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use Dispatcher in ConcaveConvexCollisionAlgorithm (so it uses the registered collision algorithm, not hardcoded convexconcave)

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improved performance of constraint solver by precalculating the cross product/impulse arm
added collision comparison code: ODE box-box, also sphere-triangle
added safety check into GJK, and an assert for AABB's that are very large
write partid/triangle index outside of GJK
This commit is contained in:
ejcoumans
2006-10-28 02:06:19 +00:00
parent 7987be45c5
commit 3fe3b11924
24 changed files with 730 additions and 90 deletions
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33
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
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@@ -74,8 +74,6 @@ float btSequentialImpulseConstraintSolver::solveGroup(btPersistentManifold** man
for (j=0;j<numManifolds;j++)
{
int k=j;
//interleaving the preparation with solving impacts the behaviour a lot, todo: find out why
prepareConstraints(manifoldPtr[k],info,debugDrawer);
solve(manifoldPtr[k],info,0,debugDrawer);
}
@@ -232,6 +230,7 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
cpd->m_penetration = 0.f;
}
float relaxation = info.m_damping;
cpd->m_appliedImpulse *= relaxation;
@@ -266,6 +265,36 @@ void btSequentialImpulseConstraintSolver::prepareConstraints(btPersistentManifol
#endif //NO_FRICTION_WARMSTART
cp.m_normalWorldOnB*cpd->m_appliedImpulse;
///
{
btVector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
cpd->m_angularComponentA = body0->getInvInertiaTensorWorld()*torqueAxis0;
btVector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
cpd->m_angularComponentB = body1->getInvInertiaTensorWorld()*torqueAxis1;
}
{
btVector3 ftorqueAxis0 = rel_pos1.cross(cpd->m_frictionWorldTangential0);
cpd->m_frictionAngularComponent0A = body0->getInvInertiaTensorWorld()*ftorqueAxis0;
}
{
btVector3 ftorqueAxis1 = rel_pos1.cross(cpd->m_frictionWorldTangential1);
cpd->m_frictionAngularComponent1A = body0->getInvInertiaTensorWorld()*ftorqueAxis1;
}
{
btVector3 ftorqueAxis0 = rel_pos2.cross(cpd->m_frictionWorldTangential0);
cpd->m_frictionAngularComponent0B = body1->getInvInertiaTensorWorld()*ftorqueAxis0;
}
{
btVector3 ftorqueAxis1 = rel_pos2.cross(cpd->m_frictionWorldTangential1);
cpd->m_frictionAngularComponent1B = body1->getInvInertiaTensorWorld()*ftorqueAxis1;
}
///
//apply previous frames impulse on both bodies
body0->applyImpulse(totalImpulse, rel_pos1);
body1->applyImpulse(-totalImpulse, rel_pos2);