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added more debug text, enabled the bullet penalty solver, instead of ode solver by default, added a better demo.

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This commit is contained in:
Erwin Coumans 2005-08-12 13:42:00 +00:00
parent 5afdfc6ac1
commit 5ebc7c8bda
21 changed files with 181 additions and 262 deletions
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21
extern/bullet/Bullet/Bullet3_vc8.vcproj vendored
View File

@ -4,7 +4,6 @@
Version="8.00"
Name="Bullet3ContinuousCollision"
ProjectGUID="{FFD3C64A-30E2-4BC7-BC8F-51818C320400}"
SignManifests="true"
>
<Platforms>
<Platform
@ -277,14 +276,6 @@
RelativePath=".\NarrowPhaseCollision\ManifoldPoint.h"
>
</File>
<File
RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.cpp"
>
</File>
<File
RelativePath=".\NarrowPhaseCollision\ManifoldPointCollector.h"
>
</File>
<File
RelativePath=".\NarrowPhaseCollision\MinkowskiPenetrationDepthSolver.cpp"
>
@ -437,6 +428,14 @@
RelativePath=".\CollisionShapes\TriangleCallback.h"
>
</File>
<File
RelativePath=".\CollisionShapes\TriangleMesh.cpp"
>
</File>
<File
RelativePath=".\CollisionShapes\TriangleMesh.h"
>
</File>
<File
RelativePath=".\CollisionShapes\TriangleMeshShape.cpp"
>
@ -509,6 +508,10 @@
RelativePath="..\LinearMath\GEN_random.h"
>
</File>
<File
RelativePath="..\LinearMath\IDebugDraw.h"
>
</File>
<File
RelativePath="..\LinearMath\SimdMatrix3x3.h"
>

4
extern/bullet/Bullet/CollisionShapes/BoxShape.cpp vendored
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@ -29,10 +29,6 @@ void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3&
abs_b[2].dot(halfExtents));
extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
//todo: this is a quick fix, we need to enlarge the aabb dependent on several criteria
extent += SimdVector3(.2f,.2f,.2f);
aabbMin = center - extent;
aabbMax = center + extent;

8
extern/bullet/Bullet/NarrowPhaseCollision/ManifoldPoint.h vendored
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@ -19,7 +19,8 @@ class ManifoldPoint
m_localPointB( pointB ),
m_normalWorldOnB( normal ),
m_distance1( distance )
,m_appliedImpulse(0.f)
,m_appliedImpulse(0.f),
m_lifeTime(0)
{}
SimdVector3 m_localPointA;
@ -31,11 +32,16 @@ class ManifoldPoint
float m_distance1;
/// total applied impulse during most recent frame
float m_appliedImpulse;
int m_lifeTime;//lifetime of the contactpoint in frames
float GetDistance() const
{
return m_distance1;
}
int GetLifeTime() const
{
return m_lifeTime;
}
SimdVector3 GetPositionWorldOnA() {
return m_positionWorldOnA;

20
extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.cpp vendored
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@ -8,15 +8,21 @@
struct MyResult : public DiscreteCollisionDetectorInterface::Result
{
MyResult():m_hasResult(false)
{
}
SimdVector3 m_normalOnBInWorld;
SimdVector3 m_pointInWorld;
float m_depth;
bool m_hasResult;
void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
{
m_normalOnBInWorld = normalOnBInWorld;
m_pointInWorld = pointInWorld;
m_depth = depth;
m_hasResult = true;
}
};
@ -37,6 +43,7 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
SimdVector3 minVertex;
SimdVector3 minA,minB;
//not so good, lots of directions overlap, better to use gauss map
for (int i=-N;i<N;i++)
{
for (int j = -N;j<N;j++)
@ -122,11 +129,10 @@ bool MinkowskiPenetrationDepthSolver::CalcPenDepth(SimplexSolverInterface& simpl
MyResult res;
gjkdet.GetClosestPoints(input,res);
SimdVector3 halfV = v*0.5f;
//approximate pa and pb
pa = res.m_pointInWorld - halfV;
pb = res.m_pointInWorld +halfV;
return true;
if (res.m_hasResult)
{
pa = res.m_pointInWorld - res.m_normalOnBInWorld*res.m_depth;
pb = res.m_pointInWorld;
}
return res.m_hasResult;
}

3
extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.cpp vendored
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@ -14,7 +14,7 @@
#include "SimdTransform.h"
#include <assert.h>
float gContactBreakingTreshold = 0.002f;
float gContactBreakingTreshold = 0.02f;
PersistentManifold::PersistentManifold()
:m_body0(0),
@ -128,6 +128,7 @@ void PersistentManifold::RefreshContactPoints(const SimdTransform& trA,const Sim
manifoldPoint.m_positionWorldOnA = trA( manifoldPoint.m_localPointA );
manifoldPoint.m_positionWorldOnB = trB( manifoldPoint.m_localPointB );
manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA - manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
manifoldPoint.m_lifeTime++;
}
/// then

2
extern/bullet/Bullet/NarrowPhaseCollision/PersistentManifold.h vendored
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@ -101,7 +101,7 @@ public:
bool ValidContactDistance(const ManifoldPoint& pt) const
{
return pt.m_distance1 < GetManifoldMargin();
return pt.m_distance1 <= GetManifoldMargin();
}
/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
void RefreshContactPoints( const SimdTransform& trA,const SimdTransform& trB);

8
extern/bullet/BulletDynamics/CollisionDispatch/ConvexConvexAlgorithm.cpp vendored
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@ -36,8 +36,12 @@
///Solid3EpaPenetrationDepth is not shipped by default, the license doesn't allow commercial, closed source. contact if you want the file
///It improves the penetration depth handling dramatically
//#define USE_EPA
#ifdef USE_EPA
#include "NarrowPhaseCollision/Solid3EpaPenetrationDepth.h"
bool gUseEpa = true;
#else
bool gUseEpa = false;
#endif// USE_EPA
#ifdef WIN32
@ -57,7 +61,6 @@ bool gForceBoxBox = false;//false;//true;
bool gBoxBoxUseGjk = true;//true;//false;
bool gDisableConvexCollision = false;
bool gUseEpa = false;
ConvexConvexAlgorithm::ConvexConvexAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
@ -144,7 +147,10 @@ void ConvexConvexAlgorithm::CheckPenetrationDepthSolver()
//not distributed, see top of this file
#ifdef USE_EPA
m_gjkPairDetector.SetPenetrationDepthSolver(new Solid3EpaPenetrationDepth);
#else
m_gjkPairDetector.SetPenetrationDepthSolver(new MinkowskiPenetrationDepthSolver);
#endif
} else
{
m_gjkPairDetector.SetPenetrationDepthSolver(new MinkowskiPenetrationDepthSolver);

1
extern/bullet/BulletDynamics/CollisionDispatch/ToiContactDispatcher.cpp vendored
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@ -7,7 +7,6 @@
#include "CollisionDispatch/EmptyCollisionAlgorithm.h"
#include "CollisionDispatch/ConvexConcaveCollisionAlgorithm.h"
#define MAX_RIGIDBODIES 128
void ToiContactDispatcher::FindUnions()

162
extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp vendored
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@ -17,23 +17,20 @@
#define ASSERT2 assert
//some values to find stable penalty method tresholds
float MAX_FRICTION = 100.f;
static SimdScalar ContactThreshold = -10.0f;
float useGlobalSettingContacts = false;//true;
SimdScalar contactDamping = 0.2f;
SimdScalar contactTau = .02f;//0.02f;//*0.02f;
SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
{
return 0.f;
// return restitution * GEN_min(1.0f, rel_vel / ContactThreshold);
}
float MAX_FRICTION = 100.f;
SimdScalar calculateCombinedFriction(RigidBody& body0,RigidBody& body1)
{
@ -46,54 +43,11 @@ SimdScalar calculateCombinedFriction(RigidBody& body0,RigidBody& body1)
}
void applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
RigidBody& body2, const SimdVector3& pos2,
const SimdVector3& normal,float normalImpulse,
const ContactSolverInfo& solverInfo)
{
if (normalImpulse>0.f)
{
SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
SimdVector3 vel = vel1 - vel2;
SimdScalar rel_vel = normal.dot(vel);
float combinedFriction = calculateCombinedFriction(body1,body2);
#define PER_CONTACT_FRICTION
#ifdef PER_CONTACT_FRICTION
SimdVector3 lat_vel = vel - normal * rel_vel;
SimdScalar lat_rel_vel = lat_vel.length();
if (lat_rel_vel > SIMD_EPSILON)
{
lat_vel /= lat_rel_vel;
SimdVector3 temp1 = body1.getInvInertiaTensorWorld() * rel_pos1.cross(lat_vel);
SimdVector3 temp2 = body2.getInvInertiaTensorWorld() * rel_pos2.cross(lat_vel);
SimdScalar frictionMaxImpulse = lat_rel_vel /
(body1.getInvMass() + body2.getInvMass() + lat_vel.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
SimdScalar frictionImpulse = (normalImpulse) * combinedFriction;
GEN_set_min(frictionImpulse,frictionMaxImpulse );
body1.applyImpulse(lat_vel * -frictionImpulse, rel_pos1);
body2.applyImpulse(lat_vel * frictionImpulse, rel_pos2);
}
#endif
}
}
//bilateral constraint between two dynamic objects
void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
RigidBody& body2, const SimdVector3& pos2,
SimdScalar depth, const SimdVector3& normal,SimdScalar& impulse ,float timeStep)
SimdScalar distance, const SimdVector3& normal,SimdScalar& impulse ,float timeStep)
{
float normalLenSqr = normal.length2();
ASSERT2(fabs(normalLenSqr) < 1.1f);
@ -110,10 +64,7 @@ void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
SimdVector3 vel = vel1 - vel2;
SimdScalar rel_vel;
/*
JacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
body2.getCenterOfMassTransform().getBasis().transpose(),
rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
@ -130,100 +81,22 @@ void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
float a;
a=jacDiagABInv;
*/
rel_vel = normal.dot(vel);
/*int color = 255+255*256;
DrawRasterizerLine(pos1,pos1+normal,color);
*/
#ifdef ONLY_USE_LINEAR_MASS
SimdScalar massTerm = 1.f / (body1.getInvMass() + body2.getInvMass());
impulse = - contactDamping * rel_vel * massTerm;//jacDiagABInv;
//SimdScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
//impulse = velocityImpulse;
impulse = - contactDamping * rel_vel * massTerm;
#else
SimdScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
impulse = velocityImpulse;
#endif
}
//velocity + friction
//response between two dynamic objects with friction
float resolveSingleCollision(RigidBody& body1, const SimdVector3& pos1,
RigidBody& body2, const SimdVector3& pos2,
SimdScalar depth, const SimdVector3& normal,
const ContactSolverInfo& solverInfo
)
{
float normalLenSqr = normal.length2();
ASSERT2(fabs(normalLenSqr) < 1.1f);
if (normalLenSqr > 1.1f)
return 0.f;
SimdVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
SimdVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
//this jacobian entry could be re-used for all iterations
SimdVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
SimdVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
SimdVector3 vel = vel1 - vel2;
SimdScalar rel_vel;
rel_vel = normal.dot(vel);
// if (rel_vel< 0.f)//-SIMD_EPSILON)
// {
float combinedRestitution = body1.getRestitution() * body2.getRestitution();
SimdScalar rest = restitutionCurve(rel_vel, combinedRestitution);
SimdScalar timeCorrection = 360.f*solverInfo.m_timeStep;
float damping = solverInfo.m_damping ;
float tau = solverInfo.m_tau;
if (useGlobalSettingContacts)
{
damping = contactDamping;
tau = contactTau;
}
if (depth < 0.f)
return 0.f;//bdepth = 0.f;
SimdScalar penetrationImpulse = (depth*tau*timeCorrection);// * massTerm;//jacDiagABInv
SimdScalar velocityImpulse = -(1.0f + rest) * damping * rel_vel;
SimdScalar impulse = penetrationImpulse + velocityImpulse;
SimdVector3 temp1 = body1.getInvInertiaTensorWorld() * rel_pos1.cross(normal);
SimdVector3 temp2 = body2.getInvInertiaTensorWorld() * rel_pos2.cross(normal);
impulse /=
(body1.getInvMass() + body2.getInvMass() + normal.dot(temp1.cross(rel_pos1) + temp2.cross(rel_pos2)));
if (impulse > 0.f)
{
body1.applyImpulse(normal*(impulse), rel_pos1);
body2.applyImpulse(-normal*(impulse), rel_pos2);
} else
{
impulse = 0.f;
}
return impulse;//velocityImpulse;//impulse;
}
//velocity + friction
//response between two dynamic objects with friction
float resolveSingleCollisionWithFriction(
@ -232,7 +105,7 @@ float resolveSingleCollisionWithFriction(
const SimdVector3& pos1,
RigidBody& body2,
const SimdVector3& pos2,
SimdScalar depth,
SimdScalar distance,
const SimdVector3& normal,
const ContactSolverInfo& solverInfo
@ -283,22 +156,17 @@ SimdScalar rel_vel;
damping = contactDamping;
tau = contactTau;
}
SimdScalar penetrationImpulse = (depth* tau *timeCorrection) * jacDiagABInv;
SimdScalar penetrationImpulse = (-distance* tau *timeCorrection) * jacDiagABInv;
if (penetrationImpulse < 0.f)
penetrationImpulse = 0.f;
SimdScalar velocityImpulse = -(1.0f + rest) * damping * rel_vel * jacDiagABInv;
SimdScalar friction_impulse = 0.f;
if (velocityImpulse <= 0.f)
velocityImpulse = 0.f;
SimdScalar totalimpulse = penetrationImpulse+velocityImpulse;
// SimdScalar impulse = penetrationImpulse + velocityImpulse;
//if (impulse > 0.f)
if (totalimpulse > 0.f)
{
// SimdVector3 impulse_vector = normal * impulse;
body1.applyImpulse(normal*(velocityImpulse+penetrationImpulse), rel_pos1);

24
extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.h vendored
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@ -19,30 +19,18 @@ class RigidBody;
struct ContactSolverInfo;
///bilateral constraint between two dynamic objects
///positive distance = separation, negative distance = penetration
void resolveSingleBilateral(RigidBody& body1, const SimdVector3& pos1,
RigidBody& body2, const SimdVector3& pos2,
SimdScalar depth, const SimdVector3& normal,SimdScalar& impulse ,float timeStep);
SimdScalar distance, const SimdVector3& normal,SimdScalar& impulse ,float timeStep);
//contact constraint resolution:
//calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
float resolveSingleCollision(RigidBody& body1, const SimdVector3& pos1,
RigidBody& body2, const SimdVector3& pos2,
SimdScalar depth, const SimdVector3& normal,
const ContactSolverInfo& info);
/// apply friction force to simulate friction in a contact point related to the normal impulse
void applyFrictionInContactPointOld(RigidBody& body1, const SimdVector3& pos1,
RigidBody& body2, const SimdVector3& pos2,
const SimdVector3& normal,float normalImpulse,
const ContactSolverInfo& info);
//contact constraint resolution:
//calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
///contact constraint resolution:
///calculate and apply impulse to satisfy non-penetration and non-negative relative velocity constraint
///positive distance = separation, negative distance = penetration
float resolveSingleCollisionWithFriction(RigidBody& body1, const SimdVector3& pos1,
RigidBody& body2, const SimdVector3& pos2,
SimdScalar depth, const SimdVector3& normal,
SimdScalar distance, const SimdVector3& normal,
const ContactSolverInfo& info);
#endif //CONTACT_CONSTRAINT_H

39
extern/bullet/BulletDynamics/ConstraintSolver/OdeConstraintSolver.cpp vendored
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@ -45,7 +45,7 @@ class BU_Joint;
OdeConstraintSolver::OdeConstraintSolver():
m_cfm(1e-5f),
m_erp(0.2f)
m_erp(0.3f)
{
}
@ -62,10 +62,10 @@ float OdeConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numM
m_CurJoint = 0;
RigidBody* bodies [128];
RigidBody* bodies [MAX_RIGIDBODIES];
int numBodies = 0;
BU_Joint* joints [128*5];
BU_Joint* joints [MAX_RIGIDBODIES*4];
int numJoints = 0;
for (int j=0;j<numManifolds;j++)
@ -158,27 +158,6 @@ int OdeConstraintSolver::ConvertBody(RigidBody* body,RigidBody** bodies,int& num
body->m_I[2+2*4] = 1.f/body->getInvInertiaDiagLocal()[2];
/*
SimdMatrix3x3 invI;
invI.setIdentity();
invI[0][0] = body->getInvInertiaDiagLocal()[0];
invI[1][1] = body->getInvInertiaDiagLocal()[1];
invI[2][2] = body->getInvInertiaDiagLocal()[2];
SimdMatrix3x3 inertia = invI.inverse();
for (i=0;i<3;i++)
{
for (j=0;j<3;j++)
{
body->m_I[i+4*j] = inertia[i][j];
}
}
*/
// body->m_I[3+0*4] = 0.f;
// body->m_I[3+1*4] = 0.f;
// body->m_I[3+2*4] = 0.f;
// body->m_I[3+3*4] = 0.f;
dQuaternion q;
@ -241,13 +220,19 @@ void OdeConstraintSolver::ConvertConstraint(PersistentManifold* manifold,BU_Join
if (debugDrawer)
{
debugDrawer->DrawLine(manifold->GetContactPoint(i).m_positionWorldOnA,manifold->GetContactPoint(i).m_positionWorldOnB,color);
debugDrawer->DrawLine(manifold->GetContactPoint(i).m_positionWorldOnA,manifold->GetContactPoint(i).m_positionWorldOnB,color);
const ManifoldPoint& cp = manifold->GetContactPoint(i);
debugDrawer->DrawContactPoint(
cp.m_positionWorldOnB,
cp.m_normalWorldOnB,
cp.GetDistance(),
cp.GetLifeTime(),
color);
}
assert (m_CurJoint < MAX_JOINTS_1);
if (manifold->GetContactPoint(i).GetDistance() < 0.0f)
// if (manifold->GetContactPoint(i).GetDistance() < 0.0f)
{
ContactJoint* cont = new (&gJointArray[m_CurJoint++]) ContactJoint( manifold ,i, swapBodies,body0,body1);

36
extern/bullet/BulletDynamics/ConstraintSolver/SimpleConstraintSolver.cpp vendored
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@ -42,7 +42,11 @@ float SimpleConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int n
{
for (int j=0;j<numManifolds;j++)
{
Solve(manifoldPtr[j],info,i,debugDrawer);
int k=j;
if (i % 2)
k = numManifolds-1-j;
Solve(manifoldPtr[k],info,i,debugDrawer);
}
}
return 0.f;
@ -86,35 +90,29 @@ float SimpleConstraintSolver::Solve(PersistentManifold* manifoldPtr, const Conta
ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
if (debugDrawer)
debugDrawer->DrawLine(cp.m_positionWorldOnA,cp.m_positionWorldOnB,color);
if (iter == 0)
{
if (debugDrawer)
debugDrawer->DrawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.GetDistance(),cp.GetLifeTime(),color);
}
{
float dist = invNumIterFl * cp.GetDistance() * penetrationResolveFactor / info.m_timeStep;// / timeStep;//penetrationResolveFactor*cp.m_solveDistance /timeStep;//cp.GetDistance();
float actualDist = cp.GetDistance();
#define MAXPENETRATIONPERFRAME -0.2f
float dist = actualDist< MAXPENETRATIONPERFRAME? MAXPENETRATIONPERFRAME:actualDist;
float impulse = 0.f;
if (doApplyImpulse)
{
impulse = resolveSingleCollision(*body0,
float impulse = resolveSingleCollisionWithFriction(
*body0,
cp.GetPositionWorldOnA(),
*body1,
cp.GetPositionWorldOnB(),
-dist,
dist,
cp.m_normalWorldOnB,
info);
if (useImpulseFriction)
{
applyFrictionInContactPointOld(
*body0,cp.GetPositionWorldOnA(),*body1,cp.GetPositionWorldOnB(),
cp.m_normalWorldOnB,impulse,info) ;
}
}
if (iter == 0)
{
cp.m_appliedImpulse = impulse;

4
extern/bullet/BulletDynamics/ConstraintSolver/SorLcp.cpp vendored
View File

@ -206,7 +206,7 @@ void dSetValue1 (SimdScalar *a, int n, SimdScalar value)
// during the solution. depending on the situation, this can help a lot
// or hardly at all, but it doesn't seem to hurt.
//#define RANDOMLY_REORDER_CONSTRAINTS 1
#define RANDOMLY_REORDER_CONSTRAINTS 1
@ -764,7 +764,7 @@ void SolveInternal1 (float global_cfm,
// scale CFM
for (i=0; i<m; i++)
cfm[i] =0.f;//*= stepsize1;
cfm[i] *= stepsize1;
// load lambda from the value saved on the previous iteration
dRealAllocaArray (lambda,m);

22
extern/bullet/BulletDynamics/Dynamics/ContactJoint.cpp vendored
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@ -124,13 +124,20 @@ void ContactJoint::GetInfo2(Info2 *info)
SimdScalar k = info->fps * info->erp;
float depth = -point.GetDistance();
if (depth < 0.f)
depth = 0.f;
// if (depth < 0.f)
// depth = 0.f;
info->c[0] = k * depth;
info->cfm[0] = 0.f;
info->cfm[1] = 0.f;
info->cfm[2] = 0.f;
float maxvel = .2f;
// if (info->c[0] > maxvel)
// info->c[0] = maxvel;
//can override it, not necessary
// info->cfm[0] = 0.f;
// info->cfm[1] = 0.f;
// info->cfm[2] = 0.f;
@ -158,7 +165,7 @@ void ContactJoint::GetInfo2(Info2 *info)
c2[2] = ccc2[2];
float friction = 30.f;//0.01f;//FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
float friction = 10.1f;//FRICTION_CONSTANT*m_body0->getFriction() * m_body1->getFriction();
// first friction direction
if (m_numRows >= 2)
@ -198,7 +205,7 @@ void ContactJoint::GetInfo2(Info2 *info)
// info->cfm[1] = j->contact.surface.slip1;
} else
{
info->cfm[1] = 0.f;
//info->cfm[1] = 0.f;
}
}
@ -214,6 +221,7 @@ void ContactJoint::GetInfo2(Info2 *info)
info->J2l[s2+2] = -t2[2];
dCROSS (info->J2a+s2,= -,c2,t2);
}
// set right hand side
if (0){//j->contact.surface.mode & dContactMotion2) {
//info->c[2] = j->contact.surface.motion2;

5
extern/bullet/BulletDynamics/Dynamics/RigidBody.cpp vendored
View File

@ -33,6 +33,11 @@ RigidBody::RigidBody( const MassProps& massProps,SimdScalar linearDamping,SimdSc
}
void RigidBody::activate()
{
SetActivationState(1);
m_deactivationTime = 0.f;
}
void RigidBody::setLinearVelocity(const SimdVector3& lin_vel)
{

3
extern/bullet/BulletDynamics/Dynamics/RigidBody.h vendored
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@ -12,6 +12,8 @@ typedef SimdScalar dMatrix3[4*3];
extern float gLinearAirDamping;
extern bool gUseEpa;
#define MAX_RIGIDBODIES 1024
/// RigidBody class for RigidBody Dynamics
///
@ -142,6 +144,7 @@ public:
{
return m_friction;
}
void activate();
private:
SimdTransform m_worldTransform;

24
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp vendored
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@ -7,8 +7,12 @@
class BP_Proxy;
///todo: fill all the empty CcdPhysicsController methods, hook them up to the RigidBody class
//'temporarily' global variables
float gDeactivationTime = 2.f;
bool gDisableDeactivation = false;
float gLinearSleepingTreshold = 0.8f;
float gAngularSleepingTreshold = 1.0f;
@ -121,12 +125,26 @@ void CcdPhysicsController::RelativeRotate(const float drot[9],bool local)
}
void CcdPhysicsController::getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal)
{
}
void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal)
{
m_body->activate();
SimdTransform xform = m_body->getCenterOfMassTransform();
xform.setRotation(SimdQuaternion(quatImag0,quatImag1,quatImag2,quatReal));
m_body->setCenterOfMassTransform(xform);
}
void CcdPhysicsController::setPosition(float posX,float posY,float posZ)
{
m_body->activate();
SimdTransform xform = m_body->getCenterOfMassTransform();
xform.setOrigin(SimdVector3(posX,posY,posZ));
m_body->setCenterOfMassTransform(xform);
}
void CcdPhysicsController::resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ)
{
@ -167,9 +185,7 @@ void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac
SimdVector3 impulse(impulseX,impulseY,impulseZ);
SimdVector3 pos(attachX,attachY,attachZ);
//it might be sleeping... wake up !
m_body->SetActivationState(1);
m_body->m_deactivationTime = 0.f;
m_body->activate();
m_body->applyImpulse(impulse,pos);
@ -226,7 +242,7 @@ bool CcdPhysicsController::wantsSleeping()
{
//disable deactivation
if (gDeactivationTime == 0.f)
if (gDisableDeactivation || (gDeactivationTime == 0.f))
return false;
//2 == ISLAND_SLEEPING, 3 == WANTS_DEACTIVATION
if ( (m_body->GetActivationState() == 2) || (m_body->GetActivationState() == 3))

1
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h vendored
View File

@ -13,6 +13,7 @@ class CollisionShape;
extern float gDeactivationTime;
extern float gLinearSleepingTreshold;
extern float gAngularSleepingTreshold;
extern bool gDisableDeactivation;
struct CcdConstructionInfo

23
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp vendored
View File

@ -306,6 +306,13 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
if (timeStep == 0.f)
return true;
if (m_debugDrawer)
{
gDisableDeactivation = (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_NoDeactivation);
}
//clamp hardcoded for now
if (timeStep > 0.02)
timeStep = 0.02;
@ -435,17 +442,17 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
shapeinterface->GetAabb(body->getCenterOfMassTransform(),
minAabb,maxAabb);
SimdVector3 manifoldExtraExtents(gContactBreakingTreshold,gContactBreakingTreshold,gContactBreakingTreshold);
minAabb -= manifoldExtraExtents;
maxAabb += manifoldExtraExtents;
BroadphaseProxy* bp = (BroadphaseProxy*) ctrl->m_broadphaseHandle;
if (bp)
{
#ifdef WIN32
SimdVector3 color (1,0,0);
SimdVector3 color (1,1,0);
if (m_debugDrawer)
{
//draw aabb
@ -453,7 +460,7 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
{
case ISLAND_SLEEPING:
{
color.setValue(0,1,0);
color.setValue(1,1,1);
break;
}
case WANTS_DEACTIVATION:
@ -465,11 +472,13 @@ bool CcdPhysicsEnvironment::proceedDeltaTime(double curTime,float timeStep)
{
break;
}
};
DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
if (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawAabb)
{
DrawAabb(m_debugDrawer,minAabb,maxAabb,color);
}
}
#endif

13
extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysics_vc8.vcproj vendored
View File

@ -5,6 +5,7 @@
Name="CcdPhysics"
ProjectGUID="{E3D57F36-36AC-4E9A-B0E0-2AE4510FCBFE}"
Keyword="Win32Proj"
SignManifests="true"
>
<Platforms>
<Platform
@ -41,12 +42,12 @@
Optimization="0"
AdditionalIncludeDirectories="..\Common;..\..\..\LinearMath;..\..\..\Bullet;..\..\..\BulletDynamics"
PreprocessorDefinitions="WIN32;_DEBUG;_LIB"
MinimalRebuild="TRUE"
MinimalRebuild="true"
BasicRuntimeChecks="3"
RuntimeLibrary="1"
UsePrecompiledHeader="0"
WarningLevel="3"
Detect64BitPortabilityProblems="TRUE"
Detect64BitPortabilityProblems="true"
DebugInformationFormat="4"
/>
<Tool
@ -72,7 +73,7 @@
Name="VCBscMakeTool"
/>
<Tool
Name="VCAppVerifierTool"
Name="VCFxCopTool"
/>
<Tool
Name="VCPostBuildEventTool"
@ -107,7 +108,7 @@
RuntimeLibrary="0"
UsePrecompiledHeader="0"
WarningLevel="3"
Detect64BitPortabilityProblems="TRUE"
Detect64BitPortabilityProblems="true"
DebugInformationFormat="3"
/>
<Tool
@ -133,7 +134,7 @@
Name="VCBscMakeTool"
/>
<Tool
Name="VCAppVerifierTool"
Name="VCFxCopTool"
/>
<Tool
Name="VCPostBuildEventTool"
@ -182,4 +183,6 @@
>
</File>
</Files>
<Globals>
</Globals>
</VisualStudioProject>

20
extern/bullet/LinearMath/IDebugDraw.h vendored
View File

@ -30,12 +30,30 @@ DEALINGS IN THE SOFTWARE.
#include "SimdVector3.h"
class IDebugDraw
{
public:
public:
enum DebugDrawModes
{
DBG_NoDebug=0,
DBG_DrawAabb=1,
DBG_DrawText=2,
DBG_DrawFeaturesText=4,
DBG_DrawContactPoints=8,
DBG_NoDeactivation=16,
DBG_MAX_DEBUG_DRAW_MODE
};
virtual void DrawLine(const SimdVector3& from,const SimdVector3& to,const SimdVector3& color)=0;
virtual void DrawContactPoint(const SimdVector3& PointOnB,const SimdVector3& normalOnB,float distance,int lifeTime,const SimdVector3& color)=0;
virtual void SetDebugMode(int debugMode) =0;
virtual int GetDebugMode() const = 0;
};