||
if(limit || powered)
|
||||
int powered = 0;
|
||||
if(getEnableAngularMotor())
|
||||
{
|
||||
powered = 1;
|
||||
}
|
||||
if(limit || powered)
|
||||
{
|
||||
nrow++;
|
||||
srow = nrow * info->rowskip;
|
||||
|
|
@ -964,7 +972,7 @@ void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info
|
|||
btScalar histop = getUpperLimit();
|
||||
if(limit && (lostop == histop))
|
||||
{ // the joint motor is ineffective
|
||||
powered = false;
|
||||
powered = 0;
|
||||
}
|
||||
info->m_constraintError[srow] = btScalar(0.0f);
|
||||
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
|
||||
|
|
|
|||
|
|
@ -314,7 +314,7 @@ public:
|
|||
{
|
||||
return m_enableAngularMotor;
|
||||
}
|
||||
inline btScalar getMotorTargetVelocity()
|
||||
inline btScalar getMotorTargetVelosity()
|
||||
{
|
||||
return m_motorTargetVelocity;
|
||||
}
|
||||
|
|
@ -489,14 +489,6 @@ SIMD_FORCE_INLINE const char* btHingeConstraint::serialize(void* dataBuffer, btS
|
|||
hingeData->m_relaxationFactor = float(m_relaxationFactor);
|
||||
#endif
|
||||
|
||||
// Fill padding with zeros to appease msan.
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
hingeData->m_padding1[0] = 0;
|
||||
hingeData->m_padding1[1] = 0;
|
||||
hingeData->m_padding1[2] = 0;
|
||||
hingeData->m_padding1[3] = 0;
|
||||
#endif
|
||||
|
||||
return btHingeConstraintDataName;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -78,6 +78,20 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
|
||||
|
||||
btScalar deltaflengthsqr = 0;
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_SIMD)
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations)
|
||||
{
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
|
||||
m_deltafNC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf * deltaf;
|
||||
}
|
||||
}
|
||||
} else
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
|
|
@ -127,6 +141,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
|
||||
|
||||
|
||||
if (infoGlobal.m_solverMode & SOLVER_SIMD)
|
||||
{
|
||||
|
||||
if (iteration< infoGlobal.m_numIterations)
|
||||
|
|
@ -143,7 +158,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
}
|
||||
}
|
||||
|
||||
///solve all contact constraints
|
||||
///solve all contact constraints using SIMD, if available
|
||||
if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
|
||||
{
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
|
|
@ -155,7 +170,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
|
||||
btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
btScalar deltaf = resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafC[c] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
totalImpulse = solveManifold.m_appliedImpulse;
|
||||
|
|
@ -171,7 +186,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[c*multiplier] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
|
|
@ -188,7 +203,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[c*multiplier+1] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
|
|
@ -208,6 +223,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
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);
|
||||
btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
|
|
@ -215,7 +231,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
|
||||
|
||||
|
||||
///solve all friction constraints
|
||||
///solve all friction constraints, using SIMD, if available
|
||||
|
||||
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
for (j=0;j<numFrictionPoolConstraints;j++)
|
||||
|
|
@ -228,6 +244,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
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);
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
|
|
@ -235,11 +252,10 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
m_deltafCF[j] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
{
|
||||
|
||||
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
|
||||
for (int j=0;j<numRollingFrictionPoolConstraints;j++)
|
||||
for (j=0;j<numRollingFrictionPoolConstraints;j++)
|
||||
{
|
||||
|
||||
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
|
|
@ -253,19 +269,87 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
|
||||
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
|
||||
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
|
||||
btScalar deltaf = resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
|
||||
m_deltafCRF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCRF[j] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
} else
|
||||
{
|
||||
|
||||
if (iteration< infoGlobal.m_numIterations)
|
||||
{
|
||||
for (int j=0;j<numConstraints;j++)
|
||||
{
|
||||
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();
|
||||
for (int j=0;j<numPoolConstraints;j++)
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafC[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
}
|
||||
///solve all friction constraints
|
||||
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
for (int j=0;j<numFrictionPoolConstraints;j++)
|
||||
{
|
||||
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
|
||||
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
m_deltafCF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCF[j] = 0;
|
||||
}
|
||||
}
|
||||
|
||||
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
|
||||
for (int j=0;j<numRollingFrictionPoolConstraints;j++)
|
||||
{
|
||||
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
|
||||
if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
|
||||
rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
|
||||
|
||||
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
|
||||
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
|
||||
|
||||
btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
|
||||
m_deltafCRF[j] = deltaf;
|
||||
deltaflengthsqr += deltaf*deltaf;
|
||||
} else {
|
||||
m_deltafCRF[j] = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -278,7 +362,10 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j];
|
||||
for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = m_deltafC[j];
|
||||
for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = m_deltafCF[j];
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = m_deltafCRF[j];
|
||||
if ( (infoGlobal.m_solverMode & SOLVER_SIMD) ==0 || (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 )
|
||||
{
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = m_deltafCRF[j];
|
||||
}
|
||||
} else
|
||||
{
|
||||
// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
|
||||
|
|
@ -287,7 +374,9 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0;
|
||||
for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = 0;
|
||||
for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = 0;
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = 0;
|
||||
if ( (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) {
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = 0;
|
||||
}
|
||||
} else {
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
|
|
@ -331,7 +420,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
|
|||
body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
|
||||
}
|
||||
}
|
||||
{
|
||||
if ( (infoGlobal.m_solverMode & SOLVER_SIMD) ==0 || (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) == 0 ) {
|
||||
for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
|
|
|
|||
|
|
@ -39,7 +39,7 @@ int gNumSplitImpulseRecoveries = 0;
|
|||
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
||||
|
||||
//#define VERBOSE_RESIDUAL_PRINTF 1
|
||||
|
||||
///This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver
|
||||
///Below are optional SSE2 and SSE4/FMA3 versions. We assume most hardware has SSE2. For SSE4/FMA3 we perform a CPU feature check.
|
||||
static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
|
||||
|
|
@ -269,38 +269,44 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBo
|
|||
|
||||
btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
|
||||
{
|
||||
#ifdef USE_SIMD
|
||||
return m_resolveSingleConstraintRowGeneric(body1, body2, c);
|
||||
#else
|
||||
return resolveSingleConstraintRowGeneric(body1,body2,c);
|
||||
#endif
|
||||
}
|
||||
|
||||
// Project Gauss Seidel or the equivalent Sequential Impulse
|
||||
btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
|
||||
{
|
||||
return m_resolveSingleConstraintRowGeneric(body1, body2, c);
|
||||
return gResolveSingleConstraintRowGeneric_scalar_reference(body1, body2, c);
|
||||
}
|
||||
|
||||
btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
|
||||
{
|
||||
#ifdef USE_SIMD
|
||||
return m_resolveSingleConstraintRowLowerLimit(body1, body2, c);
|
||||
#else
|
||||
return resolveSingleConstraintRowLowerLimit(body1,body2,c);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
|
||||
{
|
||||
return m_resolveSingleConstraintRowLowerLimit(body1, body2, c);
|
||||
return gResolveSingleConstraintRowLowerLimit_scalar_reference(body1,body2,c);
|
||||
}
|
||||
|
||||
|
||||
static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference(
|
||||
void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly(
|
||||
btSolverBody& body1,
|
||||
btSolverBody& body2,
|
||||
const btSolverConstraint& c)
|
||||
{
|
||||
btScalar deltaImpulse = 0.f;
|
||||
|
||||
if (c.m_rhsPenetration)
|
||||
{
|
||||
gNumSplitImpulseRecoveries++;
|
||||
deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
|
||||
btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
|
||||
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());
|
||||
|
||||
|
|
@ -319,14 +325,13 @@ static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference(
|
|||
body1.internalApplyPushImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
|
||||
body2.internalApplyPushImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
|
||||
}
|
||||
return deltaImpulse;
|
||||
}
|
||||
|
||||
static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
|
||||
void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
|
||||
{
|
||||
#ifdef USE_SIMD
|
||||
if (!c.m_rhsPenetration)
|
||||
return 0.f;
|
||||
return;
|
||||
|
||||
gNumSplitImpulseRecoveries++;
|
||||
|
||||
|
|
@ -352,44 +357,33 @@ static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btS
|
|||
body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,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));
|
||||
return deltaImpulse;
|
||||
#else
|
||||
return gResolveSplitPenetrationImpulse_scalar_reference(body1,body2,c);
|
||||
resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
|
||||
{
|
||||
m_btSeed2 = 0;
|
||||
m_cachedSolverMode = 0;
|
||||
setupSolverFunctions( false );
|
||||
}
|
||||
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver()
|
||||
: m_resolveSingleConstraintRowGeneric(gResolveSingleConstraintRowGeneric_scalar_reference),
|
||||
m_resolveSingleConstraintRowLowerLimit(gResolveSingleConstraintRowLowerLimit_scalar_reference),
|
||||
m_btSeed2(0)
|
||||
{
|
||||
|
||||
void btSequentialImpulseConstraintSolver::setupSolverFunctions( bool useSimd )
|
||||
{
|
||||
m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_scalar_reference;
|
||||
m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_scalar_reference;
|
||||
m_resolveSplitPenetrationImpulse = gResolveSplitPenetrationImpulse_scalar_reference;
|
||||
|
||||
if ( useSimd )
|
||||
{
|
||||
#ifdef USE_SIMD
|
||||
m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse2;
|
||||
m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse2;
|
||||
m_resolveSplitPenetrationImpulse = gResolveSplitPenetrationImpulse_sse2;
|
||||
m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse2;
|
||||
m_resolveSingleConstraintRowLowerLimit=gResolveSingleConstraintRowLowerLimit_sse2;
|
||||
#endif //USE_SIMD
|
||||
|
||||
#ifdef BT_ALLOW_SSE4
|
||||
int cpuFeatures = btCpuFeatureUtility::getCpuFeatures();
|
||||
if ((cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_FMA3) && (cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_SSE4_1))
|
||||
{
|
||||
m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse4_1_fma3;
|
||||
m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
|
||||
}
|
||||
int cpuFeatures = btCpuFeatureUtility::getCpuFeatures();
|
||||
if ((cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_FMA3) && (cpuFeatures & btCpuFeatureUtility::CPU_FEATURE_SSE4_1))
|
||||
{
|
||||
m_resolveSingleConstraintRowGeneric = gResolveSingleConstraintRowGeneric_sse4_1_fma3;
|
||||
m_resolveSingleConstraintRowLowerLimit = gResolveSingleConstraintRowLowerLimit_sse4_1_fma3;
|
||||
}
|
||||
#endif//BT_ALLOW_SSE4
|
||||
#endif //USE_SIMD
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver()
|
||||
{
|
||||
|
|
@ -508,12 +502,8 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
|
|||
|
||||
|
||||
|
||||
btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold)
|
||||
btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution)
|
||||
{
|
||||
//printf("rel_vel =%f\n", rel_vel);
|
||||
if (btFabs(rel_vel)<velocityThreshold)
|
||||
return 0.;
|
||||
|
||||
btScalar rest = restitution * -rel_vel;
|
||||
return rest;
|
||||
}
|
||||
|
|
@ -540,7 +530,7 @@ void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionOb
|
|||
|
||||
|
||||
|
||||
void btSequentialImpulseConstraintSolver::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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
|
||||
void btSequentialImpulseConstraintSolver::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, btScalar desiredVelocity, btScalar cfmSlip)
|
||||
{
|
||||
|
||||
|
||||
|
|
@ -618,17 +608,7 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
|
|||
|
||||
btScalar velocityError = desiredVelocity - rel_vel;
|
||||
btScalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
|
||||
|
||||
btScalar penetrationImpulse = btScalar(0);
|
||||
|
||||
if (cp.m_contactPointFlags & BT_CONTACT_FLAG_FRICTION_ANCHOR)
|
||||
{
|
||||
btScalar distance = (cp.getPositionWorldOnA() - cp.getPositionWorldOnB()).dot(normalAxis);
|
||||
btScalar positionalError = -distance * infoGlobal.m_frictionERP/infoGlobal.m_timeStep;
|
||||
penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
|
||||
}
|
||||
|
||||
solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
|
||||
solverConstraint.m_rhs = velocityImpulse;
|
||||
solverConstraint.m_rhsPenetration = 0.f;
|
||||
solverConstraint.m_cfm = cfmSlip;
|
||||
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
|
||||
|
|
@ -637,12 +617,12 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
|
|||
}
|
||||
}
|
||||
|
||||
btSolverConstraint& btSequentialImpulseConstraintSolver::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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
|
||||
btSolverConstraint& btSequentialImpulseConstraintSolver::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, btScalar cfmSlip)
|
||||
{
|
||||
btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
|
||||
solverConstraint.m_frictionIndex = frictionIndex;
|
||||
setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2,
|
||||
colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip);
|
||||
colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
|
||||
return solverConstraint;
|
||||
}
|
||||
|
||||
|
|
@ -736,67 +716,8 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionCon
|
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int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body,btScalar timeStep)
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{
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#if BT_THREADSAFE
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int solverBodyId = -1;
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if ( !body.isStaticOrKinematicObject() )
|
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{
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// dynamic body
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// Dynamic bodies can only be in one island, so it's safe to write to the companionId
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solverBodyId = body.getCompanionId();
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if ( solverBodyId < 0 )
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{
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if ( btRigidBody* rb = btRigidBody::upcast( &body ) )
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{
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solverBodyId = m_tmpSolverBodyPool.size();
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btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
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initSolverBody( &solverBody, &body, timeStep );
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body.setCompanionId( solverBodyId );
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}
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}
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}
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else if (body.isKinematicObject())
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{
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//
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// NOTE: must test for kinematic before static because some kinematic objects also
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// identify as "static"
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//
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// Kinematic bodies can be in multiple islands at once, so it is a
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// race condition to write to them, so we use an alternate method
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// to record the solverBodyId
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int uniqueId = body.getWorldArrayIndex();
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const int INVALID_SOLVER_BODY_ID = -1;
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if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size())
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{
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m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID);
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}
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solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ];
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// if no table entry yet,
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if ( solverBodyId == INVALID_SOLVER_BODY_ID )
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{
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// create a table entry for this body
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btRigidBody* rb = btRigidBody::upcast( &body );
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solverBodyId = m_tmpSolverBodyPool.size();
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btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
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initSolverBody( &solverBody, &body, timeStep );
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m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ] = solverBodyId;
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}
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}
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else
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{
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// all fixed bodies (inf mass) get mapped to a single solver id
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if ( m_fixedBodyId < 0 )
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{
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m_fixedBodyId = m_tmpSolverBodyPool.size();
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btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
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initSolverBody( &fixedBody, 0, timeStep );
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}
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solverBodyId = m_fixedBodyId;
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}
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btAssert( solverBodyId < m_tmpSolverBodyPool.size() );
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return solverBodyId;
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#else // BT_THREADSAFE
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int solverBodyIdA = -1;
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int solverBodyIdA = -1;
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if (body.getCompanionId() >= 0)
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{
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@ -828,7 +749,6 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
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}
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return solverBodyIdA;
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#endif // BT_THREADSAFE
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}
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#include <stdio.h>
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@ -953,7 +873,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
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solverConstraint.m_friction = cp.m_combinedFriction;
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restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
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restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
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if (restitution <= btScalar(0.))
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{
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restitution = 0.f;
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@ -1116,6 +1036,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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int frictionIndex = m_tmpSolverContactConstraintPool.size();
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btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
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btRigidBody* rb0 = btRigidBody::upcast(colObj0);
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btRigidBody* rb1 = btRigidBody::upcast(colObj1);
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solverConstraint.m_solverBodyIdA = solverBodyIdA;
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solverConstraint.m_solverBodyIdB = solverBodyIdB;
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@ -1127,9 +1049,9 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
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rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
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btVector3 vel1;
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btVector3 vel2;
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btVector3 vel1;// = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
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btVector3 vel2;// = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
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solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1,vel1);
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solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2,vel2 );
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@ -1140,6 +1062,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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// const btVector3& pos1 = cp.getPositionWorldOnA();
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// const btVector3& pos2 = cp.getPositionWorldOnB();
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/////setup the friction constraints
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@ -1184,7 +1108,6 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
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///this will give a conveyor belt effect
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///
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if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !(cp.m_contactPointFlags&BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED))
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{
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cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
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@ -1194,7 +1117,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel);
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applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
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applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
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addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,infoGlobal);
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addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
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if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
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{
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@ -1202,7 +1125,7 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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cp.m_lateralFrictionDir2.normalize();//??
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applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
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applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
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addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal);
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addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
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}
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} else
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@ -1211,13 +1134,13 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
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applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
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addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal);
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addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
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if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
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{
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applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
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applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
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addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal);
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addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
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}
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@ -1229,10 +1152,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
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} else
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{
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addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM);
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addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation,cp.m_contactMotion1, cp.m_frictionCFM);
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if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
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addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM);
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addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_frictionCFM);
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}
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setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
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@ -1264,14 +1187,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
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BT_PROFILE("solveGroupCacheFriendlySetup");
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(void)debugDrawer;
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// if solver mode has changed,
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if ( infoGlobal.m_solverMode != m_cachedSolverMode )
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||||
{
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||||
// update solver functions to use SIMD or non-SIMD
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||||
bool useSimd = !!( infoGlobal.m_solverMode & SOLVER_SIMD );
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setupSolverFunctions( useSimd );
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m_cachedSolverMode = infoGlobal.m_solverMode;
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}
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m_maxOverrideNumSolverIterations = 0;
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#ifdef BT_ADDITIONAL_DEBUG
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@ -1348,9 +1263,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
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{
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||||
bodies[i]->setCompanionId(-1);
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}
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#if BT_THREADSAFE
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m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 );
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#endif // BT_THREADSAFE
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||||
m_tmpSolverBodyPool.reserve(numBodies+1);
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||||
m_tmpSolverBodyPool.resize(0);
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@ -1551,8 +1464,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
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|||
sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
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||||
btScalar fsum = btFabs(sum);
|
||||
btAssert(fsum > SIMD_EPSILON);
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||||
btScalar sorRelaxation = 1.f;//todo: get from globalInfo?
|
||||
solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?sorRelaxation/sum : 0.f;
|
||||
solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?btScalar(1.)/sum : 0.f;
|
||||
}
|
||||
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@ -1630,7 +1542,6 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
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||||
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
|
||||
{
|
||||
btScalar leastSquaresResidual = 0.f;
|
||||
|
||||
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
|
||||
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
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@ -1668,15 +1579,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
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|||
}
|
||||
}
|
||||
|
||||
///solve all joint constraints
|
||||
if (infoGlobal.m_solverMode & SOLVER_SIMD)
|
||||
{
|
||||
///solve all joint constraints, using SIMD, if available
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations)
|
||||
{
|
||||
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
|
||||
leastSquaresResidual += residual*residual;
|
||||
}
|
||||
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
|
||||
}
|
||||
|
||||
if (iteration< infoGlobal.m_numIterations)
|
||||
|
|
@ -1693,7 +1603,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
}
|
||||
}
|
||||
|
||||
///solve all contact constraints
|
||||
///solve all contact constraints using SIMD, if available
|
||||
if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
|
||||
{
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
|
|
@ -1705,9 +1615,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
|
||||
btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
leastSquaresResidual += residual*residual;
|
||||
|
||||
resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
totalImpulse = solveManifold.m_appliedImpulse;
|
||||
}
|
||||
bool applyFriction = true;
|
||||
|
|
@ -1722,8 +1630,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
|
||||
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
leastSquaresResidual += residual*residual;
|
||||
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1737,8 +1644,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
|
||||
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
leastSquaresResidual += residual*residual;
|
||||
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1754,13 +1660,13 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
for (j=0;j<numPoolConstraints;j++)
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
leastSquaresResidual += residual*residual;
|
||||
resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
///solve all friction constraints
|
||||
///solve all friction constraints, using SIMD, if available
|
||||
|
||||
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
for (j=0;j<numFrictionPoolConstraints;j++)
|
||||
|
|
@ -1773,15 +1679,13 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
|
||||
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
leastSquaresResidual += residual*residual;
|
||||
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
|
||||
for (int j=0;j<numRollingFrictionPoolConstraints;j++)
|
||||
for (j=0;j<numRollingFrictionPoolConstraints;j++)
|
||||
{
|
||||
|
||||
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
|
|
@ -1795,14 +1699,80 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
|
|||
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
|
||||
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
|
||||
|
||||
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
|
||||
leastSquaresResidual += residual*residual;
|
||||
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
return leastSquaresResidual;
|
||||
} else
|
||||
{
|
||||
//non-SIMD version
|
||||
///solve all joint constraints
|
||||
for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
|
||||
{
|
||||
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
||||
if (iteration < constraint.m_overrideNumSolverIterations)
|
||||
resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
|
||||
}
|
||||
|
||||
if (iteration< infoGlobal.m_numIterations)
|
||||
{
|
||||
for (int j=0;j<numConstraints;j++)
|
||||
{
|
||||
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();
|
||||
for (int j=0;j<numPoolConstraints;j++)
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
}
|
||||
///solve all friction constraints
|
||||
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
|
||||
for (int j=0;j<numFrictionPoolConstraints;j++)
|
||||
{
|
||||
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
|
||||
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
|
||||
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
|
||||
|
||||
resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
}
|
||||
}
|
||||
|
||||
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
|
||||
for (int j=0;j<numRollingFrictionPoolConstraints;j++)
|
||||
{
|
||||
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
||||
btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
|
||||
if (totalImpulse>btScalar(0))
|
||||
{
|
||||
btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
|
||||
if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
|
||||
rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
|
||||
|
||||
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
|
||||
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
|
||||
|
||||
resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return 0.f;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -1811,10 +1781,10 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
|
|||
int iteration;
|
||||
if (infoGlobal.m_splitImpulse)
|
||||
{
|
||||
if (infoGlobal.m_solverMode & SOLVER_SIMD)
|
||||
{
|
||||
for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
|
||||
{
|
||||
btScalar leastSquaresResidual =0.f;
|
||||
{
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
int j;
|
||||
|
|
@ -1822,19 +1792,27 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
|
|||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
|
||||
btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
leastSquaresResidual += residual*residual;
|
||||
resolveSplitPenetrationSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
}
|
||||
}
|
||||
if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration>=(infoGlobal.m_numIterations-1))
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++)
|
||||
{
|
||||
{
|
||||
#ifdef VERBOSE_RESIDUAL_PRINTF
|
||||
printf("residual = %f at iteration #%d\n",leastSquaresResidual,iteration);
|
||||
#endif
|
||||
break;
|
||||
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
||||
int j;
|
||||
for (j=0;j<numPoolConstraints;j++)
|
||||
{
|
||||
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
||||
|
||||
resolveSplitPenetrationImpulseCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1851,15 +1829,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
|
|||
for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
|
||||
//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
|
||||
{
|
||||
m_leastSquaresResidual = solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
|
||||
|
||||
if (m_leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || (iteration>= (maxIterations-1)))
|
||||
{
|
||||
#ifdef VERBOSE_RESIDUAL_PRINTF
|
||||
printf("residual = %f at iteration #%d\n",m_leastSquaresResidual,iteration);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -45,27 +45,13 @@ protected:
|
|||
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
|
||||
int m_maxOverrideNumSolverIterations;
|
||||
int m_fixedBodyId;
|
||||
// When running solvers on multiple threads, a race condition exists for Kinematic objects that
|
||||
// participate in more than one solver.
|
||||
// The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body
|
||||
// for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island
|
||||
// (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once.
|
||||
// To avoid this race condition, this solver does not write the companionId, instead it stores the solver body
|
||||
// index in this solver-local table, indexed by the uniqueId of the body.
|
||||
btAlignedObjectArray<int> m_kinematicBodyUniqueIdToSolverBodyTable; // only used for multithreading
|
||||
|
||||
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
|
||||
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
|
||||
btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
|
||||
int m_cachedSolverMode; // used to check if SOLVER_SIMD flag has been changed
|
||||
void setupSolverFunctions( bool useSimd );
|
||||
|
||||
btScalar m_leastSquaresResidual;
|
||||
|
||||
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,
|
||||
const btContactSolverInfo& infoGlobal,
|
||||
btScalar desiredVelocity=0., btScalar cfmSlip=0.);
|
||||
|
||||
void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
|
||||
|
|
@ -73,7 +59,7 @@ protected:
|
|||
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
|
||||
btScalar desiredVelocity=0., btScalar cfmSlip=0.);
|
||||
|
||||
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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
|
||||
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& addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
|
||||
|
||||
|
||||
|
|
@ -89,22 +75,20 @@ protected:
|
|||
unsigned long m_btSeed2;
|
||||
|
||||
|
||||
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
|
||||
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
|
||||
|
||||
virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
|
||||
|
||||
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
|
||||
|
||||
|
||||
btSimdScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
|
||||
{
|
||||
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
|
||||
}
|
||||
void resolveSplitPenetrationSIMD(
|
||||
btSolverBody& bodyA,btSolverBody& bodyB,
|
||||
const btSolverConstraint& contactConstraint);
|
||||
|
||||
btSimdScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
|
||||
{
|
||||
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
|
||||
}
|
||||
void resolveSplitPenetrationImpulseCacheFriendly(
|
||||
btSolverBody& bodyA,btSolverBody& bodyB,
|
||||
const btSolverConstraint& contactConstraint);
|
||||
|
||||
//internal method
|
||||
int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
|
||||
|
|
@ -114,10 +98,6 @@ protected:
|
|||
btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
|
||||
btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
|
||||
btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
|
||||
btSimdScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
|
||||
{
|
||||
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
|
||||
}
|
||||
|
||||
protected:
|
||||
|
||||
|
|
|
|||
21
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
Normal file → Executable file
21
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
Normal file → Executable file
|
|
@ -364,6 +364,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
|
|||
int srow;
|
||||
btScalar limit_err;
|
||||
int limit;
|
||||
int powered;
|
||||
|
||||
// next two rows.
|
||||
// we want: velA + wA x relA == velB + wB x relB ... but this would
|
||||
|
|
@ -469,9 +470,13 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
|
|||
limit_err = getLinDepth() * signFact;
|
||||
limit = (limit_err > btScalar(0.0)) ? 2 : 1;
|
||||
}
|
||||
bool powered = getPoweredLinMotor();
|
||||
powered = 0;
|
||||
if(getPoweredLinMotor())
|
||||
{
|
||||
powered = 1;
|
||||
}
|
||||
// if the slider has joint limits or motor, add in the extra row
|
||||
if (limit || powered)
|
||||
if (limit || powered)
|
||||
{
|
||||
nrow++;
|
||||
srow = nrow * info->rowskip;
|
||||
|
|
@ -519,7 +524,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
|
|||
btScalar histop = getUpperLinLimit();
|
||||
if(limit && (lostop == histop))
|
||||
{ // the joint motor is ineffective
|
||||
powered = false;
|
||||
powered = 0;
|
||||
}
|
||||
info->m_constraintError[srow] = 0.;
|
||||
info->m_lowerLimit[srow] = 0.;
|
||||
|
|
@ -604,8 +609,12 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
|
|||
limit = (limit_err > btScalar(0.0)) ? 1 : 2;
|
||||
}
|
||||
// if the slider has joint limits, add in the extra row
|
||||
powered = getPoweredAngMotor();
|
||||
if(limit || powered)
|
||||
powered = 0;
|
||||
if(getPoweredAngMotor())
|
||||
{
|
||||
powered = 1;
|
||||
}
|
||||
if(limit || powered)
|
||||
{
|
||||
nrow++;
|
||||
srow = nrow * info->rowskip;
|
||||
|
|
@ -621,7 +630,7 @@ void btSliderConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTra
|
|||
btScalar histop = getUpperAngLimit();
|
||||
if(limit && (lostop == histop))
|
||||
{ // the joint motor is ineffective
|
||||
powered = false;
|
||||
powered = 0;
|
||||
}
|
||||
currERP = (m_flags & BT_SLIDER_FLAGS_ERP_LIMANG) ? m_softnessLimAng : info->erp;
|
||||
if(powered)
|
||||
|
|
|
|||
0
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
Normal file → Executable file
0
Engine/lib/bullet/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
Normal file → Executable file
|
|
@ -19,7 +19,7 @@ subject to the following restrictions:
|
|||
#include "LinearMath/btSerializer.h"
|
||||
|
||||
|
||||
#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.05f)
|
||||
#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f)
|
||||
|
||||
btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
|
||||
:btTypedObject(type),
|
||||
|
|
|
|||
|
|
@ -374,7 +374,7 @@ void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
|
|||
|
||||
void btDiscreteDynamicsWorld::synchronizeMotionStates()
|
||||
{
|
||||
// BT_PROFILE("synchronizeMotionStates");
|
||||
BT_PROFILE("synchronizeMotionStates");
|
||||
if (m_synchronizeAllMotionStates)
|
||||
{
|
||||
//iterate over all collision objects
|
||||
|
|
@ -402,6 +402,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
|
|||
{
|
||||
startProfiling(timeStep);
|
||||
|
||||
BT_PROFILE("stepSimulation");
|
||||
|
||||
int numSimulationSubSteps = 0;
|
||||
|
||||
|
|
@ -538,7 +539,7 @@ btVector3 btDiscreteDynamicsWorld::getGravity () const
|
|||
return m_gravity;
|
||||
}
|
||||
|
||||
void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject, int collisionFilterGroup, int collisionFilterMask)
|
||||
void btDiscreteDynamicsWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask)
|
||||
{
|
||||
btCollisionWorld::addCollisionObject(collisionObject,collisionFilterGroup,collisionFilterMask);
|
||||
}
|
||||
|
|
@ -577,14 +578,14 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body)
|
|||
}
|
||||
|
||||
bool isDynamic = !(body->isStaticObject() || body->isKinematicObject());
|
||||
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
|
||||
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
|
||||
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
|
||||
|
||||
addCollisionObject(body,collisionFilterGroup,collisionFilterMask);
|
||||
}
|
||||
}
|
||||
|
||||
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, int group, int mask)
|
||||
void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short mask)
|
||||
{
|
||||
if (!body->isStaticOrKinematicObject() && !(body->getFlags() &BT_DISABLE_WORLD_GRAVITY))
|
||||
{
|
||||
|
|
@ -877,12 +878,25 @@ public:
|
|||
int gNumClampedCcdMotions=0;
|
||||
|
||||
|
||||
void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep)
|
||||
void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
|
||||
{
|
||||
btTransform predictedTrans;
|
||||
for ( int i=0;i<numBodies;i++)
|
||||
BT_PROFILE("createPredictiveContacts");
|
||||
|
||||
{
|
||||
btRigidBody* body = bodies[i];
|
||||
BT_PROFILE("release predictive contact manifolds");
|
||||
|
||||
for (int i=0;i<m_predictiveManifolds.size();i++)
|
||||
{
|
||||
btPersistentManifold* manifold = m_predictiveManifolds[i];
|
||||
this->m_dispatcher1->releaseManifold(manifold);
|
||||
}
|
||||
m_predictiveManifolds.clear();
|
||||
}
|
||||
|
||||
btTransform predictedTrans;
|
||||
for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
|
||||
{
|
||||
btRigidBody* body = m_nonStaticRigidBodies[i];
|
||||
body->setHitFraction(1.f);
|
||||
|
||||
if (body->isActive() && (!body->isStaticOrKinematicObject()))
|
||||
|
|
@ -939,9 +953,7 @@ void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bo
|
|||
|
||||
|
||||
btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body,sweepResults.m_hitCollisionObject);
|
||||
btMutexLock( &m_predictiveManifoldsMutex );
|
||||
m_predictiveManifolds.push_back(manifold);
|
||||
btMutexUnlock( &m_predictiveManifoldsMutex );
|
||||
|
||||
btVector3 worldPointB = body->getWorldTransform().getOrigin()+distVec;
|
||||
btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse()*worldPointB;
|
||||
|
|
@ -962,35 +974,13 @@ void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bo
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
void btDiscreteDynamicsWorld::releasePredictiveContacts()
|
||||
{
|
||||
BT_PROFILE( "release predictive contact manifolds" );
|
||||
|
||||
for ( int i = 0; i < m_predictiveManifolds.size(); i++ )
|
||||
{
|
||||
btPersistentManifold* manifold = m_predictiveManifolds[ i ];
|
||||
this->m_dispatcher1->releaseManifold( manifold );
|
||||
}
|
||||
m_predictiveManifolds.clear();
|
||||
}
|
||||
|
||||
void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE("createPredictiveContacts");
|
||||
releasePredictiveContacts();
|
||||
if (m_nonStaticRigidBodies.size() > 0)
|
||||
{
|
||||
createPredictiveContactsInternal( &m_nonStaticRigidBodies[ 0 ], m_nonStaticRigidBodies.size(), timeStep );
|
||||
}
|
||||
}
|
||||
|
||||
void btDiscreteDynamicsWorld::integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep )
|
||||
void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE("integrateTransforms");
|
||||
btTransform predictedTrans;
|
||||
for (int i=0;i<numBodies;i++)
|
||||
for ( int i=0;i<m_nonStaticRigidBodies.size();i++)
|
||||
{
|
||||
btRigidBody* body = bodies[i];
|
||||
btRigidBody* body = m_nonStaticRigidBodies[i];
|
||||
body->setHitFraction(1.f);
|
||||
|
||||
if (body->isActive() && (!body->isStaticOrKinematicObject()))
|
||||
|
|
@ -1090,17 +1080,7 @@ void btDiscreteDynamicsWorld::integrateTransformsInternal( btRigidBody** bodies,
|
|||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE("integrateTransforms");
|
||||
if (m_nonStaticRigidBodies.size() > 0)
|
||||
{
|
||||
integrateTransformsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep);
|
||||
}
|
||||
|
||||
///this should probably be switched on by default, but it is not well tested yet
|
||||
///this should probably be switched on by default, but it is not well tested yet
|
||||
if (m_applySpeculativeContactRestitution)
|
||||
{
|
||||
BT_PROFILE("apply speculative contact restitution");
|
||||
|
|
@ -1134,12 +1114,14 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep)
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
|
||||
{
|
||||
BT_PROFILE("predictUnconstraintMotion");
|
||||
|
|
@ -1511,9 +1493,6 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize
|
|||
|
||||
worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
|
||||
|
||||
// Fill padding with zeros to appease msan.
|
||||
memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding));
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
const char* structType = "btDynamicsWorldDoubleData";
|
||||
#else//BT_USE_DOUBLE_PRECISION
|
||||
|
|
|
|||
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Loading…
Add table
Add a link
Reference in a new issue