| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| //#define COMPUTE_IMPULSE_DENOM 1 |
| //It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms. |
| |
| #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" |
| #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" |
| #include "BulletDynamics/Dynamics/btRigidBody.h" |
| #include "BulletDynamics/ConstraintSolver/btContactConstraint.h" |
| #include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h" |
| #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" |
| #include "LinearMath/btIDebugDraw.h" |
| #include "BulletDynamics/ConstraintSolver/btJacobianEntry.h" |
| #include "LinearMath/btMinMax.h" |
| #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" |
| #include <new> |
| #include "LinearMath/btStackAlloc.h" |
| #include "LinearMath/btQuickprof.h" |
| |
| #include "BulletDynamics/ConstraintSolver/btSolverBody.h" |
| #include "BulletDynamics/ConstraintSolver/btSolverConstraint.h" |
| #include "LinearMath/btAlignedObjectArray.h" |
| #include <string.h> //for memset |
| |
| int gNumSplitImpulseRecoveries = 0; |
| |
| btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver() |
| :m_btSeed2(0) |
| { |
| |
| } |
| |
| btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver() |
| { |
| } |
| |
| #ifdef USE_SIMD |
| #include <emmintrin.h> |
| #define vec_splat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e,e,e,e)) |
| static inline __m128 _vmathVfDot3( __m128 vec0, __m128 vec1 ) |
| { |
| __m128 result = _mm_mul_ps( vec0, vec1); |
| return _mm_add_ps( vec_splat( result, 0 ), _mm_add_ps( vec_splat( result, 1 ), vec_splat( result, 2 ) ) ); |
| } |
| #endif//USE_SIMD |
| |
| // Project Gauss Seidel or the equivalent Sequential Impulse |
| void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) |
| { |
| #ifdef USE_SIMD |
| __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); |
| __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); |
| __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); |
| __m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm))); |
| __m128 deltaVel1Dotn = _mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.m_deltaLinearVelocity.mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.m_deltaAngularVelocity.mVec128)); |
| __m128 deltaVel2Dotn = _mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.m_deltaAngularVelocity.mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.m_deltaLinearVelocity.mVec128)); |
| deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv))); |
| deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv))); |
| btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse); |
| btSimdScalar resultLowerLess,resultUpperLess; |
| resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1); |
| resultUpperLess = _mm_cmplt_ps(sum,upperLimit1); |
| __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); |
| deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); |
| c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); |
| __m128 upperMinApplied = _mm_sub_ps(upperLimit1,cpAppliedImp); |
| deltaImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied) ); |
| c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1) ); |
| __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128); |
| __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128); |
| __m128 impulseMagnitude = deltaImpulse; |
| body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); |
| body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); |
| body2.m_deltaLinearVelocity.mVec128 = _mm_sub_ps(body2.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); |
| body2.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body2.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); |
| #else |
| resolveSingleConstraintRowGeneric(body1,body2,c); |
| #endif |
| } |
| |
| // Project Gauss Seidel or the equivalent Sequential Impulse |
| void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) |
| { |
| btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; |
| const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_deltaLinearVelocity) + c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity); |
| const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.m_deltaLinearVelocity) + c.m_relpos2CrossNormal.dot(body2.m_deltaAngularVelocity); |
| |
| // const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn; |
| deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; |
| deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; |
| |
| const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; |
| if (sum < c.m_lowerLimit) |
| { |
| deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse; |
| c.m_appliedImpulse = c.m_lowerLimit; |
| } |
| else if (sum > c.m_upperLimit) |
| { |
| deltaImpulse = c.m_upperLimit-c.m_appliedImpulse; |
| c.m_appliedImpulse = c.m_upperLimit; |
| } |
| else |
| { |
| c.m_appliedImpulse = sum; |
| } |
| body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse); |
| body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse); |
| } |
| |
| void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) |
| { |
| #ifdef USE_SIMD |
| __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); |
| __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); |
| __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); |
| __m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse),_mm_set1_ps(c.m_cfm))); |
| __m128 deltaVel1Dotn = _mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.m_deltaLinearVelocity.mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.m_deltaAngularVelocity.mVec128)); |
| __m128 deltaVel2Dotn = _mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.m_deltaAngularVelocity.mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.m_deltaLinearVelocity.mVec128)); |
| deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv))); |
| deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv))); |
| btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse); |
| btSimdScalar resultLowerLess,resultUpperLess; |
| resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1); |
| resultUpperLess = _mm_cmplt_ps(sum,upperLimit1); |
| __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); |
| deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); |
| c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); |
| __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128); |
| __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128); |
| __m128 impulseMagnitude = deltaImpulse; |
| body1.m_deltaLinearVelocity.mVec128 = _mm_add_ps(body1.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); |
| body1.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body1.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); |
| body2.m_deltaLinearVelocity.mVec128 = _mm_sub_ps(body2.m_deltaLinearVelocity.mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); |
| body2.m_deltaAngularVelocity.mVec128 = _mm_add_ps(body2.m_deltaAngularVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); |
| #else |
| resolveSingleConstraintRowLowerLimit(body1,body2,c); |
| #endif |
| } |
| |
| // Project Gauss Seidel or the equivalent Sequential Impulse |
| void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) |
| { |
| btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; |
| const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_deltaLinearVelocity) + c.m_relpos1CrossNormal.dot(body1.m_deltaAngularVelocity); |
| const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.m_deltaLinearVelocity) + c.m_relpos2CrossNormal.dot(body2.m_deltaAngularVelocity); |
| |
| deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; |
| deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; |
| const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; |
| if (sum < c.m_lowerLimit) |
| { |
| deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse; |
| c.m_appliedImpulse = c.m_lowerLimit; |
| } |
| else |
| { |
| c.m_appliedImpulse = sum; |
| } |
| body1.applyImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse); |
| body2.applyImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse); |
| } |
| |
| |
| void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly( |
| btSolverBody& body1, |
| btSolverBody& body2, |
| const btSolverConstraint& c) |
| { |
| if (c.m_rhsPenetration) |
| { |
| gNumSplitImpulseRecoveries++; |
| btScalar deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm; |
| const btScalar deltaVel1Dotn = c.m_contactNormal.dot(body1.m_pushVelocity) + c.m_relpos1CrossNormal.dot(body1.m_turnVelocity); |
| const btScalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.m_pushVelocity) + c.m_relpos2CrossNormal.dot(body2.m_turnVelocity); |
| |
| deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; |
| deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; |
| const btScalar sum = btScalar(c.m_appliedPushImpulse) + deltaImpulse; |
| if (sum < c.m_lowerLimit) |
| { |
| deltaImpulse = c.m_lowerLimit-c.m_appliedPushImpulse; |
| c.m_appliedPushImpulse = c.m_lowerLimit; |
| } |
| else |
| { |
| c.m_appliedPushImpulse = sum; |
| } |
| body1.internalApplyPushImpulse(c.m_contactNormal*body1.m_invMass,c.m_angularComponentA,deltaImpulse); |
| body2.internalApplyPushImpulse(-c.m_contactNormal*body2.m_invMass,c.m_angularComponentB,deltaImpulse); |
| } |
| } |
| |
| void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) |
| { |
| #ifdef USE_SIMD |
| if (!c.m_rhsPenetration) |
| return; |
| |
| gNumSplitImpulseRecoveries++; |
| |
| __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedPushImpulse); |
| __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); |
| __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); |
| __m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm))); |
| __m128 deltaVel1Dotn = _mm_add_ps(_vmathVfDot3(c.m_contactNormal.mVec128,body1.m_pushVelocity.mVec128), _vmathVfDot3(c.m_relpos1CrossNormal.mVec128,body1.m_turnVelocity.mVec128)); |
| __m128 deltaVel2Dotn = _mm_sub_ps(_vmathVfDot3(c.m_relpos2CrossNormal.mVec128,body2.m_turnVelocity.mVec128),_vmathVfDot3((c.m_contactNormal).mVec128,body2.m_pushVelocity.mVec128)); |
| deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv))); |
| deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv))); |
| btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse); |
| btSimdScalar resultLowerLess,resultUpperLess; |
| resultLowerLess = _mm_cmplt_ps(sum,lowerLimit1); |
| resultUpperLess = _mm_cmplt_ps(sum,upperLimit1); |
| __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); |
| deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); |
| c.m_appliedImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); |
| __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128,body1.m_invMass.mVec128); |
| __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128,body2.m_invMass.mVec128); |
| __m128 impulseMagnitude = deltaImpulse; |
| body1.m_pushVelocity.mVec128 = _mm_add_ps(body1.m_pushVelocity.mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); |
| body1.m_turnVelocity.mVec128 = _mm_add_ps(body1.m_turnVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); |
| body2.m_pushVelocity.mVec128 = _mm_sub_ps(body2.m_pushVelocity.mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); |
| body2.m_turnVelocity.mVec128 = _mm_add_ps(body2.m_turnVelocity.mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); |
| #else |
| resolveSplitPenetrationImpulseCacheFriendly(body1,body2,c); |
| #endif |
| } |
| |
| |
| |
| unsigned long btSequentialImpulseConstraintSolver::btRand2() |
| { |
| m_btSeed2 = (1664525L*m_btSeed2 + 1013904223L) & 0xffffffff; |
| return m_btSeed2; |
| } |
| |
| |
| |
| //See ODE: adam's all-int straightforward(?) dRandInt (0..n-1) |
| int btSequentialImpulseConstraintSolver::btRandInt2 (int n) |
| { |
| // seems good; xor-fold and modulus |
| const unsigned long un = static_cast<unsigned long>(n); |
| unsigned long r = btRand2(); |
| |
| // note: probably more aggressive than it needs to be -- might be |
| // able to get away without one or two of the innermost branches. |
| if (un <= 0x00010000UL) { |
| r ^= (r >> 16); |
| if (un <= 0x00000100UL) { |
| r ^= (r >> 8); |
| if (un <= 0x00000010UL) { |
| r ^= (r >> 4); |
| if (un <= 0x00000004UL) { |
| r ^= (r >> 2); |
| if (un <= 0x00000002UL) { |
| r ^= (r >> 1); |
| } |
| } |
| } |
| } |
| } |
| |
| return (int) (r % un); |
| } |
| |
| |
| |
| void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject) |
| { |
| btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0; |
| |
| solverBody->m_deltaLinearVelocity.setValue(0.f,0.f,0.f); |
| solverBody->m_deltaAngularVelocity.setValue(0.f,0.f,0.f); |
| solverBody->m_pushVelocity.setValue(0.f,0.f,0.f); |
| solverBody->m_turnVelocity.setValue(0.f,0.f,0.f); |
| |
| if (rb) |
| { |
| solverBody->m_invMass = btVector3(rb->getInvMass(),rb->getInvMass(),rb->getInvMass())*rb->getLinearFactor(); |
| solverBody->m_originalBody = rb; |
| solverBody->m_angularFactor = rb->getAngularFactor(); |
| } else |
| { |
| solverBody->m_invMass.setValue(0,0,0); |
| solverBody->m_originalBody = 0; |
| solverBody->m_angularFactor.setValue(1,1,1); |
| } |
| } |
| |
| |
| |
| |
| |
| btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel, btScalar restitution) |
| { |
| btScalar rest = restitution * -rel_vel; |
| return rest; |
| } |
| |
| |
| |
| void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection); |
| void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection) |
| { |
| if (colObj && colObj->hasAnisotropicFriction()) |
| { |
| // transform to local coordinates |
| btVector3 loc_lateral = frictionDirection * colObj->getWorldTransform().getBasis(); |
| const btVector3& friction_scaling = colObj->getAnisotropicFriction(); |
| //apply anisotropic friction |
| loc_lateral *= friction_scaling; |
| // ... and transform it back to global coordinates |
| frictionDirection = colObj->getWorldTransform().getBasis() * loc_lateral; |
| } |
| } |
| |
| |
| |
| 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) |
| { |
| |
| |
| btRigidBody* body0=btRigidBody::upcast(colObj0); |
| btRigidBody* body1=btRigidBody::upcast(colObj1); |
| |
| btSolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expand(); |
| memset(&solverConstraint,0xff,sizeof(btSolverConstraint)); |
| solverConstraint.m_contactNormal = normalAxis; |
| |
| solverConstraint.m_solverBodyIdA = solverBodyIdA; |
| solverConstraint.m_solverBodyIdB = solverBodyIdB; |
| solverConstraint.m_frictionIndex = frictionIndex; |
| |
| solverConstraint.m_friction = cp.m_combinedFriction; |
| solverConstraint.m_originalContactPoint = 0; |
| |
| solverConstraint.m_appliedImpulse = 0.f; |
| solverConstraint.m_appliedPushImpulse = 0.f; |
| |
| { |
| btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal); |
| solverConstraint.m_relpos1CrossNormal = ftorqueAxis1; |
| solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0); |
| } |
| { |
| btVector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal); |
| solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; |
| solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0); |
| } |
| |
| #ifdef COMPUTE_IMPULSE_DENOM |
| btScalar denom0 = rb0->computeImpulseDenominator(pos1,solverConstraint.m_contactNormal); |
| btScalar denom1 = rb1->computeImpulseDenominator(pos2,solverConstraint.m_contactNormal); |
| #else |
| btVector3 vec; |
| btScalar denom0 = 0.f; |
| btScalar denom1 = 0.f; |
| if (body0) |
| { |
| vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); |
| denom0 = body0->getInvMass() + normalAxis.dot(vec); |
| } |
| if (body1) |
| { |
| vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); |
| denom1 = body1->getInvMass() + normalAxis.dot(vec); |
| } |
| |
| |
| #endif //COMPUTE_IMPULSE_DENOM |
| btScalar denom = relaxation/(denom0+denom1); |
| solverConstraint.m_jacDiagABInv = denom; |
| |
| #ifdef _USE_JACOBIAN |
| solverConstraint.m_jac = btJacobianEntry ( |
| rel_pos1,rel_pos2,solverConstraint.m_contactNormal, |
| body0->getInvInertiaDiagLocal(), |
| body0->getInvMass(), |
| body1->getInvInertiaDiagLocal(), |
| body1->getInvMass()); |
| #endif //_USE_JACOBIAN |
| |
| |
| { |
| btScalar rel_vel; |
| btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0?body0->getLinearVelocity():btVector3(0,0,0)) |
| + solverConstraint.m_relpos1CrossNormal.dot(body0?body0->getAngularVelocity():btVector3(0,0,0)); |
| btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1?body1->getLinearVelocity():btVector3(0,0,0)) |
| + solverConstraint.m_relpos2CrossNormal.dot(body1?body1->getAngularVelocity():btVector3(0,0,0)); |
| |
| rel_vel = vel1Dotn+vel2Dotn; |
| |
| // btScalar positionalError = 0.f; |
| |
| btSimdScalar velocityError = - rel_vel; |
| btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv); |
| solverConstraint.m_rhs = velocityImpulse; |
| solverConstraint.m_cfm = 0.f; |
| solverConstraint.m_lowerLimit = 0; |
| solverConstraint.m_upperLimit = 1e10f; |
| } |
| |
| return solverConstraint; |
| } |
| |
| int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body) |
| { |
| int solverBodyIdA = -1; |
| |
| if (body.getCompanionId() >= 0) |
| { |
| //body has already been converted |
| solverBodyIdA = body.getCompanionId(); |
| } else |
| { |
| btRigidBody* rb = btRigidBody::upcast(&body); |
| if (rb && rb->getInvMass()) |
| { |
| solverBodyIdA = m_tmpSolverBodyPool.size(); |
| btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); |
| initSolverBody(&solverBody,&body); |
| body.setCompanionId(solverBodyIdA); |
| } else |
| { |
| return 0;//assume first one is a fixed solver body |
| } |
| } |
| return solverBodyIdA; |
| } |
| #include <stdio.h> |
| |
| |
| |
| void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal) |
| { |
| btCollisionObject* colObj0=0,*colObj1=0; |
| |
| colObj0 = (btCollisionObject*)manifold->getBody0(); |
| colObj1 = (btCollisionObject*)manifold->getBody1(); |
| |
| int solverBodyIdA=-1; |
| int solverBodyIdB=-1; |
| |
| if (manifold->getNumContacts()) |
| { |
| solverBodyIdA = getOrInitSolverBody(*colObj0); |
| solverBodyIdB = getOrInitSolverBody(*colObj1); |
| } |
| |
| ///avoid collision response between two static objects |
| if (!solverBodyIdA && !solverBodyIdB) |
| return; |
| |
| btVector3 rel_pos1; |
| btVector3 rel_pos2; |
| btScalar relaxation; |
| |
| for (int j=0;j<manifold->getNumContacts();j++) |
| { |
| |
| btManifoldPoint& cp = manifold->getContactPoint(j); |
| |
| if (cp.getDistance() <= manifold->getContactProcessingThreshold()) |
| { |
| |
| const btVector3& pos1 = cp.getPositionWorldOnA(); |
| const btVector3& pos2 = cp.getPositionWorldOnB(); |
| |
| rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin(); |
| rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin(); |
| |
| |
| relaxation = 1.f; |
| btScalar rel_vel; |
| btVector3 vel; |
| |
| int frictionIndex = m_tmpSolverContactConstraintPool.size(); |
| |
| { |
| btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expand(); |
| btRigidBody* rb0 = btRigidBody::upcast(colObj0); |
| btRigidBody* rb1 = btRigidBody::upcast(colObj1); |
| |
| solverConstraint.m_solverBodyIdA = solverBodyIdA; |
| solverConstraint.m_solverBodyIdB = solverBodyIdB; |
| |
| solverConstraint.m_originalContactPoint = &cp; |
| |
| btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB); |
| solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0); |
| btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB); |
| solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0); |
| { |
| #ifdef COMPUTE_IMPULSE_DENOM |
| btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB); |
| btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB); |
| #else |
| btVector3 vec; |
| btScalar denom0 = 0.f; |
| btScalar denom1 = 0.f; |
| if (rb0) |
| { |
| vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); |
| denom0 = rb0->getInvMass() + cp.m_normalWorldOnB.dot(vec); |
| } |
| if (rb1) |
| { |
| vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); |
| denom1 = rb1->getInvMass() + cp.m_normalWorldOnB.dot(vec); |
| } |
| #endif //COMPUTE_IMPULSE_DENOM |
| |
| btScalar denom = relaxation/(denom0+denom1); |
| solverConstraint.m_jacDiagABInv = denom; |
| } |
| |
| solverConstraint.m_contactNormal = cp.m_normalWorldOnB; |
| solverConstraint.m_relpos1CrossNormal = rel_pos1.cross(cp.m_normalWorldOnB); |
| solverConstraint.m_relpos2CrossNormal = rel_pos2.cross(-cp.m_normalWorldOnB); |
| |
| |
| btVector3 vel1 = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0); |
| btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0); |
| |
| vel = vel1 - vel2; |
| |
| rel_vel = cp.m_normalWorldOnB.dot(vel); |
| |
| btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop; |
| |
| |
| solverConstraint.m_friction = cp.m_combinedFriction; |
| |
| btScalar restitution = 0.f; |
| |
| if (cp.m_lifeTime>infoGlobal.m_restingContactRestitutionThreshold) |
| { |
| restitution = 0.f; |
| } else |
| { |
| restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution); |
| if (restitution <= btScalar(0.)) |
| { |
| restitution = 0.f; |
| }; |
| } |
| |
| |
| ///warm starting (or zero if disabled) |
| if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) |
| { |
| solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor; |
| if (rb0) |
| m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(solverConstraint.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse); |
| if (rb1) |
| m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(solverConstraint.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(float)solverConstraint.m_appliedImpulse); |
| } else |
| { |
| solverConstraint.m_appliedImpulse = 0.f; |
| } |
| |
| solverConstraint.m_appliedPushImpulse = 0.f; |
| |
| { |
| btScalar rel_vel; |
| btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0?rb0->getLinearVelocity():btVector3(0,0,0)) |
| + solverConstraint.m_relpos1CrossNormal.dot(rb0?rb0->getAngularVelocity():btVector3(0,0,0)); |
| btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1?rb1->getLinearVelocity():btVector3(0,0,0)) |
| + solverConstraint.m_relpos2CrossNormal.dot(rb1?rb1->getAngularVelocity():btVector3(0,0,0)); |
| |
| rel_vel = vel1Dotn+vel2Dotn; |
| |
| btScalar positionalError = 0.f; |
| positionalError = -penetration * infoGlobal.m_erp/infoGlobal.m_timeStep; |
| btScalar velocityError = restitution - rel_vel;// * damping; |
| btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; |
| btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; |
| if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) |
| { |
| //combine position and velocity into rhs |
| solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; |
| solverConstraint.m_rhsPenetration = 0.f; |
| } else |
| { |
| //split position and velocity into rhs and m_rhsPenetration |
| solverConstraint.m_rhs = velocityImpulse; |
| solverConstraint.m_rhsPenetration = penetrationImpulse; |
| } |
| solverConstraint.m_cfm = 0.f; |
| solverConstraint.m_lowerLimit = 0; |
| solverConstraint.m_upperLimit = 1e10f; |
| } |
| |
| |
| /////setup the friction constraints |
| |
| |
| |
| if (1) |
| { |
| solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size(); |
| if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized) |
| { |
| cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; |
| btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2(); |
| if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON) |
| { |
| cp.m_lateralFrictionDir1 /= btSqrt(lat_rel_vel); |
| if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) |
| { |
| cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB); |
| cp.m_lateralFrictionDir2.normalize();//?? |
| applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2); |
| applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2); |
| addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); |
| } |
| |
| applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1); |
| applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1); |
| addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); |
| cp.m_lateralFrictionInitialized = true; |
| } else |
| { |
| //re-calculate friction direction every frame, todo: check if this is really needed |
| btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2); |
| if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) |
| { |
| applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2); |
| applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2); |
| addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); |
| } |
| |
| applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1); |
| applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1); |
| addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); |
| |
| cp.m_lateralFrictionInitialized = true; |
| } |
| |
| } else |
| { |
| addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); |
| if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) |
| addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation); |
| } |
| |
| if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING) |
| { |
| { |
| btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; |
| if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) |
| { |
| frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor; |
| if (rb0) |
| m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint1.m_contactNormal*rb0->getInvMass()*rb0->getLinearFactor(),frictionConstraint1.m_angularComponentA,frictionConstraint1.m_appliedImpulse); |
| if (rb1) |
| m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint1.m_contactNormal*rb1->getInvMass()*rb1->getLinearFactor(),-frictionConstraint1.m_angularComponentB,-(float)frictionConstraint1.m_appliedImpulse); |
| } else |
| { |
| frictionConstraint1.m_appliedImpulse = 0.f; |
| } |
| } |
| |
| if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) |
| { |
| btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1]; |
| if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) |
| { |
| frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor; |
| if (rb0) |
| m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA].applyImpulse(frictionConstraint2.m_contactNormal*rb0->getInvMass(),frictionConstraint2.m_angularComponentA,frictionConstraint2.m_appliedImpulse); |
| if (rb1) |
| m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB].applyImpulse(frictionConstraint2.m_contactNormal*rb1->getInvMass(),-frictionConstraint2.m_angularComponentB,-(float)frictionConstraint2.m_appliedImpulse); |
| } else |
| { |
| frictionConstraint2.m_appliedImpulse = 0.f; |
| } |
| } |
| } else |
| { |
| btSolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex]; |
| frictionConstraint1.m_appliedImpulse = 0.f; |
| if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)) |
| { |
| btSolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex+1]; |
| frictionConstraint2.m_appliedImpulse = 0.f; |
| } |
| } |
| } |
| } |
| |
| |
| } |
| } |
| } |
| |
| |
| btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** /*bodies */,int /*numBodies */,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc) |
| { |
| BT_PROFILE("solveGroupCacheFriendlySetup"); |
| (void)stackAlloc; |
| (void)debugDrawer; |
| |
| |
| if (!(numConstraints + numManifolds)) |
| { |
| // printf("empty\n"); |
| return 0.f; |
| } |
| |
| if (1) |
| { |
| int j; |
| for (j=0;j<numConstraints;j++) |
| { |
| btTypedConstraint* constraint = constraints[j]; |
| constraint->buildJacobian(); |
| } |
| } |
| |
| btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); |
| initSolverBody(&fixedBody,0); |
| |
| //btRigidBody* rb0=0,*rb1=0; |
| |
| //if (1) |
| { |
| { |
| |
| int totalNumRows = 0; |
| int i; |
| |
| m_tmpConstraintSizesPool.resize(numConstraints); |
| //calculate the total number of contraint rows |
| for (i=0;i<numConstraints;i++) |
| { |
| btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; |
| constraints[i]->getInfo1(&info1); |
| totalNumRows += info1.m_numConstraintRows; |
| } |
| m_tmpSolverNonContactConstraintPool.resize(totalNumRows); |
| |
| |
| ///setup the btSolverConstraints |
| int currentRow = 0; |
| |
| for (i=0;i<numConstraints;i++) |
| { |
| const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; |
| |
| if (info1.m_numConstraintRows) |
| { |
| btAssert(currentRow<totalNumRows); |
| |
| btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; |
| btTypedConstraint* constraint = constraints[i]; |
| |
| |
| |
| btRigidBody& rbA = constraint->getRigidBodyA(); |
| btRigidBody& rbB = constraint->getRigidBodyB(); |
| |
| int solverBodyIdA = getOrInitSolverBody(rbA); |
| int solverBodyIdB = getOrInitSolverBody(rbB); |
| |
| btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; |
| btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; |
| |
| int j; |
| for ( j=0;j<info1.m_numConstraintRows;j++) |
| { |
| memset(¤tConstraintRow[j],0,sizeof(btSolverConstraint)); |
| currentConstraintRow[j].m_lowerLimit = -FLT_MAX; |
| currentConstraintRow[j].m_upperLimit = FLT_MAX; |
| currentConstraintRow[j].m_appliedImpulse = 0.f; |
| currentConstraintRow[j].m_appliedPushImpulse = 0.f; |
| currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA; |
| currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB; |
| } |
| |
| bodyAPtr->m_deltaLinearVelocity.setValue(0.f,0.f,0.f); |
| bodyAPtr->m_deltaAngularVelocity.setValue(0.f,0.f,0.f); |
| bodyBPtr->m_deltaLinearVelocity.setValue(0.f,0.f,0.f); |
| bodyBPtr->m_deltaAngularVelocity.setValue(0.f,0.f,0.f); |
| |
| |
| |
| btTypedConstraint::btConstraintInfo2 info2; |
| info2.fps = 1.f/infoGlobal.m_timeStep; |
| info2.erp = infoGlobal.m_erp; |
| info2.m_J1linearAxis = currentConstraintRow->m_contactNormal; |
| info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal; |
| info2.m_J2linearAxis = 0; |
| info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal; |
| info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this |
| ///the size of btSolverConstraint needs be a multiple of btScalar |
| btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint)); |
| info2.m_constraintError = ¤tConstraintRow->m_rhs; |
| info2.cfm = ¤tConstraintRow->m_cfm; |
| info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit; |
| info2.m_upperLimit = ¤tConstraintRow->m_upperLimit; |
| info2.m_numIterations = infoGlobal.m_numIterations; |
| constraints[i]->getInfo2(&info2); |
| |
| ///finalize the constraint setup |
| for ( j=0;j<info1.m_numConstraintRows;j++) |
| { |
| btSolverConstraint& solverConstraint = currentConstraintRow[j]; |
| |
| { |
| const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal; |
| solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor(); |
| } |
| { |
| const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal; |
| solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor(); |
| } |
| |
| { |
| btVector3 iMJlA = solverConstraint.m_contactNormal*rbA.getInvMass(); |
| btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal; |
| btVector3 iMJlB = solverConstraint.m_contactNormal*rbB.getInvMass();//sign of normal? |
| btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal; |
| |
| btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal); |
| sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); |
| sum += iMJlB.dot(solverConstraint.m_contactNormal); |
| sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); |
| |
| solverConstraint.m_jacDiagABInv = btScalar(1.)/sum; |
| } |
| |
| |
| ///fix rhs |
| ///todo: add force/torque accelerators |
| { |
| btScalar rel_vel; |
| btScalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()); |
| btScalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()); |
| |
| rel_vel = vel1Dotn+vel2Dotn; |
| |
| btScalar restitution = 0.f; |
| btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2 |
| btScalar velocityError = restitution - rel_vel;// * damping; |
| btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; |
| btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; |
| solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; |
| solverConstraint.m_appliedImpulse = 0.f; |
| |
| } |
| } |
| } |
| currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows; |
| } |
| } |
| |
| { |
| int i; |
| btPersistentManifold* manifold = 0; |
| // btCollisionObject* colObj0=0,*colObj1=0; |
| |
| |
| for (i=0;i<numManifolds;i++) |
| { |
| manifold = manifoldPtr[i]; |
| convertContact(manifold,infoGlobal); |
| } |
| } |
| } |
| |
| btContactSolverInfo info = infoGlobal; |
| |
| |
| |
| int numConstraintPool = m_tmpSolverContactConstraintPool.size(); |
| int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); |
| |
| ///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints |
| m_orderTmpConstraintPool.resize(numConstraintPool); |
| m_orderFrictionConstraintPool.resize(numFrictionPool); |
| { |
| int i; |
| for (i=0;i<numConstraintPool;i++) |
| { |
| m_orderTmpConstraintPool[i] = i; |
| } |
| for (i=0;i<numFrictionPool;i++) |
| { |
| m_orderFrictionConstraintPool[i] = i; |
| } |
| } |
| |
| return 0.f; |
| |
| } |
| |
| btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/) |
| { |
| BT_PROFILE("solveGroupCacheFriendlyIterations"); |
| |
| int numConstraintPool = m_tmpSolverContactConstraintPool.size(); |
| int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size(); |
| |
| //should traverse the contacts random order... |
| int iteration; |
| { |
| for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++) |
| { |
| |
| int j; |
| if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) |
| { |
| if ((iteration & 7) == 0) { |
| for (j=0; j<numConstraintPool; ++j) { |
| int tmp = m_orderTmpConstraintPool[j]; |
| int swapi = btRandInt2(j+1); |
| m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi]; |
| m_orderTmpConstraintPool[swapi] = tmp; |
| } |
| |
| for (j=0; j<numFrictionPool; ++j) { |
| int tmp = m_orderFrictionConstraintPool[j]; |
| int swapi = btRandInt2(j+1); |
| m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi]; |
| m_orderFrictionConstraintPool[swapi] = tmp; |
| } |
| } |
| } |
| |
| if (infoGlobal.m_solverMode & SOLVER_SIMD) |
| { |
| ///solve all joint constraints, using SIMD, if available |
| for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) |
| { |
| btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j]; |
| resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint); |
| } |
| |
| for (j=0;j<numConstraints;j++) |
| { |
| int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA()); |
| int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB()); |
| btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; |
| btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; |
| constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); |
| } |
| |
| ///solve all contact constraints using SIMD, if available |
| int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); |
| 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); |
| |
| } |
| ///solve all friction constraints, using SIMD, if available |
| int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size(); |
| for (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; |
| |
| resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); |
| } |
| } |
| } else |
| { |
| |
| ///solve all joint constraints |
| for (j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) |
| { |
| btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[j]; |
| resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint); |
| } |
| |
| for (j=0;j<numConstraints;j++) |
| { |
| int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA()); |
| int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB()); |
| btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid]; |
| btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid]; |
| |
| constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep); |
| } |
| |
| ///solve all contact constraints |
| int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); |
| for (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 (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); |
| } |
| } |
| } |
| |
| } |
| |
| if (infoGlobal.m_splitImpulse) |
| { |
| if (infoGlobal.m_solverMode & SOLVER_SIMD) |
| { |
| for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++) |
| { |
| { |
| int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); |
| int j; |
| for (j=0;j<numPoolConstraints;j++) |
| { |
| const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; |
| |
| resolveSplitPenetrationSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], |
| m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); |
| } |
| } |
| } |
| } |
| else |
| { |
| for ( iteration = 0;iteration<infoGlobal.m_numIterations;iteration++) |
| { |
| { |
| 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); |
| } |
| } |
| } |
| } |
| } |
| |
| } |
| return 0.f; |
| } |
| |
| |
| |
| /// btSequentialImpulseConstraintSolver Sequentially applies impulses |
| btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/) |
| { |
| |
| |
| |
| BT_PROFILE("solveGroup"); |
| //we only implement SOLVER_CACHE_FRIENDLY now |
| //you need to provide at least some bodies |
| btAssert(bodies); |
| btAssert(numBodies); |
| |
| int i; |
| |
| solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc); |
| solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc); |
| |
| int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); |
| int j; |
| |
| for (j=0;j<numPoolConstraints;j++) |
| { |
| |
| const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j]; |
| btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint; |
| btAssert(pt); |
| pt->m_appliedImpulse = solveManifold.m_appliedImpulse; |
| if (infoGlobal.m_solverMode & SOLVER_USE_FRICTION_WARMSTARTING) |
| { |
| pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse; |
| pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex+1].m_appliedImpulse; |
| } |
| |
| //do a callback here? |
| } |
| |
| if (infoGlobal.m_splitImpulse) |
| { |
| for ( i=0;i<m_tmpSolverBodyPool.size();i++) |
| { |
| m_tmpSolverBodyPool[i].writebackVelocity(infoGlobal.m_timeStep); |
| } |
| } else |
| { |
| for ( i=0;i<m_tmpSolverBodyPool.size();i++) |
| { |
| m_tmpSolverBodyPool[i].writebackVelocity(); |
| } |
| } |
| |
| |
| m_tmpSolverBodyPool.resize(0); |
| m_tmpSolverContactConstraintPool.resize(0); |
| m_tmpSolverNonContactConstraintPool.resize(0); |
| m_tmpSolverContactFrictionConstraintPool.resize(0); |
| |
| return 0.f; |
| } |
| |
| |
| |
| |
| |
| |
| |
| |
| |
| void btSequentialImpulseConstraintSolver::reset() |
| { |
| m_btSeed2 = 0; |
| } |
| |
| |