1696 lines
70 KiB
C++
1696 lines
70 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//enable B3_SOLVER_DEBUG if you experience solver crashes
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//#define B3_SOLVER_DEBUG
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//#define COMPUTE_IMPULSE_DENOM 1
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//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
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//#define DISABLE_JOINTS
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#include "b3PgsJacobiSolver.h"
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#include "Bullet3Common/b3MinMax.h"
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#include "b3TypedConstraint.h"
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#include <new>
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#include "Bullet3Common/b3StackAlloc.h"
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//#include "b3SolverBody.h"
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//#include "b3SolverConstraint.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include <string.h> //for memset
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//#include "../../dynamics/basic_demo/Stubs/AdlContact4.h"
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#include "Bullet3Collision/NarrowPhaseCollision/b3Contact4.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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static b3Transform getWorldTransform(b3RigidBodyData* rb)
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{
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b3Transform newTrans;
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newTrans.setOrigin(rb->m_pos);
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newTrans.setRotation(rb->m_quat);
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return newTrans;
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}
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static const b3Matrix3x3& getInvInertiaTensorWorld(b3InertiaData* inertia)
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{
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return inertia->m_invInertiaWorld;
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}
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static const b3Vector3& getLinearVelocity(b3RigidBodyData* rb)
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{
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return rb->m_linVel;
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}
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static const b3Vector3& getAngularVelocity(b3RigidBodyData* rb)
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{
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return rb->m_angVel;
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}
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static b3Vector3 getVelocityInLocalPoint(b3RigidBodyData* rb, const b3Vector3& rel_pos)
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{
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//we also calculate lin/ang velocity for kinematic objects
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return getLinearVelocity(rb) + getAngularVelocity(rb).cross(rel_pos);
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}
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struct b3ContactPoint
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{
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b3Vector3 m_positionWorldOnA;
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b3Vector3 m_positionWorldOnB;
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b3Vector3 m_normalWorldOnB;
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b3Scalar m_appliedImpulse;
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b3Scalar m_distance;
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b3Scalar m_combinedRestitution;
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///information related to friction
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b3Scalar m_combinedFriction;
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b3Vector3 m_lateralFrictionDir1;
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b3Vector3 m_lateralFrictionDir2;
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b3Scalar m_appliedImpulseLateral1;
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b3Scalar m_appliedImpulseLateral2;
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b3Scalar m_combinedRollingFriction;
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b3Scalar m_contactMotion1;
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b3Scalar m_contactMotion2;
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b3Scalar m_contactCFM1;
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b3Scalar m_contactCFM2;
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bool m_lateralFrictionInitialized;
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b3Vector3 getPositionWorldOnA()
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{
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return m_positionWorldOnA;
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}
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b3Vector3 getPositionWorldOnB()
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{
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return m_positionWorldOnB;
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}
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b3Scalar getDistance()
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{
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return m_distance;
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}
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};
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void getContactPoint(b3Contact4* contact, int contactIndex, b3ContactPoint& pointOut)
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{
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pointOut.m_appliedImpulse = 0.f;
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pointOut.m_appliedImpulseLateral1 = 0.f;
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pointOut.m_appliedImpulseLateral2 = 0.f;
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pointOut.m_combinedFriction = contact->getFrictionCoeff();
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pointOut.m_combinedRestitution = contact->getRestituitionCoeff();
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pointOut.m_combinedRollingFriction = 0.f;
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pointOut.m_contactCFM1 = 0.f;
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pointOut.m_contactCFM2 = 0.f;
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pointOut.m_contactMotion1 = 0.f;
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pointOut.m_contactMotion2 = 0.f;
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pointOut.m_distance = contact->getPenetration(contactIndex); //??0.01f
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b3Vector3 normalOnB = contact->m_worldNormalOnB;
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normalOnB.normalize(); //is this needed?
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b3Vector3 l1, l2;
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b3PlaneSpace1(normalOnB, l1, l2);
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pointOut.m_normalWorldOnB = normalOnB;
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//printf("normalOnB = %f,%f,%f\n",normalOnB.getX(),normalOnB.getY(),normalOnB.getZ());
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pointOut.m_lateralFrictionDir1 = l1;
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pointOut.m_lateralFrictionDir2 = l2;
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pointOut.m_lateralFrictionInitialized = true;
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b3Vector3 worldPosB = contact->m_worldPosB[contactIndex];
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pointOut.m_positionWorldOnB = worldPosB;
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pointOut.m_positionWorldOnA = worldPosB + normalOnB * pointOut.m_distance;
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}
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int getNumContacts(b3Contact4* contact)
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{
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return contact->getNPoints();
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}
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b3PgsJacobiSolver::b3PgsJacobiSolver(bool usePgs)
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: m_usePgs(usePgs),
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m_numSplitImpulseRecoveries(0),
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m_btSeed2(0)
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{
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}
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b3PgsJacobiSolver::~b3PgsJacobiSolver()
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{
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}
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void b3PgsJacobiSolver::solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints)
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{
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b3ContactSolverInfo infoGlobal;
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infoGlobal.m_splitImpulse = false;
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infoGlobal.m_timeStep = 1.f / 60.f;
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infoGlobal.m_numIterations = 4; //4;
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// infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS|B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
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//infoGlobal.m_solverMode|=B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS;
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infoGlobal.m_solverMode |= B3_SOLVER_USE_2_FRICTION_DIRECTIONS;
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//if (infoGlobal.m_solverMode & B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
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//if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
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solveGroup(bodies, inertias, numBodies, contacts, numContacts, constraints, numConstraints, infoGlobal);
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if (!numContacts)
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return;
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}
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/// b3PgsJacobiSolver Sequentially applies impulses
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b3Scalar b3PgsJacobiSolver::solveGroup(b3RigidBodyData* bodies,
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b3InertiaData* inertias,
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int numBodies,
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b3Contact4* manifoldPtr,
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int numManifolds,
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b3TypedConstraint** constraints,
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int numConstraints,
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const b3ContactSolverInfo& infoGlobal)
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{
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B3_PROFILE("solveGroup");
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//you need to provide at least some bodies
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solveGroupCacheFriendlySetup(bodies, inertias, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal);
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solveGroupCacheFriendlyIterations(constraints, numConstraints, infoGlobal);
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solveGroupCacheFriendlyFinish(bodies, inertias, numBodies, infoGlobal);
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return 0.f;
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}
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#ifdef USE_SIMD
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#include <emmintrin.h>
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#define b3VecSplat(x, e) _mm_shuffle_ps(x, x, _MM_SHUFFLE(e, e, e, e))
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static inline __m128 b3SimdDot3(__m128 vec0, __m128 vec1)
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{
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__m128 result = _mm_mul_ps(vec0, vec1);
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return _mm_add_ps(b3VecSplat(result, 0), _mm_add_ps(b3VecSplat(result, 1), b3VecSplat(result, 2)));
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}
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#endif //USE_SIMD
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// Project Gauss Seidel or the equivalent Sequential Impulse
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void b3PgsJacobiSolver::resolveSingleConstraintRowGenericSIMD(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
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{
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#ifdef USE_SIMD
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__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
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__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
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__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
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__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)));
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__m128 deltaVel1Dotn = _mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
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__m128 deltaVel2Dotn = _mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128), b3SimdDot3((c.m_contactNormal).mVec128, body2.internalGetDeltaLinearVelocity().mVec128));
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deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
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deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
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b3SimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
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b3SimdScalar resultLowerLess, resultUpperLess;
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resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
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resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
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__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
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deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
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c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
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__m128 upperMinApplied = _mm_sub_ps(upperLimit1, cpAppliedImp);
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deltaImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied));
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c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1));
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__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128, body1.internalGetInvMass().mVec128);
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__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128, body2.internalGetInvMass().mVec128);
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__m128 impulseMagnitude = deltaImpulse;
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body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
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body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
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body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
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body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
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#else
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resolveSingleConstraintRowGeneric(body1, body2, c);
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#endif
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}
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// Project Gauss Seidel or the equivalent Sequential Impulse
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void b3PgsJacobiSolver::resolveSingleConstraintRowGeneric(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
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{
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b3Scalar deltaImpulse = c.m_rhs - b3Scalar(c.m_appliedImpulse) * c.m_cfm;
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const b3Scalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
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const b3Scalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
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// const b3Scalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
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deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
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deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
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const b3Scalar sum = b3Scalar(c.m_appliedImpulse) + deltaImpulse;
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if (sum < c.m_lowerLimit)
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{
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deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
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c.m_appliedImpulse = c.m_lowerLimit;
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}
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else if (sum > c.m_upperLimit)
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{
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deltaImpulse = c.m_upperLimit - c.m_appliedImpulse;
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c.m_appliedImpulse = c.m_upperLimit;
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}
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else
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{
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c.m_appliedImpulse = sum;
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}
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body1.internalApplyImpulse(c.m_contactNormal * body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
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body2.internalApplyImpulse(-c.m_contactNormal * body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
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}
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void b3PgsJacobiSolver::resolveSingleConstraintRowLowerLimitSIMD(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
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{
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#ifdef USE_SIMD
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__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
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__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
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__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
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__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)));
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__m128 deltaVel1Dotn = _mm_add_ps(b3SimdDot3(c.m_contactNormal.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
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__m128 deltaVel2Dotn = _mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128), b3SimdDot3((c.m_contactNormal).mVec128, body2.internalGetDeltaLinearVelocity().mVec128));
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deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
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deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
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b3SimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
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b3SimdScalar resultLowerLess, resultUpperLess;
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resultLowerLess = _mm_cmplt_ps(sum, lowerLimit1);
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resultUpperLess = _mm_cmplt_ps(sum, upperLimit1);
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__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
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deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
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c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
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__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128, body1.internalGetInvMass().mVec128);
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__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128, body2.internalGetInvMass().mVec128);
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__m128 impulseMagnitude = deltaImpulse;
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body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
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body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
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body2.internalGetDeltaLinearVelocity().mVec128 = _mm_sub_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
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body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
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#else
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resolveSingleConstraintRowLowerLimit(body1, body2, c);
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#endif
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}
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// Project Gauss Seidel or the equivalent Sequential Impulse
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void b3PgsJacobiSolver::resolveSingleConstraintRowLowerLimit(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
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{
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b3Scalar deltaImpulse = c.m_rhs - b3Scalar(c.m_appliedImpulse) * c.m_cfm;
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const b3Scalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
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const b3Scalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
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deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
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deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
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const b3Scalar sum = b3Scalar(c.m_appliedImpulse) + deltaImpulse;
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if (sum < c.m_lowerLimit)
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{
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deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
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c.m_appliedImpulse = c.m_lowerLimit;
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}
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else
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{
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c.m_appliedImpulse = sum;
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}
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body1.internalApplyImpulse(c.m_contactNormal * body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
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body2.internalApplyImpulse(-c.m_contactNormal * body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
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}
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void b3PgsJacobiSolver::resolveSplitPenetrationImpulseCacheFriendly(
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b3SolverBody& body1,
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b3SolverBody& body2,
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const b3SolverConstraint& c)
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{
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if (c.m_rhsPenetration)
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{
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m_numSplitImpulseRecoveries++;
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b3Scalar deltaImpulse = c.m_rhsPenetration - b3Scalar(c.m_appliedPushImpulse) * c.m_cfm;
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const b3Scalar deltaVel1Dotn = c.m_contactNormal.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
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const b3Scalar deltaVel2Dotn = -c.m_contactNormal.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
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deltaImpulse -= deltaVel1Dotn * c.m_jacDiagABInv;
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deltaImpulse -= deltaVel2Dotn * c.m_jacDiagABInv;
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const b3Scalar sum = b3Scalar(c.m_appliedPushImpulse) + deltaImpulse;
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if (sum < c.m_lowerLimit)
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{
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deltaImpulse = c.m_lowerLimit - c.m_appliedPushImpulse;
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c.m_appliedPushImpulse = c.m_lowerLimit;
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}
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else
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{
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c.m_appliedPushImpulse = sum;
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}
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body1.internalApplyPushImpulse(c.m_contactNormal * body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
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body2.internalApplyPushImpulse(-c.m_contactNormal * body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
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}
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}
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void b3PgsJacobiSolver::resolveSplitPenetrationSIMD(b3SolverBody& body1, b3SolverBody& body2, const b3SolverConstraint& c)
|
|
{
|
|
#ifdef USE_SIMD
|
|
if (!c.m_rhsPenetration)
|
|
return;
|
|
|
|
m_numSplitImpulseRecoveries++;
|
|
|
|
__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(b3SimdDot3(c.m_contactNormal.mVec128, body1.internalGetPushVelocity().mVec128), b3SimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetTurnVelocity().mVec128));
|
|
__m128 deltaVel2Dotn = _mm_sub_ps(b3SimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetTurnVelocity().mVec128), b3SimdDot3((c.m_contactNormal).mVec128, body2.internalGetPushVelocity().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)));
|
|
b3SimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
|
|
b3SimdScalar 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_appliedPushImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
|
|
__m128 linearComponentA = _mm_mul_ps(c.m_contactNormal.mVec128, body1.internalGetInvMass().mVec128);
|
|
__m128 linearComponentB = _mm_mul_ps((c.m_contactNormal).mVec128, body2.internalGetInvMass().mVec128);
|
|
__m128 impulseMagnitude = deltaImpulse;
|
|
body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
|
|
body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
|
|
body2.internalGetPushVelocity().mVec128 = _mm_sub_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));
|
|
#else
|
|
resolveSplitPenetrationImpulseCacheFriendly(body1, body2, c);
|
|
#endif
|
|
}
|
|
|
|
unsigned long b3PgsJacobiSolver::b3Rand2()
|
|
{
|
|
m_btSeed2 = (1664525L * m_btSeed2 + 1013904223L) & 0xffffffff;
|
|
return m_btSeed2;
|
|
}
|
|
|
|
//See ODE: adam's all-int straightforward(?) dRandInt (0..n-1)
|
|
int b3PgsJacobiSolver::b3RandInt2(int n)
|
|
{
|
|
// seems good; xor-fold and modulus
|
|
const unsigned long un = static_cast<unsigned long>(n);
|
|
unsigned long r = b3Rand2();
|
|
|
|
// 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 b3PgsJacobiSolver::initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* rb)
|
|
{
|
|
solverBody->m_deltaLinearVelocity.setValue(0.f, 0.f, 0.f);
|
|
solverBody->m_deltaAngularVelocity.setValue(0.f, 0.f, 0.f);
|
|
solverBody->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
|
|
solverBody->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
|
|
|
|
if (rb)
|
|
{
|
|
solverBody->m_worldTransform = getWorldTransform(rb);
|
|
solverBody->internalSetInvMass(b3MakeVector3(rb->m_invMass, rb->m_invMass, rb->m_invMass));
|
|
solverBody->m_originalBodyIndex = bodyIndex;
|
|
solverBody->m_angularFactor = b3MakeVector3(1, 1, 1);
|
|
solverBody->m_linearFactor = b3MakeVector3(1, 1, 1);
|
|
solverBody->m_linearVelocity = getLinearVelocity(rb);
|
|
solverBody->m_angularVelocity = getAngularVelocity(rb);
|
|
}
|
|
else
|
|
{
|
|
solverBody->m_worldTransform.setIdentity();
|
|
solverBody->internalSetInvMass(b3MakeVector3(0, 0, 0));
|
|
solverBody->m_originalBodyIndex = bodyIndex;
|
|
solverBody->m_angularFactor.setValue(1, 1, 1);
|
|
solverBody->m_linearFactor.setValue(1, 1, 1);
|
|
solverBody->m_linearVelocity.setValue(0, 0, 0);
|
|
solverBody->m_angularVelocity.setValue(0, 0, 0);
|
|
}
|
|
}
|
|
|
|
b3Scalar b3PgsJacobiSolver::restitutionCurve(b3Scalar rel_vel, b3Scalar restitution)
|
|
{
|
|
b3Scalar rest = restitution * -rel_vel;
|
|
return rest;
|
|
}
|
|
|
|
void b3PgsJacobiSolver::setupFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
|
|
{
|
|
solverConstraint.m_contactNormal = normalAxis;
|
|
b3SolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
|
|
b3SolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
|
|
|
|
b3RigidBodyData* body0 = &bodies[solverBodyA.m_originalBodyIndex];
|
|
b3RigidBodyData* body1 = &bodies[solverBodyB.m_originalBodyIndex];
|
|
|
|
solverConstraint.m_solverBodyIdA = solverBodyIdA;
|
|
solverConstraint.m_solverBodyIdB = solverBodyIdB;
|
|
|
|
solverConstraint.m_friction = cp.m_combinedFriction;
|
|
solverConstraint.m_originalContactPoint = 0;
|
|
|
|
solverConstraint.m_appliedImpulse = 0.f;
|
|
solverConstraint.m_appliedPushImpulse = 0.f;
|
|
|
|
{
|
|
b3Vector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal);
|
|
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
|
|
solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
|
|
}
|
|
{
|
|
b3Vector3 ftorqueAxis1 = rel_pos2.cross(-solverConstraint.m_contactNormal);
|
|
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
|
|
solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
|
|
}
|
|
|
|
b3Scalar scaledDenom;
|
|
|
|
{
|
|
b3Vector3 vec;
|
|
b3Scalar denom0 = 0.f;
|
|
b3Scalar denom1 = 0.f;
|
|
if (body0)
|
|
{
|
|
vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
|
|
denom0 = body0->m_invMass + normalAxis.dot(vec);
|
|
}
|
|
if (body1)
|
|
{
|
|
vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
|
|
denom1 = body1->m_invMass + normalAxis.dot(vec);
|
|
}
|
|
|
|
b3Scalar denom;
|
|
if (m_usePgs)
|
|
{
|
|
scaledDenom = denom = relaxation / (denom0 + denom1);
|
|
}
|
|
else
|
|
{
|
|
denom = relaxation / (denom0 + denom1);
|
|
b3Scalar countA = body0->m_invMass ? b3Scalar(m_bodyCount[solverBodyA.m_originalBodyIndex]) : 1.f;
|
|
b3Scalar countB = body1->m_invMass ? b3Scalar(m_bodyCount[solverBodyB.m_originalBodyIndex]) : 1.f;
|
|
|
|
scaledDenom = relaxation / (denom0 * countA + denom1 * countB);
|
|
}
|
|
|
|
solverConstraint.m_jacDiagABInv = denom;
|
|
}
|
|
|
|
{
|
|
b3Scalar rel_vel;
|
|
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0 ? solverBodyA.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(body0 ? solverBodyA.m_angularVelocity : b3MakeVector3(0, 0, 0));
|
|
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1 ? solverBodyB.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(body1 ? solverBodyB.m_angularVelocity : b3MakeVector3(0, 0, 0));
|
|
|
|
rel_vel = vel1Dotn + vel2Dotn;
|
|
|
|
// b3Scalar positionalError = 0.f;
|
|
|
|
b3SimdScalar velocityError = desiredVelocity - rel_vel;
|
|
b3SimdScalar velocityImpulse = velocityError * b3SimdScalar(scaledDenom); //solverConstraint.m_jacDiagABInv);
|
|
solverConstraint.m_rhs = velocityImpulse;
|
|
solverConstraint.m_cfm = cfmSlip;
|
|
solverConstraint.m_lowerLimit = 0;
|
|
solverConstraint.m_upperLimit = 1e10f;
|
|
}
|
|
}
|
|
|
|
b3SolverConstraint& b3PgsJacobiSolver::addFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
|
|
{
|
|
b3SolverConstraint& solverConstraint = m_tmpSolverContactFrictionConstraintPool.expandNonInitializing();
|
|
solverConstraint.m_frictionIndex = frictionIndex;
|
|
setupFrictionConstraint(bodies, inertias, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2,
|
|
colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
|
|
return solverConstraint;
|
|
}
|
|
|
|
void b3PgsJacobiSolver::setupRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis1, int solverBodyIdA, int solverBodyIdB,
|
|
b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
|
|
b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation,
|
|
b3Scalar desiredVelocity, b3Scalar cfmSlip)
|
|
|
|
{
|
|
b3Vector3 normalAxis = b3MakeVector3(0, 0, 0);
|
|
|
|
solverConstraint.m_contactNormal = normalAxis;
|
|
b3SolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
|
|
b3SolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
|
|
|
|
b3RigidBodyData* body0 = &bodies[m_tmpSolverBodyPool[solverBodyIdA].m_originalBodyIndex];
|
|
b3RigidBodyData* body1 = &bodies[m_tmpSolverBodyPool[solverBodyIdB].m_originalBodyIndex];
|
|
|
|
solverConstraint.m_solverBodyIdA = solverBodyIdA;
|
|
solverConstraint.m_solverBodyIdB = solverBodyIdB;
|
|
|
|
solverConstraint.m_friction = cp.m_combinedRollingFriction;
|
|
solverConstraint.m_originalContactPoint = 0;
|
|
|
|
solverConstraint.m_appliedImpulse = 0.f;
|
|
solverConstraint.m_appliedPushImpulse = 0.f;
|
|
|
|
{
|
|
b3Vector3 ftorqueAxis1 = -normalAxis1;
|
|
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
|
|
solverConstraint.m_angularComponentA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
|
|
}
|
|
{
|
|
b3Vector3 ftorqueAxis1 = normalAxis1;
|
|
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
|
|
solverConstraint.m_angularComponentB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex]) * ftorqueAxis1 : b3MakeVector3(0, 0, 0);
|
|
}
|
|
|
|
{
|
|
b3Vector3 iMJaA = body0 ? getInvInertiaTensorWorld(&inertias[solverBodyA.m_originalBodyIndex]) * solverConstraint.m_relpos1CrossNormal : b3MakeVector3(0, 0, 0);
|
|
b3Vector3 iMJaB = body1 ? getInvInertiaTensorWorld(&inertias[solverBodyB.m_originalBodyIndex]) * solverConstraint.m_relpos2CrossNormal : b3MakeVector3(0, 0, 0);
|
|
b3Scalar sum = 0;
|
|
sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
|
|
sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
|
|
solverConstraint.m_jacDiagABInv = b3Scalar(1.) / sum;
|
|
}
|
|
|
|
{
|
|
b3Scalar rel_vel;
|
|
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(body0 ? solverBodyA.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(body0 ? solverBodyA.m_angularVelocity : b3MakeVector3(0, 0, 0));
|
|
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(body1 ? solverBodyB.m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(body1 ? solverBodyB.m_angularVelocity : b3MakeVector3(0, 0, 0));
|
|
|
|
rel_vel = vel1Dotn + vel2Dotn;
|
|
|
|
// b3Scalar positionalError = 0.f;
|
|
|
|
b3SimdScalar velocityError = desiredVelocity - rel_vel;
|
|
b3SimdScalar velocityImpulse = velocityError * b3SimdScalar(solverConstraint.m_jacDiagABInv);
|
|
solverConstraint.m_rhs = velocityImpulse;
|
|
solverConstraint.m_cfm = cfmSlip;
|
|
solverConstraint.m_lowerLimit = 0;
|
|
solverConstraint.m_upperLimit = 1e10f;
|
|
}
|
|
}
|
|
|
|
b3SolverConstraint& b3PgsJacobiSolver::addRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity, b3Scalar cfmSlip)
|
|
{
|
|
b3SolverConstraint& solverConstraint = m_tmpSolverContactRollingFrictionConstraintPool.expandNonInitializing();
|
|
solverConstraint.m_frictionIndex = frictionIndex;
|
|
setupRollingFrictionConstraint(bodies, inertias, solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2,
|
|
colObj0, colObj1, relaxation, desiredVelocity, cfmSlip);
|
|
return solverConstraint;
|
|
}
|
|
|
|
int b3PgsJacobiSolver::getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies, b3InertiaData* inertias)
|
|
{
|
|
//b3Assert(bodyIndex< m_tmpSolverBodyPool.size());
|
|
|
|
b3RigidBodyData& body = bodies[bodyIndex];
|
|
int curIndex = -1;
|
|
if (m_usePgs || body.m_invMass == 0.f)
|
|
{
|
|
if (m_bodyCount[bodyIndex] < 0)
|
|
{
|
|
curIndex = m_tmpSolverBodyPool.size();
|
|
b3SolverBody& solverBody = m_tmpSolverBodyPool.expand();
|
|
initSolverBody(bodyIndex, &solverBody, &body);
|
|
solverBody.m_originalBodyIndex = bodyIndex;
|
|
m_bodyCount[bodyIndex] = curIndex;
|
|
}
|
|
else
|
|
{
|
|
curIndex = m_bodyCount[bodyIndex];
|
|
}
|
|
}
|
|
else
|
|
{
|
|
b3Assert(m_bodyCount[bodyIndex] > 0);
|
|
m_bodyCountCheck[bodyIndex]++;
|
|
curIndex = m_tmpSolverBodyPool.size();
|
|
b3SolverBody& solverBody = m_tmpSolverBodyPool.expand();
|
|
initSolverBody(bodyIndex, &solverBody, &body);
|
|
solverBody.m_originalBodyIndex = bodyIndex;
|
|
}
|
|
|
|
b3Assert(curIndex >= 0);
|
|
return curIndex;
|
|
}
|
|
#include <stdio.h>
|
|
|
|
void b3PgsJacobiSolver::setupContactConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint,
|
|
int solverBodyIdA, int solverBodyIdB,
|
|
b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal,
|
|
b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation,
|
|
b3Vector3& rel_pos1, b3Vector3& rel_pos2)
|
|
{
|
|
const b3Vector3& pos1 = cp.getPositionWorldOnA();
|
|
const b3Vector3& pos2 = cp.getPositionWorldOnB();
|
|
|
|
b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
|
|
b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
|
|
|
|
b3RigidBodyData* rb0 = &bodies[bodyA->m_originalBodyIndex];
|
|
b3RigidBodyData* rb1 = &bodies[bodyB->m_originalBodyIndex];
|
|
|
|
// b3Vector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
|
|
// b3Vector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
|
|
rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
|
|
rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
|
|
|
|
relaxation = 1.f;
|
|
|
|
b3Vector3 torqueAxis0 = rel_pos1.cross(cp.m_normalWorldOnB);
|
|
solverConstraint.m_angularComponentA = rb0 ? getInvInertiaTensorWorld(&inertias[bodyA->m_originalBodyIndex]) * torqueAxis0 : b3MakeVector3(0, 0, 0);
|
|
b3Vector3 torqueAxis1 = rel_pos2.cross(cp.m_normalWorldOnB);
|
|
solverConstraint.m_angularComponentB = rb1 ? getInvInertiaTensorWorld(&inertias[bodyB->m_originalBodyIndex]) * -torqueAxis1 : b3MakeVector3(0, 0, 0);
|
|
|
|
b3Scalar scaledDenom;
|
|
{
|
|
#ifdef COMPUTE_IMPULSE_DENOM
|
|
b3Scalar denom0 = rb0->computeImpulseDenominator(pos1, cp.m_normalWorldOnB);
|
|
b3Scalar denom1 = rb1->computeImpulseDenominator(pos2, cp.m_normalWorldOnB);
|
|
#else
|
|
b3Vector3 vec;
|
|
b3Scalar denom0 = 0.f;
|
|
b3Scalar denom1 = 0.f;
|
|
if (rb0)
|
|
{
|
|
vec = (solverConstraint.m_angularComponentA).cross(rel_pos1);
|
|
denom0 = rb0->m_invMass + cp.m_normalWorldOnB.dot(vec);
|
|
}
|
|
if (rb1)
|
|
{
|
|
vec = (-solverConstraint.m_angularComponentB).cross(rel_pos2);
|
|
denom1 = rb1->m_invMass + cp.m_normalWorldOnB.dot(vec);
|
|
}
|
|
#endif //COMPUTE_IMPULSE_DENOM
|
|
|
|
b3Scalar denom;
|
|
if (m_usePgs)
|
|
{
|
|
scaledDenom = denom = relaxation / (denom0 + denom1);
|
|
}
|
|
else
|
|
{
|
|
denom = relaxation / (denom0 + denom1);
|
|
|
|
b3Scalar countA = rb0->m_invMass ? b3Scalar(m_bodyCount[bodyA->m_originalBodyIndex]) : 1.f;
|
|
b3Scalar countB = rb1->m_invMass ? b3Scalar(m_bodyCount[bodyB->m_originalBodyIndex]) : 1.f;
|
|
scaledDenom = relaxation / (denom0 * countA + denom1 * countB);
|
|
}
|
|
solverConstraint.m_jacDiagABInv = denom;
|
|
}
|
|
|
|
solverConstraint.m_contactNormal = cp.m_normalWorldOnB;
|
|
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
|
|
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
|
|
|
|
b3Scalar restitution = 0.f;
|
|
b3Scalar penetration = cp.getDistance() + infoGlobal.m_linearSlop;
|
|
|
|
{
|
|
b3Vector3 vel1, vel2;
|
|
|
|
vel1 = rb0 ? getVelocityInLocalPoint(rb0, rel_pos1) : b3MakeVector3(0, 0, 0);
|
|
vel2 = rb1 ? getVelocityInLocalPoint(rb1, rel_pos2) : b3MakeVector3(0, 0, 0);
|
|
|
|
// b3Vector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : b3Vector3(0,0,0);
|
|
vel = vel1 - vel2;
|
|
rel_vel = cp.m_normalWorldOnB.dot(vel);
|
|
|
|
solverConstraint.m_friction = cp.m_combinedFriction;
|
|
|
|
restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
|
|
if (restitution <= b3Scalar(0.))
|
|
{
|
|
restitution = 0.f;
|
|
};
|
|
}
|
|
|
|
///warm starting (or zero if disabled)
|
|
if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
|
|
{
|
|
solverConstraint.m_appliedImpulse = cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
|
|
if (rb0)
|
|
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal * bodyA->internalGetInvMass(), solverConstraint.m_angularComponentA, solverConstraint.m_appliedImpulse);
|
|
if (rb1)
|
|
bodyB->internalApplyImpulse(solverConstraint.m_contactNormal * bodyB->internalGetInvMass(), -solverConstraint.m_angularComponentB, -(b3Scalar)solverConstraint.m_appliedImpulse);
|
|
}
|
|
else
|
|
{
|
|
solverConstraint.m_appliedImpulse = 0.f;
|
|
}
|
|
|
|
solverConstraint.m_appliedPushImpulse = 0.f;
|
|
|
|
{
|
|
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rb0 ? bodyA->m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos1CrossNormal.dot(rb0 ? bodyA->m_angularVelocity : b3MakeVector3(0, 0, 0));
|
|
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rb1 ? bodyB->m_linearVelocity : b3MakeVector3(0, 0, 0)) + solverConstraint.m_relpos2CrossNormal.dot(rb1 ? bodyB->m_angularVelocity : b3MakeVector3(0, 0, 0));
|
|
b3Scalar rel_vel = vel1Dotn + vel2Dotn;
|
|
|
|
b3Scalar positionalError = 0.f;
|
|
b3Scalar velocityError = restitution - rel_vel; // * damping;
|
|
|
|
b3Scalar erp = infoGlobal.m_erp2;
|
|
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
|
|
{
|
|
erp = infoGlobal.m_erp;
|
|
}
|
|
|
|
if (penetration > 0)
|
|
{
|
|
positionalError = 0;
|
|
|
|
velocityError -= penetration / infoGlobal.m_timeStep;
|
|
}
|
|
else
|
|
{
|
|
positionalError = -penetration * erp / infoGlobal.m_timeStep;
|
|
}
|
|
|
|
b3Scalar penetrationImpulse = positionalError * scaledDenom; //solverConstraint.m_jacDiagABInv;
|
|
b3Scalar velocityImpulse = velocityError * scaledDenom; //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;
|
|
}
|
|
}
|
|
|
|
void b3PgsJacobiSolver::setFrictionConstraintImpulse(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint,
|
|
int solverBodyIdA, int solverBodyIdB,
|
|
b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal)
|
|
{
|
|
b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverBodyIdA];
|
|
b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverBodyIdB];
|
|
|
|
{
|
|
b3SolverConstraint& frictionConstraint1 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex];
|
|
if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
|
|
{
|
|
frictionConstraint1.m_appliedImpulse = cp.m_appliedImpulseLateral1 * infoGlobal.m_warmstartingFactor;
|
|
if (bodies[bodyA->m_originalBodyIndex].m_invMass)
|
|
bodyA->internalApplyImpulse(frictionConstraint1.m_contactNormal * bodies[bodyA->m_originalBodyIndex].m_invMass, frictionConstraint1.m_angularComponentA, frictionConstraint1.m_appliedImpulse);
|
|
if (bodies[bodyB->m_originalBodyIndex].m_invMass)
|
|
bodyB->internalApplyImpulse(frictionConstraint1.m_contactNormal * bodies[bodyB->m_originalBodyIndex].m_invMass, -frictionConstraint1.m_angularComponentB, -(b3Scalar)frictionConstraint1.m_appliedImpulse);
|
|
}
|
|
else
|
|
{
|
|
frictionConstraint1.m_appliedImpulse = 0.f;
|
|
}
|
|
}
|
|
|
|
if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
|
|
{
|
|
b3SolverConstraint& frictionConstraint2 = m_tmpSolverContactFrictionConstraintPool[solverConstraint.m_frictionIndex + 1];
|
|
if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
|
|
{
|
|
frictionConstraint2.m_appliedImpulse = cp.m_appliedImpulseLateral2 * infoGlobal.m_warmstartingFactor;
|
|
if (bodies[bodyA->m_originalBodyIndex].m_invMass)
|
|
bodyA->internalApplyImpulse(frictionConstraint2.m_contactNormal * bodies[bodyA->m_originalBodyIndex].m_invMass, frictionConstraint2.m_angularComponentA, frictionConstraint2.m_appliedImpulse);
|
|
if (bodies[bodyB->m_originalBodyIndex].m_invMass)
|
|
bodyB->internalApplyImpulse(frictionConstraint2.m_contactNormal * bodies[bodyB->m_originalBodyIndex].m_invMass, -frictionConstraint2.m_angularComponentB, -(b3Scalar)frictionConstraint2.m_appliedImpulse);
|
|
}
|
|
else
|
|
{
|
|
frictionConstraint2.m_appliedImpulse = 0.f;
|
|
}
|
|
}
|
|
}
|
|
|
|
void b3PgsJacobiSolver::convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias, b3Contact4* manifold, const b3ContactSolverInfo& infoGlobal)
|
|
{
|
|
b3RigidBodyData *colObj0 = 0, *colObj1 = 0;
|
|
|
|
int solverBodyIdA = getOrInitSolverBody(manifold->getBodyA(), bodies, inertias);
|
|
int solverBodyIdB = getOrInitSolverBody(manifold->getBodyB(), bodies, inertias);
|
|
|
|
// b3RigidBody* bodyA = b3RigidBody::upcast(colObj0);
|
|
// b3RigidBody* bodyB = b3RigidBody::upcast(colObj1);
|
|
|
|
b3SolverBody* solverBodyA = &m_tmpSolverBodyPool[solverBodyIdA];
|
|
b3SolverBody* solverBodyB = &m_tmpSolverBodyPool[solverBodyIdB];
|
|
|
|
///avoid collision response between two static objects
|
|
if (solverBodyA->m_invMass.isZero() && solverBodyB->m_invMass.isZero())
|
|
return;
|
|
|
|
int rollingFriction = 1;
|
|
int numContacts = getNumContacts(manifold);
|
|
for (int j = 0; j < numContacts; j++)
|
|
{
|
|
b3ContactPoint cp;
|
|
getContactPoint(manifold, j, cp);
|
|
|
|
if (cp.getDistance() <= getContactProcessingThreshold(manifold))
|
|
{
|
|
b3Vector3 rel_pos1;
|
|
b3Vector3 rel_pos2;
|
|
b3Scalar relaxation;
|
|
b3Scalar rel_vel;
|
|
b3Vector3 vel;
|
|
|
|
int frictionIndex = m_tmpSolverContactConstraintPool.size();
|
|
b3SolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
|
|
// b3RigidBody* rb0 = b3RigidBody::upcast(colObj0);
|
|
// b3RigidBody* rb1 = b3RigidBody::upcast(colObj1);
|
|
solverConstraint.m_solverBodyIdA = solverBodyIdA;
|
|
solverConstraint.m_solverBodyIdB = solverBodyIdB;
|
|
|
|
solverConstraint.m_originalContactPoint = &cp;
|
|
|
|
setupContactConstraint(bodies, inertias, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
|
|
|
|
// const b3Vector3& pos1 = cp.getPositionWorldOnA();
|
|
// const b3Vector3& pos2 = cp.getPositionWorldOnB();
|
|
|
|
/////setup the friction constraints
|
|
|
|
solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
|
|
|
|
b3Vector3 angVelA, angVelB;
|
|
solverBodyA->getAngularVelocity(angVelA);
|
|
solverBodyB->getAngularVelocity(angVelB);
|
|
b3Vector3 relAngVel = angVelB - angVelA;
|
|
|
|
if ((cp.m_combinedRollingFriction > 0.f) && (rollingFriction > 0))
|
|
{
|
|
//only a single rollingFriction per manifold
|
|
rollingFriction--;
|
|
if (relAngVel.length() > infoGlobal.m_singleAxisRollingFrictionThreshold)
|
|
{
|
|
relAngVel.normalize();
|
|
if (relAngVel.length() > 0.001)
|
|
addRollingFrictionConstraint(bodies, inertias, relAngVel, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
|
|
}
|
|
else
|
|
{
|
|
addRollingFrictionConstraint(bodies, inertias, cp.m_normalWorldOnB, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
|
|
b3Vector3 axis0, axis1;
|
|
b3PlaneSpace1(cp.m_normalWorldOnB, axis0, axis1);
|
|
if (axis0.length() > 0.001)
|
|
addRollingFrictionConstraint(bodies, inertias, axis0, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
|
|
if (axis1.length() > 0.001)
|
|
addRollingFrictionConstraint(bodies, inertias, axis1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
|
|
}
|
|
}
|
|
|
|
///Bullet has several options to set the friction directions
|
|
///By default, each contact has only a single friction direction that is recomputed automatically very frame
|
|
///based on the relative linear velocity.
|
|
///If the relative velocity it zero, it will automatically compute a friction direction.
|
|
|
|
///You can also enable two friction directions, using the B3_SOLVER_USE_2_FRICTION_DIRECTIONS.
|
|
///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
|
|
///
|
|
///If you choose B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
|
|
///
|
|
///The user can manually override the friction directions for certain contacts using a contact callback,
|
|
///and set the cp.m_lateralFrictionInitialized to true
|
|
///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
|
|
///this will give a conveyor belt effect
|
|
///
|
|
if (!(infoGlobal.m_solverMode & B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
|
|
{
|
|
cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
|
|
b3Scalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
|
|
if (!(infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > B3_EPSILON)
|
|
{
|
|
cp.m_lateralFrictionDir1 *= 1.f / b3Sqrt(lat_rel_vel);
|
|
if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
|
|
{
|
|
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
|
|
cp.m_lateralFrictionDir2.normalize(); //??
|
|
addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
|
|
}
|
|
|
|
addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
|
|
}
|
|
else
|
|
{
|
|
b3PlaneSpace1(cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2);
|
|
|
|
if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
|
|
{
|
|
addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
|
|
}
|
|
|
|
addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
|
|
|
|
if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
|
|
{
|
|
cp.m_lateralFrictionInitialized = true;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, cp.m_contactMotion1, cp.m_contactCFM1);
|
|
|
|
if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
|
|
addFrictionConstraint(bodies, inertias, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
|
|
|
|
setFrictionConstraintImpulse(bodies, inertias, solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
|
|
{
|
|
B3_PROFILE("solveGroupCacheFriendlySetup");
|
|
|
|
m_maxOverrideNumSolverIterations = 0;
|
|
|
|
m_tmpSolverBodyPool.resize(0);
|
|
|
|
m_bodyCount.resize(0);
|
|
m_bodyCount.resize(numBodies, 0);
|
|
m_bodyCountCheck.resize(0);
|
|
m_bodyCountCheck.resize(numBodies, 0);
|
|
|
|
m_deltaLinearVelocities.resize(0);
|
|
m_deltaLinearVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
|
|
m_deltaAngularVelocities.resize(0);
|
|
m_deltaAngularVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
|
|
|
|
//int totalBodies = 0;
|
|
|
|
for (int i = 0; i < numConstraints; i++)
|
|
{
|
|
int bodyIndexA = constraints[i]->getRigidBodyA();
|
|
int bodyIndexB = constraints[i]->getRigidBodyB();
|
|
if (m_usePgs)
|
|
{
|
|
m_bodyCount[bodyIndexA] = -1;
|
|
m_bodyCount[bodyIndexB] = -1;
|
|
}
|
|
else
|
|
{
|
|
//didn't implement joints with Jacobi version yet
|
|
b3Assert(0);
|
|
}
|
|
}
|
|
for (int i = 0; i < numManifolds; i++)
|
|
{
|
|
int bodyIndexA = manifoldPtr[i].getBodyA();
|
|
int bodyIndexB = manifoldPtr[i].getBodyB();
|
|
if (m_usePgs)
|
|
{
|
|
m_bodyCount[bodyIndexA] = -1;
|
|
m_bodyCount[bodyIndexB] = -1;
|
|
}
|
|
else
|
|
{
|
|
if (bodies[bodyIndexA].m_invMass)
|
|
{
|
|
//m_bodyCount[bodyIndexA]+=manifoldPtr[i].getNPoints();
|
|
m_bodyCount[bodyIndexA]++;
|
|
}
|
|
else
|
|
m_bodyCount[bodyIndexA] = -1;
|
|
|
|
if (bodies[bodyIndexB].m_invMass)
|
|
// m_bodyCount[bodyIndexB]+=manifoldPtr[i].getNPoints();
|
|
m_bodyCount[bodyIndexB]++;
|
|
else
|
|
m_bodyCount[bodyIndexB] = -1;
|
|
}
|
|
}
|
|
|
|
if (1)
|
|
{
|
|
int j;
|
|
for (j = 0; j < numConstraints; j++)
|
|
{
|
|
b3TypedConstraint* constraint = constraints[j];
|
|
|
|
constraint->internalSetAppliedImpulse(0.0f);
|
|
}
|
|
}
|
|
|
|
//b3RigidBody* rb0=0,*rb1=0;
|
|
//if (1)
|
|
{
|
|
{
|
|
int totalNumRows = 0;
|
|
int i;
|
|
|
|
m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
|
|
//calculate the total number of contraint rows
|
|
for (i = 0; i < numConstraints; i++)
|
|
{
|
|
b3TypedConstraint::b3ConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
|
|
b3JointFeedback* fb = constraints[i]->getJointFeedback();
|
|
if (fb)
|
|
{
|
|
fb->m_appliedForceBodyA.setZero();
|
|
fb->m_appliedTorqueBodyA.setZero();
|
|
fb->m_appliedForceBodyB.setZero();
|
|
fb->m_appliedTorqueBodyB.setZero();
|
|
}
|
|
|
|
if (constraints[i]->isEnabled())
|
|
{
|
|
}
|
|
if (constraints[i]->isEnabled())
|
|
{
|
|
constraints[i]->getInfo1(&info1, bodies);
|
|
}
|
|
else
|
|
{
|
|
info1.m_numConstraintRows = 0;
|
|
info1.nub = 0;
|
|
}
|
|
totalNumRows += info1.m_numConstraintRows;
|
|
}
|
|
m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
|
|
|
|
#ifndef DISABLE_JOINTS
|
|
///setup the b3SolverConstraints
|
|
int currentRow = 0;
|
|
|
|
for (i = 0; i < numConstraints; i++)
|
|
{
|
|
const b3TypedConstraint::b3ConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
|
|
|
|
if (info1.m_numConstraintRows)
|
|
{
|
|
b3Assert(currentRow < totalNumRows);
|
|
|
|
b3SolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
|
|
b3TypedConstraint* constraint = constraints[i];
|
|
|
|
b3RigidBodyData& rbA = bodies[constraint->getRigidBodyA()];
|
|
//b3RigidBody& rbA = constraint->getRigidBodyA();
|
|
// b3RigidBody& rbB = constraint->getRigidBodyB();
|
|
b3RigidBodyData& rbB = bodies[constraint->getRigidBodyB()];
|
|
|
|
int solverBodyIdA = getOrInitSolverBody(constraint->getRigidBodyA(), bodies, inertias);
|
|
int solverBodyIdB = getOrInitSolverBody(constraint->getRigidBodyB(), bodies, inertias);
|
|
|
|
b3SolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
|
|
b3SolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
|
|
|
|
int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
|
|
if (overrideNumSolverIterations > m_maxOverrideNumSolverIterations)
|
|
m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
|
|
|
|
int j;
|
|
for (j = 0; j < info1.m_numConstraintRows; j++)
|
|
{
|
|
memset(¤tConstraintRow[j], 0, sizeof(b3SolverConstraint));
|
|
currentConstraintRow[j].m_lowerLimit = -B3_INFINITY;
|
|
currentConstraintRow[j].m_upperLimit = B3_INFINITY;
|
|
currentConstraintRow[j].m_appliedImpulse = 0.f;
|
|
currentConstraintRow[j].m_appliedPushImpulse = 0.f;
|
|
currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA;
|
|
currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB;
|
|
currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations;
|
|
}
|
|
|
|
bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
|
|
bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
|
|
bodyAPtr->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
|
|
bodyAPtr->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
|
|
bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f, 0.f, 0.f);
|
|
bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f, 0.f, 0.f);
|
|
bodyBPtr->internalGetPushVelocity().setValue(0.f, 0.f, 0.f);
|
|
bodyBPtr->internalGetTurnVelocity().setValue(0.f, 0.f, 0.f);
|
|
|
|
b3TypedConstraint::b3ConstraintInfo2 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(b3SolverConstraint) / sizeof(b3Scalar); //check this
|
|
///the size of b3SolverConstraint needs be a multiple of b3Scalar
|
|
b3Assert(info2.rowskip * sizeof(b3Scalar) == sizeof(b3SolverConstraint));
|
|
info2.m_constraintError = ¤tConstraintRow->m_rhs;
|
|
currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
|
|
info2.m_damping = infoGlobal.m_damping;
|
|
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, bodies);
|
|
|
|
///finalize the constraint setup
|
|
for (j = 0; j < info1.m_numConstraintRows; j++)
|
|
{
|
|
b3SolverConstraint& solverConstraint = currentConstraintRow[j];
|
|
|
|
if (solverConstraint.m_upperLimit >= constraints[i]->getBreakingImpulseThreshold())
|
|
{
|
|
solverConstraint.m_upperLimit = constraints[i]->getBreakingImpulseThreshold();
|
|
}
|
|
|
|
if (solverConstraint.m_lowerLimit <= -constraints[i]->getBreakingImpulseThreshold())
|
|
{
|
|
solverConstraint.m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold();
|
|
}
|
|
|
|
solverConstraint.m_originalContactPoint = constraint;
|
|
|
|
b3Matrix3x3& invInertiaWorldA = inertias[constraint->getRigidBodyA()].m_invInertiaWorld;
|
|
{
|
|
//b3Vector3 angularFactorA(1,1,1);
|
|
const b3Vector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
|
|
solverConstraint.m_angularComponentA = invInertiaWorldA * ftorqueAxis1; //*angularFactorA;
|
|
}
|
|
|
|
b3Matrix3x3& invInertiaWorldB = inertias[constraint->getRigidBodyB()].m_invInertiaWorld;
|
|
{
|
|
const b3Vector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
|
|
solverConstraint.m_angularComponentB = invInertiaWorldB * ftorqueAxis2; //*constraint->getRigidBodyB().getAngularFactor();
|
|
}
|
|
|
|
{
|
|
//it is ok to use solverConstraint.m_contactNormal instead of -solverConstraint.m_contactNormal
|
|
//because it gets multiplied iMJlB
|
|
b3Vector3 iMJlA = solverConstraint.m_contactNormal * rbA.m_invMass;
|
|
b3Vector3 iMJaA = invInertiaWorldA * solverConstraint.m_relpos1CrossNormal;
|
|
b3Vector3 iMJlB = solverConstraint.m_contactNormal * rbB.m_invMass; //sign of normal?
|
|
b3Vector3 iMJaB = invInertiaWorldB * solverConstraint.m_relpos2CrossNormal;
|
|
|
|
b3Scalar sum = iMJlA.dot(solverConstraint.m_contactNormal);
|
|
sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
|
|
sum += iMJlB.dot(solverConstraint.m_contactNormal);
|
|
sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
|
|
b3Scalar fsum = b3Fabs(sum);
|
|
b3Assert(fsum > B3_EPSILON);
|
|
solverConstraint.m_jacDiagABInv = fsum > B3_EPSILON ? b3Scalar(1.) / sum : 0.f;
|
|
}
|
|
|
|
///fix rhs
|
|
///todo: add force/torque accelerators
|
|
{
|
|
b3Scalar rel_vel;
|
|
b3Scalar vel1Dotn = solverConstraint.m_contactNormal.dot(rbA.m_linVel) + solverConstraint.m_relpos1CrossNormal.dot(rbA.m_angVel);
|
|
b3Scalar vel2Dotn = -solverConstraint.m_contactNormal.dot(rbB.m_linVel) + solverConstraint.m_relpos2CrossNormal.dot(rbB.m_angVel);
|
|
|
|
rel_vel = vel1Dotn + vel2Dotn;
|
|
|
|
b3Scalar restitution = 0.f;
|
|
b3Scalar positionalError = solverConstraint.m_rhs; //already filled in by getConstraintInfo2
|
|
b3Scalar velocityError = restitution - rel_vel * info2.m_damping;
|
|
b3Scalar penetrationImpulse = positionalError * solverConstraint.m_jacDiagABInv;
|
|
b3Scalar velocityImpulse = velocityError * solverConstraint.m_jacDiagABInv;
|
|
solverConstraint.m_rhs = penetrationImpulse + velocityImpulse;
|
|
solverConstraint.m_appliedImpulse = 0.f;
|
|
}
|
|
}
|
|
}
|
|
currentRow += m_tmpConstraintSizesPool[i].m_numConstraintRows;
|
|
}
|
|
#endif //DISABLE_JOINTS
|
|
}
|
|
|
|
{
|
|
int i;
|
|
|
|
for (i = 0; i < numManifolds; i++)
|
|
{
|
|
b3Contact4& manifold = manifoldPtr[i];
|
|
convertContact(bodies, inertias, &manifold, infoGlobal);
|
|
}
|
|
}
|
|
}
|
|
|
|
// b3ContactSolverInfo info = infoGlobal;
|
|
|
|
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
|
|
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
|
|
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
|
|
|
|
///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
|
|
m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool);
|
|
if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
|
|
m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2);
|
|
else
|
|
m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
|
|
|
|
m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
|
|
{
|
|
int i;
|
|
for (i = 0; i < numNonContactPool; i++)
|
|
{
|
|
m_orderNonContactConstraintPool[i] = i;
|
|
}
|
|
for (i = 0; i < numConstraintPool; i++)
|
|
{
|
|
m_orderTmpConstraintPool[i] = i;
|
|
}
|
|
for (i = 0; i < numFrictionPool; i++)
|
|
{
|
|
m_orderFrictionConstraintPool[i] = i;
|
|
}
|
|
}
|
|
|
|
return 0.f;
|
|
}
|
|
|
|
b3Scalar b3PgsJacobiSolver::solveSingleIteration(int iteration, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
|
|
{
|
|
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
|
|
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
|
|
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
|
|
|
|
if (infoGlobal.m_solverMode & B3_SOLVER_RANDMIZE_ORDER)
|
|
{
|
|
if (1) // uncomment this for a bit less random ((iteration & 7) == 0)
|
|
{
|
|
for (int j = 0; j < numNonContactPool; ++j)
|
|
{
|
|
int tmp = m_orderNonContactConstraintPool[j];
|
|
int swapi = b3RandInt2(j + 1);
|
|
m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
|
|
m_orderNonContactConstraintPool[swapi] = tmp;
|
|
}
|
|
|
|
//contact/friction constraints are not solved more than
|
|
if (iteration < infoGlobal.m_numIterations)
|
|
{
|
|
for (int j = 0; j < numConstraintPool; ++j)
|
|
{
|
|
int tmp = m_orderTmpConstraintPool[j];
|
|
int swapi = b3RandInt2(j + 1);
|
|
m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
|
|
m_orderTmpConstraintPool[swapi] = tmp;
|
|
}
|
|
|
|
for (int j = 0; j < numFrictionPool; ++j)
|
|
{
|
|
int tmp = m_orderFrictionConstraintPool[j];
|
|
int swapi = b3RandInt2(j + 1);
|
|
m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
|
|
m_orderFrictionConstraintPool[swapi] = tmp;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (infoGlobal.m_solverMode & B3_SOLVER_SIMD)
|
|
{
|
|
///solve all joint constraints, using SIMD, if available
|
|
for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
|
|
{
|
|
b3SolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
|
|
if (iteration < constraint.m_overrideNumSolverIterations)
|
|
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
|
|
}
|
|
|
|
if (iteration < infoGlobal.m_numIterations)
|
|
{
|
|
///solve all contact constraints using SIMD, if available
|
|
if (infoGlobal.m_solverMode & B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
|
|
{
|
|
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
|
int multiplier = (infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
|
|
|
|
for (int c = 0; c < numPoolConstraints; c++)
|
|
{
|
|
b3Scalar totalImpulse = 0;
|
|
|
|
{
|
|
const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
|
|
resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
|
|
totalImpulse = solveManifold.m_appliedImpulse;
|
|
}
|
|
bool applyFriction = true;
|
|
if (applyFriction)
|
|
{
|
|
{
|
|
b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]];
|
|
|
|
if (totalImpulse > b3Scalar(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);
|
|
}
|
|
}
|
|
|
|
if (infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS)
|
|
{
|
|
b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]];
|
|
|
|
if (totalImpulse > b3Scalar(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 //B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
|
|
{
|
|
//solve the friction constraints after all contact constraints, don't interleave them
|
|
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
|
int j;
|
|
|
|
for (j = 0; j < numPoolConstraints; j++)
|
|
{
|
|
const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
|
resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
|
|
}
|
|
|
|
if (!m_usePgs)
|
|
averageVelocities();
|
|
|
|
///solve all friction constraints, using SIMD, if available
|
|
|
|
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
|
|
for (j = 0; j < numFrictionPoolConstraints; j++)
|
|
{
|
|
b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
|
|
b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
|
|
|
|
if (totalImpulse > b3Scalar(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);
|
|
}
|
|
}
|
|
|
|
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
|
|
for (j = 0; j < numRollingFrictionPoolConstraints; j++)
|
|
{
|
|
b3SolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
|
b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
|
|
if (totalImpulse > b3Scalar(0))
|
|
{
|
|
b3Scalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
|
|
if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
|
|
rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
|
|
|
|
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
|
|
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
|
|
|
|
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
//non-SIMD version
|
|
///solve all joint constraints
|
|
for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
|
|
{
|
|
b3SolverConstraint& 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)
|
|
{
|
|
///solve all contact constraints
|
|
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
|
for (int j = 0; j < numPoolConstraints; j++)
|
|
{
|
|
const b3SolverConstraint& 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++)
|
|
{
|
|
b3SolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
|
|
b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
|
|
|
|
if (totalImpulse > b3Scalar(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++)
|
|
{
|
|
b3SolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
|
|
b3Scalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
|
|
if (totalImpulse > b3Scalar(0))
|
|
{
|
|
b3Scalar 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;
|
|
}
|
|
|
|
void b3PgsJacobiSolver::solveGroupCacheFriendlySplitImpulseIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
|
|
{
|
|
int iteration;
|
|
if (infoGlobal.m_splitImpulse)
|
|
{
|
|
if (infoGlobal.m_solverMode & B3_SOLVER_SIMD)
|
|
{
|
|
for (iteration = 0; iteration < infoGlobal.m_numIterations; iteration++)
|
|
{
|
|
{
|
|
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
|
int j;
|
|
for (j = 0; j < numPoolConstraints; j++)
|
|
{
|
|
const b3SolverConstraint& 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 b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
|
|
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resolveSplitPenetrationImpulseCacheFriendly(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
|
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}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
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b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal)
|
|
{
|
|
B3_PROFILE("solveGroupCacheFriendlyIterations");
|
|
|
|
{
|
|
///this is a special step to resolve penetrations (just for contacts)
|
|
solveGroupCacheFriendlySplitImpulseIterations(constraints, numConstraints, infoGlobal);
|
|
|
|
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations ? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
|
|
|
|
for (int iteration = 0; iteration < maxIterations; iteration++)
|
|
//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
|
|
{
|
|
solveSingleIteration(iteration, constraints, numConstraints, infoGlobal);
|
|
|
|
if (!m_usePgs)
|
|
{
|
|
averageVelocities();
|
|
}
|
|
}
|
|
}
|
|
return 0.f;
|
|
}
|
|
|
|
void b3PgsJacobiSolver::averageVelocities()
|
|
{
|
|
B3_PROFILE("averaging");
|
|
//average the velocities
|
|
int numBodies = m_bodyCount.size();
|
|
|
|
m_deltaLinearVelocities.resize(0);
|
|
m_deltaLinearVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
|
|
m_deltaAngularVelocities.resize(0);
|
|
m_deltaAngularVelocities.resize(numBodies, b3MakeVector3(0, 0, 0));
|
|
|
|
for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
|
|
{
|
|
if (!m_tmpSolverBodyPool[i].m_invMass.isZero())
|
|
{
|
|
int orgBodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
|
|
m_deltaLinearVelocities[orgBodyIndex] += m_tmpSolverBodyPool[i].getDeltaLinearVelocity();
|
|
m_deltaAngularVelocities[orgBodyIndex] += m_tmpSolverBodyPool[i].getDeltaAngularVelocity();
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < m_tmpSolverBodyPool.size(); i++)
|
|
{
|
|
int orgBodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
|
|
|
|
if (!m_tmpSolverBodyPool[i].m_invMass.isZero())
|
|
{
|
|
b3Assert(m_bodyCount[orgBodyIndex] == m_bodyCountCheck[orgBodyIndex]);
|
|
|
|
b3Scalar factor = 1.f / b3Scalar(m_bodyCount[orgBodyIndex]);
|
|
|
|
m_tmpSolverBodyPool[i].m_deltaLinearVelocity = m_deltaLinearVelocities[orgBodyIndex] * factor;
|
|
m_tmpSolverBodyPool[i].m_deltaAngularVelocity = m_deltaAngularVelocities[orgBodyIndex] * factor;
|
|
}
|
|
}
|
|
}
|
|
|
|
b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, const b3ContactSolverInfo& infoGlobal)
|
|
{
|
|
B3_PROFILE("solveGroupCacheFriendlyFinish");
|
|
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
|
|
int i, j;
|
|
|
|
if (infoGlobal.m_solverMode & B3_SOLVER_USE_WARMSTARTING)
|
|
{
|
|
for (j = 0; j < numPoolConstraints; j++)
|
|
{
|
|
const b3SolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
|
|
b3ContactPoint* pt = (b3ContactPoint*)solveManifold.m_originalContactPoint;
|
|
b3Assert(pt);
|
|
pt->m_appliedImpulse = solveManifold.m_appliedImpulse;
|
|
// float f = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
|
|
// printf("pt->m_appliedImpulseLateral1 = %f\n", f);
|
|
pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
|
|
//printf("pt->m_appliedImpulseLateral1 = %f\n", pt->m_appliedImpulseLateral1);
|
|
if ((infoGlobal.m_solverMode & B3_SOLVER_USE_2_FRICTION_DIRECTIONS))
|
|
{
|
|
pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[solveManifold.m_frictionIndex + 1].m_appliedImpulse;
|
|
}
|
|
//do a callback here?
|
|
}
|
|
}
|
|
|
|
numPoolConstraints = m_tmpSolverNonContactConstraintPool.size();
|
|
for (j = 0; j < numPoolConstraints; j++)
|
|
{
|
|
const b3SolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
|
|
b3TypedConstraint* constr = (b3TypedConstraint*)solverConstr.m_originalContactPoint;
|
|
b3JointFeedback* fb = constr->getJointFeedback();
|
|
if (fb)
|
|
{
|
|
b3SolverBody* bodyA = &m_tmpSolverBodyPool[solverConstr.m_solverBodyIdA];
|
|
b3SolverBody* bodyB = &m_tmpSolverBodyPool[solverConstr.m_solverBodyIdB];
|
|
|
|
fb->m_appliedForceBodyA += solverConstr.m_contactNormal * solverConstr.m_appliedImpulse * bodyA->m_linearFactor / infoGlobal.m_timeStep;
|
|
fb->m_appliedForceBodyB += -solverConstr.m_contactNormal * solverConstr.m_appliedImpulse * bodyB->m_linearFactor / infoGlobal.m_timeStep;
|
|
fb->m_appliedTorqueBodyA += solverConstr.m_relpos1CrossNormal * bodyA->m_angularFactor * solverConstr.m_appliedImpulse / infoGlobal.m_timeStep;
|
|
fb->m_appliedTorqueBodyB += -solverConstr.m_relpos1CrossNormal * bodyB->m_angularFactor * solverConstr.m_appliedImpulse / infoGlobal.m_timeStep;
|
|
}
|
|
|
|
constr->internalSetAppliedImpulse(solverConstr.m_appliedImpulse);
|
|
if (b3Fabs(solverConstr.m_appliedImpulse) >= constr->getBreakingImpulseThreshold())
|
|
{
|
|
constr->setEnabled(false);
|
|
}
|
|
}
|
|
|
|
{
|
|
B3_PROFILE("write back velocities and transforms");
|
|
for (i = 0; i < m_tmpSolverBodyPool.size(); i++)
|
|
{
|
|
int bodyIndex = m_tmpSolverBodyPool[i].m_originalBodyIndex;
|
|
//b3Assert(i==bodyIndex);
|
|
|
|
b3RigidBodyData* body = &bodies[bodyIndex];
|
|
if (body->m_invMass)
|
|
{
|
|
if (infoGlobal.m_splitImpulse)
|
|
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
|
|
else
|
|
m_tmpSolverBodyPool[i].writebackVelocity();
|
|
|
|
if (m_usePgs)
|
|
{
|
|
body->m_linVel = m_tmpSolverBodyPool[i].m_linearVelocity;
|
|
body->m_angVel = m_tmpSolverBodyPool[i].m_angularVelocity;
|
|
}
|
|
else
|
|
{
|
|
b3Scalar factor = 1.f / b3Scalar(m_bodyCount[bodyIndex]);
|
|
|
|
b3Vector3 deltaLinVel = m_deltaLinearVelocities[bodyIndex] * factor;
|
|
b3Vector3 deltaAngVel = m_deltaAngularVelocities[bodyIndex] * factor;
|
|
//printf("body %d\n",bodyIndex);
|
|
//printf("deltaLinVel = %f,%f,%f\n",deltaLinVel.getX(),deltaLinVel.getY(),deltaLinVel.getZ());
|
|
//printf("deltaAngVel = %f,%f,%f\n",deltaAngVel.getX(),deltaAngVel.getY(),deltaAngVel.getZ());
|
|
|
|
body->m_linVel += deltaLinVel;
|
|
body->m_angVel += deltaAngVel;
|
|
}
|
|
|
|
if (infoGlobal.m_splitImpulse)
|
|
{
|
|
body->m_pos = m_tmpSolverBodyPool[i].m_worldTransform.getOrigin();
|
|
b3Quaternion orn;
|
|
orn = m_tmpSolverBodyPool[i].m_worldTransform.getRotation();
|
|
body->m_quat = orn;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
|
|
m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
|
|
m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
|
|
m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
|
|
|
|
m_tmpSolverBodyPool.resizeNoInitialize(0);
|
|
return 0.f;
|
|
}
|
|
|
|
void b3PgsJacobiSolver::reset()
|
|
{
|
|
m_btSeed2 = 0;
|
|
} |