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improved performance, and allowed custom friction and contact solver models. See CcdPhysicsDemo #define USER_DEFINED_FRICTION_MODEL

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This commit is contained in:
ejcoumans
2006-09-20 00:49:33 +00:00
parent dad2cb634e
commit 5ed0cf5b7f
15 changed files with 211 additions and 56 deletions
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68
BulletDynamics/ConstraintSolver/SequentialImpulseConstraintSolver.cpp
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@@ -32,7 +32,7 @@ subject to the following restrictions:
int totalCpd = 0;
int gTotalContactPoints = 0;
bool MyContactDestroyedCallback(void* userPersistentData)
{
@@ -48,8 +48,17 @@ bool MyContactDestroyedCallback(void* userPersistentData)
SequentialImpulseConstraintSolver::SequentialImpulseConstraintSolver()
{
gContactDestroyedCallback = &MyContactDestroyedCallback;
}
//initialize default friction/contact funcs
int i,j;
for (i=0;i<MAX_CONTACT_SOLVER_TYPES;i++)
for (j=0;j<MAX_CONTACT_SOLVER_TYPES;j++)
{
m_contactDispatch[i][j] = resolveSingleCollision;
m_frictionDispatch[i][j] = resolveSingleFriction;
}
}
/// SequentialImpulseConstraintSolver Sequentially applies impulses
float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifoldPtr, int numManifolds,const ContactSolverInfo& infoGlobal,IDebugDraw* debugDrawer)
@@ -62,9 +71,22 @@ float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifol
Profiler::beginBlock("Solve");
#endif //USE_PROFILE
{
int j;
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);
}
}
//should traverse the contacts random order...
int i;
for ( i = 0;i<numiter;i++)
for ( i = 0;i<numiter-1;i++)
{
int j;
for (j=0;j<numManifolds;j++)
@@ -84,7 +106,7 @@ float SequentialImpulseConstraintSolver::SolveGroup(PersistentManifold** manifol
#endif //USE_PROFILE
//now solve the friction
for (i = 0;i<numiter;i++)
for (i = 0;i<numiter-1;i++)
{
int j;
for (j=0;j<numManifolds;j++)
@@ -111,23 +133,21 @@ SimdScalar restitutionCurve(SimdScalar rel_vel, SimdScalar restitution)
}
float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
void SequentialImpulseConstraintSolver::PrepareConstraints(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,IDebugDraw* debugDrawer)
{
RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();
float maxImpulse = 0.f;
//only necessary to refresh the manifold once (first iteration). The integration is done outside the loop
if (iter == 0)
{
manifoldPtr->RefreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
int numpoints = manifoldPtr->GetNumContacts();
gTotalContactPoints += numpoints;
SimdVector3 color(0,1,0);
for (int i=0;i<numpoints ;i++)
{
@@ -181,7 +201,12 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
cpd->m_jacDiagABInv = 1.f / jacDiagAB;
//Dependent on Rigidbody A and B types, fetch the contact/friction response func
//perhaps do a similar thing for friction/restutution combiner funcs...
cpd->m_frictionSolverFunc = m_frictionDispatch[body0->m_frictionSolverType][body1->m_frictionSolverType];
cpd->m_contactSolverFunc = m_contactDispatch[body0->m_contactSolverType][body1->m_contactSolverType];
SimdVector3 vel1 = body0->getVelocityInLocalPoint(rel_pos1);
SimdVector3 vel2 = body1->getVelocityInLocalPoint(rel_pos2);
SimdVector3 vel = vel1 - vel2;
@@ -250,6 +275,15 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
}
}
}
float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr, const ContactSolverInfo& info,int iter,IDebugDraw* debugDrawer)
{
RigidBody* body0 = (RigidBody*)manifoldPtr->GetBody0();
RigidBody* body1 = (RigidBody*)manifoldPtr->GetBody1();
float maxImpulse = 0.f;
{
const int numpoints = manifoldPtr->GetNumContacts();
@@ -276,14 +310,12 @@ float SequentialImpulseConstraintSolver::Solve(PersistentManifold* manifoldPtr,
{
//float dist = cp.GetDistance();
//printf("dist(%i)=%f\n",j,dist);
float impulse = resolveSingleCollision(
ConstraintPersistentData* cpd = (ConstraintPersistentData*) cp.m_userPersistentData;
float impulse = cpd->m_contactSolverFunc(
*body0,*body1,
cp,
info);
if (maxImpulse < impulse)
maxImpulse = impulse;
@@ -312,13 +344,15 @@ float SequentialImpulseConstraintSolver::SolveFriction(PersistentManifold* manif
// j = numpoints-1-i;
ManifoldPoint& cp = manifoldPtr->GetContactPoint(j);
if (cp.GetDistance() <= 0.f)
if (cp.GetDistance() <= 0.f)
{
resolveSingleFriction(
ConstraintPersistentData* cpd = (ConstraintPersistentData*) cp.m_userPersistentData;
cpd->m_frictionSolverFunc(
*body0,*body1,
cp,
info);
}
}