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authorAndrea Catania <info@andreacatania.com>2018-09-07 16:11:04 +0200
committerAndrea Catania <info@andreacatania.com>2018-09-07 16:11:04 +0200
commit6142448417f4e15bf0bc0c94df7d1862a790e3c7 (patch)
treeb6b0a44df905e0ad2e6f82eacd5ef4acdf9a0df1 /thirdparty/bullet
parent53070437514e448c87f6cb31cf5b27a3839dbfa1 (diff)
Update bullet to Master 12409f1118a7c7a266f9071350c70789dfe73bb9
Diffstat (limited to 'thirdparty/bullet')
-rw-r--r--thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h8
-rw-r--r--thirdparty/bullet/Bullet3Common/b3FileUtils.h2
-rw-r--r--thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp4
-rw-r--r--thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h2
-rw-r--r--thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp2
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h8
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h1
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp11
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h3
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h4
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp91
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h12
-rw-r--r--thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp5
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp6
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp8
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp11
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp19
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h13
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp26
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h3
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp14
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp21
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp105
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp150
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp7
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h6
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp19
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp42
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h1
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp2
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h2
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp12
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h1
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp8
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp532
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h134
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp79
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h3
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp99
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h30
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp277
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h4
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp2
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h2
-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp25
-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h2
-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp68
-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp1130
-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp151
-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h116
-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp9
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp1128
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h66
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h3
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h3
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp4
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h2
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp27
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h2
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp4
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp757
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h52
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp1621
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h154
-rwxr-xr-x[-rw-r--r--]thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp0
-rwxr-xr-x[-rw-r--r--]thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h0
-rw-r--r--thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp14
-rw-r--r--thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp99
-rw-r--r--thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h6
-rw-r--r--thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp143
-rw-r--r--thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h36
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp121
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h54
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp10
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h8
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp383
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h4
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp70
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h2
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp28
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp33
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp34
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp32
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h2
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h52
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp966
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h187
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp28
-rw-r--r--thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp29
-rw-r--r--thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp30
-rw-r--r--thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp8
-rw-r--r--thirdparty/bullet/BulletInverseDynamics/IDMath.cpp42
-rw-r--r--thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp60
-rw-r--r--thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp12
-rw-r--r--thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp10
-rw-r--r--thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp30
-rw-r--r--thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp12
-rw-r--r--thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp6
-rw-r--r--thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp802
-rw-r--r--thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h70
-rw-r--r--thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp365
-rw-r--r--thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp472
-rw-r--r--thirdparty/bullet/LinearMath/btAlignedAllocator.cpp4
-rw-r--r--thirdparty/bullet/LinearMath/btHashMap.h34
-rw-r--r--thirdparty/bullet/LinearMath/btIDebugDraw.h6
-rw-r--r--thirdparty/bullet/LinearMath/btMatrix3x3.h104
-rw-r--r--thirdparty/bullet/LinearMath/btQuaternion.h40
-rw-r--r--thirdparty/bullet/LinearMath/btQuickprof.cpp74
-rw-r--r--thirdparty/bullet/LinearMath/btQuickprof.h3
-rw-r--r--thirdparty/bullet/LinearMath/btScalar.h2
-rw-r--r--thirdparty/bullet/LinearMath/btSerializer.cpp1132
-rw-r--r--thirdparty/bullet/LinearMath/btSerializer.h8
-rw-r--r--thirdparty/bullet/LinearMath/btSerializer64.cpp1132
-rw-r--r--thirdparty/bullet/LinearMath/btThreads.cpp121
-rw-r--r--thirdparty/bullet/LinearMath/btThreads.h27
-rw-r--r--thirdparty/bullet/LinearMath/btVector3.h22
-rw-r--r--thirdparty/bullet/clew/clew.c2
117 files changed, 11680 insertions, 2406 deletions
diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h b/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h
index 947362d08e..ef71016565 100644
--- a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h
+++ b/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h
@@ -528,6 +528,14 @@ protected:
otherArray.copy(0, otherSize, m_data);
}
+ void removeAtIndex(int index)
+ {
+ if (index<size())
+ {
+ swap( index,size()-1);
+ pop_back();
+ }
+ }
};
#endif //B3_OBJECT_ARRAY__
diff --git a/thirdparty/bullet/Bullet3Common/b3FileUtils.h b/thirdparty/bullet/Bullet3Common/b3FileUtils.h
index 1a331029ea..b5e8225cf0 100644
--- a/thirdparty/bullet/Bullet3Common/b3FileUtils.h
+++ b/thirdparty/bullet/Bullet3Common/b3FileUtils.h
@@ -36,7 +36,7 @@ struct b3FileUtils
for (int i=0;!f && i<numPrefixes;i++)
{
-#ifdef _WIN32
+#ifdef _MSC_VER
sprintf_s(relativeFileName,maxRelativeFileNameMaxLen,"%s%s",prefix[i],orgFileName);
#else
sprintf(relativeFileName,"%s%s",prefix[i],orgFileName);
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
index 168a773d56..3ae2922e58 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp
@@ -599,8 +599,8 @@ int b3Generic6DofConstraint::get_limit_motor_info2(
tag_vel,
info->fps * limot->m_stopERP);
info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
- info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
- info->m_upperLimit[srow] = limot->m_maxMotorForce;
+ info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
+ info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
}
}
if(limit)
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
index 084d36055c..169b1b94ad 100644
--- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
+++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h
@@ -69,7 +69,7 @@ public:
{
m_accumulatedImpulse = 0.f;
m_targetVelocity = 0;
- m_maxMotorForce = 0.1f;
+ m_maxMotorForce = 6.0f;
m_maxLimitForce = 300.0f;
m_loLimit = 1.0f;
m_hiLimit = -1.0f;
diff --git a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
index dd194fc7ba..896191c89c 100644
--- a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
+++ b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp
@@ -619,7 +619,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev
strippedName = strip2(clFileNameForCaching,"\\");
strippedName = strip2(strippedName,"/");
-#ifdef _MSVC_VER
+#ifdef _MSC_VER
sprintf_s(binaryFileName,B3_MAX_STRING_LENGTH,"%s/%s.%s.%s.bin",sCachedBinaryPath,strippedName, deviceName,driverVersion );
#else
sprintf(binaryFileName,"%s/%s.%s.%s.bin",sCachedBinaryPath,strippedName, deviceName,driverVersion );
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
index 2c4d41bc04..323aa96dca 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h
@@ -628,7 +628,6 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* /*dispatcher*
}
-extern int gOverlappingPairs;
//#include <stdio.h>
template <typename BP_FP_INT_TYPE>
@@ -695,10 +694,9 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
- gOverlappingPairs--;
- }
-
- }
+ }
+
+ }
///if you don't like to skip the invalid pairs in the array, execute following code:
#define CLEAN_INVALID_PAIRS 1
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
index adaf083a21..f6e1202a69 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
@@ -66,6 +66,7 @@ CONCAVE_SHAPES_START_HERE,
EMPTY_SHAPE_PROXYTYPE,
STATIC_PLANE_PROXYTYPE,
CUSTOM_CONCAVE_SHAPE_TYPE,
+ SDF_SHAPE_PROXYTYPE=CUSTOM_CONCAVE_SHAPE_TYPE,
CONCAVE_SHAPES_END_HERE,
COMPOUND_SHAPE_PROXYTYPE,
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
index 4d12b1c9c7..14cd1a31ea 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
@@ -17,7 +17,7 @@ subject to the following restrictions:
#include "btDbvtBroadphase.h"
#include "LinearMath/btThreads.h"
-
+btScalar gDbvtMargin = btScalar(0.05);
//
// Profiling
//
@@ -332,12 +332,9 @@ void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
if(delta[0]<0) velocity[0]=-velocity[0];
if(delta[1]<0) velocity[1]=-velocity[1];
if(delta[2]<0) velocity[2]=-velocity[2];
- if (
-#ifdef DBVT_BP_MARGIN
- m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
-#else
- m_sets[0].update(proxy->leaf,aabb,velocity)
-#endif
+ if (
+ m_sets[0].update(proxy->leaf, aabb, velocity, gDbvtMargin)
+
)
{
++m_updates_done;
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
index 8feb95d51f..90b333d846 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
@@ -29,7 +29,8 @@ subject to the following restrictions:
#define DBVT_BP_PREVENTFALSEUPDATE 0
#define DBVT_BP_ACCURATESLEEPING 0
#define DBVT_BP_ENABLE_BENCHMARK 0
-#define DBVT_BP_MARGIN (btScalar)0.05
+//#define DBVT_BP_MARGIN (btScalar)0.05
+extern btScalar gDbvtMargin;
#if DBVT_BP_PROFILE
#define DBVT_BP_PROFILING_RATE 256
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h
index 7b0f9489af..a0e4c18927 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -46,7 +46,8 @@ struct btDispatcherInfo
m_useEpa(true),
m_allowedCcdPenetration(btScalar(0.04)),
m_useConvexConservativeDistanceUtil(false),
- m_convexConservativeDistanceThreshold(0.0f)
+ m_convexConservativeDistanceThreshold(0.0f),
+ m_deterministicOverlappingPairs(false)
{
}
@@ -62,6 +63,7 @@ struct btDispatcherInfo
btScalar m_allowedCcdPenetration;
bool m_useConvexConservativeDistanceUtil;
btScalar m_convexConservativeDistanceThreshold;
+ bool m_deterministicOverlappingPairs;
};
enum ebtDispatcherQueryType
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
index 55ebf06f1e..9e3337c5f6 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
@@ -23,11 +23,6 @@ subject to the following restrictions:
#include <stdio.h>
-int gOverlappingPairs = 0;
-
-int gRemovePairs =0;
-int gAddedPairs =0;
-int gFindPairs =0;
@@ -134,13 +129,12 @@ void btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroad
btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1)
{
- gFindPairs++;
- if(proxy0->m_uniqueId>proxy1->m_uniqueId)
+ if(proxy0->m_uniqueId>proxy1->m_uniqueId)
btSwap(proxy0,proxy1);
int proxyId1 = proxy0->getUid();
int proxyId2 = proxy1->getUid();
- /*if (proxyId1 > proxyId2)
+ /*if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);*/
int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
@@ -271,13 +265,12 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx
void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher)
{
- gRemovePairs++;
- if(proxy0->m_uniqueId>proxy1->m_uniqueId)
+ if(proxy0->m_uniqueId>proxy1->m_uniqueId)
btSwap(proxy0,proxy1);
int proxyId1 = proxy0->getUid();
int proxyId2 = proxy1->getUid();
- /*if (proxyId1 > proxyId2)
+ /*if (proxyId1 > proxyId2)
btSwap(proxyId1, proxyId2);*/
int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1));
@@ -386,8 +379,6 @@ void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
if (callback->processOverlap(*pair))
{
removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher);
-
- gOverlappingPairs--;
} else
{
i++;
@@ -395,6 +386,70 @@ void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
}
}
+struct MyPairIndex
+{
+ int m_orgIndex;
+ int m_uidA0;
+ int m_uidA1;
+};
+
+class MyPairIndeSortPredicate
+{
+public:
+
+ bool operator() ( const MyPairIndex& a, const MyPairIndex& b ) const
+ {
+ const int uidA0 = a.m_uidA0;
+ const int uidB0 = b.m_uidA0;
+ const int uidA1 = a.m_uidA1;
+ const int uidB1 = b.m_uidA1;
+ return uidA0 > uidB0 || (uidA0 == uidB0 && uidA1 > uidB1);
+ }
+};
+
+void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo)
+{
+ if (dispatchInfo.m_deterministicOverlappingPairs)
+ {
+ btBroadphasePairArray& pa = getOverlappingPairArray();
+ btAlignedObjectArray<MyPairIndex> indices;
+ {
+ BT_PROFILE("sortOverlappingPairs");
+ indices.resize(pa.size());
+ for (int i=0;i<indices.size();i++)
+ {
+ const btBroadphasePair& p = pa[i];
+ const int uidA0 = p.m_pProxy0 ? p.m_pProxy0->m_uniqueId : -1;
+ const int uidA1 = p.m_pProxy1 ? p.m_pProxy1->m_uniqueId : -1;
+
+ indices[i].m_uidA0 = uidA0;
+ indices[i].m_uidA1 = uidA1;
+ indices[i].m_orgIndex = i;
+ }
+ indices.quickSort(MyPairIndeSortPredicate());
+ }
+ {
+ BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
+ int i;
+ for (i=0;i<indices.size();)
+ {
+ btBroadphasePair* pair = &pa[indices[i].m_orgIndex];
+ if (callback->processOverlap(*pair))
+ {
+ removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher);
+ } else
+ {
+ i++;
+ }
+ }
+ }
+ } else
+ {
+ processAllOverlappingPairs(callback, dispatcher);
+ }
+}
+
+
void btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher)
{
///need to keep hashmap in sync with pair address, so rebuild all
@@ -435,7 +490,6 @@ void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
int findIndex = m_overlappingPairArray.findLinearSearch(findPair);
if (findIndex < m_overlappingPairArray.size())
{
- gOverlappingPairs--;
btBroadphasePair& pair = m_overlappingPairArray[findIndex];
void* userData = pair.m_internalInfo1;
cleanOverlappingPair(pair,dispatcher);
@@ -468,11 +522,8 @@ btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP
void* mem = &m_overlappingPairArray.expandNonInitializing();
btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1);
-
- gOverlappingPairs++;
- gAddedPairs++;
-
- if (m_ghostPairCallback)
+
+ if (m_ghostPairCallback)
m_ghostPairCallback->addOverlappingPair(proxy0, proxy1);
return pair;
@@ -526,7 +577,6 @@ void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback*
pair->m_pProxy1 = 0;
m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1);
m_overlappingPairArray.pop_back();
- gOverlappingPairs--;
} else
{
i++;
@@ -559,7 +609,6 @@ void btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,b
pair.m_algorithm->~btCollisionAlgorithm();
dispatcher->freeCollisionAlgorithm(pair.m_algorithm);
pair.m_algorithm=0;
- gRemovePairs--;
}
}
}
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
index f7be7d45b3..7a38d34f05 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
@@ -49,10 +49,6 @@ struct btOverlapFilterCallback
-extern int gRemovePairs;
-extern int gAddedPairs;
-extern int gFindPairs;
-
const int BT_NULL_PAIR=0xffffffff;
///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases.
@@ -78,6 +74,10 @@ public:
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0;
+ virtual void processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo)
+ {
+ processAllOverlappingPairs(callback, dispatcher);
+ }
virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0;
virtual bool hasDeferredRemoval() = 0;
@@ -129,8 +129,6 @@ public:
// no new pair is created and the old one is returned.
virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1)
{
- gAddedPairs++;
-
if (!needsBroadphaseCollision(proxy0,proxy1))
return 0;
@@ -144,6 +142,8 @@ public:
virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher);
+ virtual void processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo);
+
virtual btBroadphasePair* getOverlappingPairArrayPtr()
{
return &m_overlappingPairArray[0];
diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
index f1d5f5476e..5f89f960e8 100644
--- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
+++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
@@ -24,8 +24,6 @@ subject to the following restrictions:
#include <new>
-extern int gOverlappingPairs;
-
void btSimpleBroadphase::validate()
{
for (int i=0;i<m_numHandles;i++)
@@ -315,8 +313,7 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher)
pair.m_pProxy0 = 0;
pair.m_pProxy1 = 0;
m_invalidPair++;
- gOverlappingPairs--;
- }
+ }
}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
index c81af95672..e5bac8438e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
@@ -132,6 +132,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
else {
// Could be inside one of the contact capsules
btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold;
+ btScalar minDistSqr = contactCapsuleRadiusSqr;
btVector3 nearestOnEdge;
for (int i = 0; i < m_triangle->getNumEdges(); i++) {
@@ -141,8 +142,9 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po
m_triangle->getEdge(i, pa, pb);
btScalar distanceSqr = SegmentSqrDistance(pa, pb, sphereCenter, nearestOnEdge);
- if (distanceSqr < contactCapsuleRadiusSqr) {
- // Yep, we're inside a capsule
+ if (distanceSqr < minDistSqr) {
+ // Yep, we're inside a capsule, and record the capsule with smallest distance
+ minDistSqr = distanceSqr;
hasContact = true;
contactPoint = nearestOnEdge;
}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
index 2c36277821..cabbb0bf6a 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
@@ -151,8 +151,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1
int index = 0;
btScalar minDot = BT_LARGE_FLOAT;
- if( count2 > 0 )
- index = (int) normal1.minDot( vertices2, count2, minDot);
+ if( count2 > 0 )
+ index = (int) normal1.minDot( vertices2, count2, minDot);
btVector3 v1 = b2Mul(xf1, vertices1[edge1]);
btVector3 v2 = b2Mul(xf2, vertices2[index]);
@@ -175,8 +175,8 @@ static btScalar FindMaxSeparation(int* edgeIndex,
// Find edge normal on poly1 that has the largest projection onto d.
int edge = 0;
btScalar maxDot;
- if( count1 > 0 )
- edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
+ if( count1 > 0 )
+ edge = (int) dLocal1.maxDot( normals1, count1, maxDot);
// Get the separation for the edge normal.
btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2);
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
index 5739a1ef01..f8794dec47 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -27,8 +27,6 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
-int gNumManifold = 0;
-
#ifdef BT_DEBUG
#include <stdio.h>
#endif
@@ -77,8 +75,6 @@ btCollisionDispatcher::~btCollisionDispatcher()
btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1)
{
- gNumManifold++;
-
//btAssert(gNumManifold < 65535);
@@ -121,7 +117,6 @@ void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold)
void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold)
{
- gNumManifold--;
//printf("releaseManifold: gNumManifold %d\n",gNumManifold);
clearManifold(manifold);
@@ -246,13 +241,17 @@ public:
+
void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)
{
//m_blockedForChanges = true;
btCollisionPairCallback collisionCallback(dispatchInfo,this);
- pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
+ {
+ BT_PROFILE("processAllOverlappingPairs");
+ pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher, dispatchInfo);
+ }
//m_blockedForChanges = false;
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp
index b595c56bc5..05f96a14bc 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp
@@ -16,6 +16,7 @@ subject to the following restrictions:
#include "btCollisionObject.h"
#include "LinearMath/btSerializer.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
btCollisionObject::btCollisionObject()
: m_interpolationLinearVelocity(0.f, 0.f, 0.f),
@@ -38,7 +39,7 @@ btCollisionObject::btCollisionObject()
m_rollingFriction(0.0f),
m_spinningFriction(0.f),
m_contactDamping(.1),
- m_contactStiffness(1e4),
+ m_contactStiffness(BT_LARGE_FLOAT),
m_internalType(CO_COLLISION_OBJECT),
m_userObjectPointer(0),
m_userIndex2(-1),
@@ -114,10 +115,18 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
dataOut->m_checkCollideWith = m_checkCollideWith;
-
- // Fill padding with zeros to appease msan.
- memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
-
+ if (m_broadphaseHandle)
+ {
+ dataOut->m_collisionFilterGroup = m_broadphaseHandle->m_collisionFilterGroup;
+ dataOut->m_collisionFilterMask = m_broadphaseHandle->m_collisionFilterMask;
+ dataOut->m_uniqueId = m_broadphaseHandle->m_uniqueId;
+ }
+ else
+ {
+ dataOut->m_collisionFilterGroup = 0;
+ dataOut->m_collisionFilterMask = 0;
+ dataOut->m_uniqueId = -1;
+ }
return btCollisionObjectDataName;
}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
index fec831bffc..135f8a033c 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -621,7 +621,6 @@ struct btCollisionObjectDoubleData
double m_hitFraction;
double m_ccdSweptSphereRadius;
double m_ccdMotionThreshold;
-
int m_hasAnisotropicFriction;
int m_collisionFlags;
int m_islandTag1;
@@ -629,8 +628,9 @@ struct btCollisionObjectDoubleData
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
-
- char m_padding[4];
+ int m_collisionFilterGroup;
+ int m_collisionFilterMask;
+ int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc.
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
@@ -650,13 +650,12 @@ struct btCollisionObjectFloatData
float m_deactivationTime;
float m_friction;
float m_rollingFriction;
- float m_contactDamping;
+ float m_contactDamping;
float m_contactStiffness;
float m_restitution;
float m_hitFraction;
float m_ccdSweptSphereRadius;
float m_ccdMotionThreshold;
-
int m_hasAnisotropicFriction;
int m_collisionFlags;
int m_islandTag1;
@@ -664,7 +663,9 @@ struct btCollisionObjectFloatData
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
- char m_padding[4];
+ int m_collisionFilterGroup;
+ int m_collisionFilterMask;
+ int m_uniqueId;
};
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index c3e912fdca..3de8d6995e 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -1646,7 +1646,7 @@ void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
- if ((colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT) || (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK))
+ if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
{
colObj->serializeSingleObject(serializer);
}
@@ -1654,12 +1654,36 @@ void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
}
+
+void btCollisionWorld::serializeContactManifolds(btSerializer* serializer)
+{
+ if (serializer->getSerializationFlags() & BT_SERIALIZE_CONTACT_MANIFOLDS)
+ {
+ int numManifolds = getDispatcher()->getNumManifolds();
+ for (int i = 0; i < numManifolds; i++)
+ {
+ const btPersistentManifold* manifold = getDispatcher()->getInternalManifoldPointer()[i];
+ //don't serialize empty manifolds, they just take space
+ //(may have to do it anyway if it destroys determinism)
+ if (manifold->getNumContacts() == 0)
+ continue;
+
+ btChunk* chunk = serializer->allocate(manifold->calculateSerializeBufferSize(), 1);
+ const char* structType = manifold->serialize(manifold, chunk->m_oldPtr, serializer);
+ serializer->finalizeChunk(chunk, structType, BT_CONTACTMANIFOLD_CODE, (void*)manifold);
+ }
+ }
+}
+
+
void btCollisionWorld::serialize(btSerializer* serializer)
{
serializer->startSerialization();
serializeCollisionObjects(serializer);
+
+ serializeContactManifolds(serializer);
serializer->finishSerialization();
}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h
index eede2b28ca..886476e8ad 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h
@@ -107,6 +107,9 @@ protected:
void serializeCollisionObjects(btSerializer* serializer);
+ void serializeContactManifolds(btSerializer* serializer);
+
+
public:
//this constructor doesn't own the dispatcher and paircache/broadphase
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index 7f4dea1c6d..91b7809c17 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -156,10 +156,12 @@ public:
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index);
btCollisionAlgorithm* algo = 0;
+ bool allocatedAlgorithm = false;
if (m_resultOut->m_closestPointDistanceThreshold > 0)
{
algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS);
+ allocatedAlgorithm = true;
}
else
{
@@ -204,7 +206,11 @@ public:
{
m_resultOut->setBody1Wrap(tmpWrap);
}
-
+ if(allocatedAlgorithm)
+ {
+ algo->~btCollisionAlgorithm();
+ m_dispatcher->freeCollisionAlgorithm(algo);
+ }
}
}
void Process(const btDbvtNode* leaf)
@@ -253,9 +259,9 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap
m_compoundShapeRevision = compoundShape->getUpdateRevision();
}
- if (m_childCollisionAlgorithms.size()==0)
- return;
-
+ if (m_childCollisionAlgorithms.size()==0)
+ return;
+
const btDbvt* tree = compoundShape->getDynamicAabbTree();
//use a dynamic aabb tree to cull potential child-overlaps
btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
index d4a1aa78e4..20b542f670 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
@@ -181,11 +181,12 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide
btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1);
-
+ bool removePair = false;
btCollisionAlgorithm* colAlgo = 0;
if (m_resultOut->m_closestPointDistanceThreshold > 0)
{
colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS);
+ removePair = true;
}
else
{
@@ -223,7 +224,11 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide
m_resultOut->setBody0Wrap(tmpWrap0);
m_resultOut->setBody1Wrap(tmpWrap1);
-
+ if (removePair)
+ {
+ colAlgo->~btCollisionAlgorithm();
+ m_dispatcher->freeCollisionAlgorithm(colAlgo);
+ }
}
}
@@ -396,32 +401,24 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb
btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
{
- btTransform orgTrans0;
const btCollisionShape* childShape0 = 0;
btTransform newChildWorldTrans0;
- btTransform orgInterpolationTrans0;
childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
- orgTrans0 = col0ObjWrap->getWorldTransform();
- orgInterpolationTrans0 = col0ObjWrap->getWorldTransform();
const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
- newChildWorldTrans0 = orgTrans0*childTrans0 ;
+ newChildWorldTrans0 = col0ObjWrap->getWorldTransform()*childTrans0 ;
childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
}
btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold);
aabbMin0 -= thresholdVec;
aabbMax0 += thresholdVec;
{
- btTransform orgInterpolationTrans1;
const btCollisionShape* childShape1 = 0;
- btTransform orgTrans1;
btTransform newChildWorldTrans1;
childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
- orgTrans1 = col1ObjWrap->getWorldTransform();
- orgInterpolationTrans1 = col1ObjWrap->getWorldTransform();
const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
- newChildWorldTrans1 = orgTrans1*childTrans1 ;
+ newChildWorldTrans1 = col1ObjWrap->getWorldTransform()*childTrans1 ;
childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index 39ff7934d9..d8cbe96142 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -27,6 +27,7 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
+#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h"
btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
: btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
@@ -152,7 +153,7 @@ partId, int triangleIndex)
{
m_resultOut->setBody1Wrap(tmpWrap);
}
-
+
colAlgo->~btCollisionAlgorithm();
@@ -163,7 +164,7 @@ partId, int triangleIndex)
-void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
+void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut)
{
m_convexBodyWrap = convexBodyWrap;
m_triBodyWrap = triBodyWrap;
@@ -177,14 +178,14 @@ void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTr
convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform();
const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape());
//CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape);
- convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax);
- btScalar extraMargin = collisionMarginTriangle+ resultOut->m_closestPointDistanceThreshold;
-
- btVector3 extra(extraMargin,extraMargin,extraMargin);
+ convexShape->getAabb(convexInTriangleSpace, m_aabbMin, m_aabbMax);
+ btScalar extraMargin = collisionMarginTriangle + resultOut->m_closestPointDistanceThreshold;
+
+ btVector3 extra(extraMargin, extraMargin, extraMargin);
m_aabbMax += extra;
m_aabbMin -= extra;
-
+
}
void btConvexConcaveCollisionAlgorithm::clearCache()
@@ -193,35 +194,99 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
}
-void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
+void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut)
{
BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
-
+
const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
if (triBodyWrap->getCollisionShape()->isConcave())
{
+ if (triBodyWrap->getCollisionShape()->getShapeType() == SDF_SHAPE_PROXYTYPE)
+ {
+ btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape();
+ if (convexBodyWrap->getCollisionShape()->isConvex())
+ {
+ btConvexShape* convex = (btConvexShape*)convexBodyWrap->getCollisionShape();
+ btAlignedObjectArray<btVector3> queryVertices;
+
+ if (convex->isPolyhedral())
+ {
+ btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
+ for (int v = 0; v < poly->getNumVertices(); v++)
+ {
+ btVector3 vtx;
+ poly->getVertex(v, vtx);
+ queryVertices.push_back(vtx);
+ }
+ }
+ btScalar maxDist = SIMD_EPSILON;
+
+ if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
+ {
+ queryVertices.push_back(btVector3(0, 0, 0));
+ btSphereShape* sphere = (btSphereShape*)convex;
+ maxDist = sphere->getRadius() + SIMD_EPSILON;
+
+ }
+ if (queryVertices.size())
+ {
+ resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
+ //m_btConvexTriangleCallback.m_manifoldPtr->clearManifold();
+
+ btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
+ for (int v = 0; v < queryVertices.size(); v++)
+ {
+ const btVector3& vtx = queryVertices[v];
+ btVector3 vtxWorldSpace = convexBodyWrap->getWorldTransform()*vtx;
+ btVector3 vtxInSdf = triBodyWrap->getWorldTransform().invXform(vtxWorldSpace);
+
+ btVector3 normalLocal;
+ btScalar dist;
+ if (sdfShape->queryPoint(vtxInSdf, dist, normalLocal))
+ {
+ if (dist <= maxDist)
+ {
+ normalLocal.safeNormalize();
+ btVector3 normal = triBodyWrap->getWorldTransform().getBasis()*normalLocal;
+
+ if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE)
+ {
+ btSphereShape* sphere = (btSphereShape*)convex;
+ dist -= sphere->getRadius();
+ vtxWorldSpace -= sphere->getRadius()*normal;
+
+ }
+ resultOut->addContactPoint(normal,vtxWorldSpace-normal*dist, dist);
+ }
+ }
+ }
+ resultOut->refreshContactPoints();
+ }
-
- const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
-
- if (convexBodyWrap->getCollisionShape()->isConvex())
+ }
+ } else
{
- btScalar collisionMarginTriangle = concaveShape->getMargin();
+ const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape());
+
+ if (convexBodyWrap->getCollisionShape()->isConvex())
+ {
+ btScalar collisionMarginTriangle = concaveShape->getMargin();
- resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
- m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
+ resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr);
+ m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut);
- m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
+ m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject());
- concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
+ concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax());
- resultOut->refreshContactPoints();
+ resultOut->refreshContactPoints();
- m_btConvexTriangleCallback.clearWrapperData();
+ m_btConvexTriangleCallback.clearWrapperData();
+ }
}
}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
index b54bd48932..3e8bc6e426 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
@@ -28,6 +28,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btConvexShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btTriangleShape.h"
+#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
@@ -259,7 +260,7 @@ struct btPerturbedContactResult : public btManifoldResult
btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth;
endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg);
newDepth = (endPt - pointInWorld).dot(normalOnBInWorld);
- startPt = endPt+normalOnBInWorld*newDepth;
+ startPt = endPt - normalOnBInWorld*newDepth;
} else
{
endPt = pointInWorld + normalOnBInWorld*orgDepth;
@@ -442,10 +443,26 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result
{
+ btVector3 m_normalOnBInWorld;
+ btVector3 m_pointInWorld;
+ btScalar m_depth;
+ bool m_hasContact;
+
+
+ btDummyResult()
+ : m_hasContact(false)
+ {
+ }
+
+
virtual void setShapeIdentifiersA(int partId0,int index0){}
virtual void setShapeIdentifiersB(int partId1,int index1){}
virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
{
+ m_hasContact = true;
+ m_normalOnBInWorld = normalOnBInWorld;
+ m_pointInWorld = pointInWorld;
+ m_depth = depth;
}
};
@@ -560,15 +577,18 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
} else
{
+
+
//we can also deal with convex versus triangle (without connectivity data)
- if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
+ if (dispatchInfo.m_enableSatConvex && polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE)
{
- btVertexArray vertices;
+
+ btVertexArray worldSpaceVertices;
btTriangleShape* tri = (btTriangleShape*)polyhedronB;
- vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
- vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
- vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
+ worldSpaceVertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]);
+ worldSpaceVertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]);
+ worldSpaceVertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]);
//tri->initializePolyhedralFeatures();
@@ -579,17 +599,99 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
btScalar maxDist = threshold;
bool foundSepAxis = false;
- if (0)
+ bool useSatSepNormal = true;
+
+ if (useSatSepNormal)
{
- polyhedronB->initializePolyhedralFeatures();
+#if 0
+ if (0)
+ {
+ //initializePolyhedralFeatures performs a convex hull computation, not needed for a single triangle
+ polyhedronB->initializePolyhedralFeatures();
+ } else
+#endif
+ {
+
+ btVector3 uniqueEdges[3] = {tri->m_vertices1[1]-tri->m_vertices1[0],
+ tri->m_vertices1[2]-tri->m_vertices1[1],
+ tri->m_vertices1[0]-tri->m_vertices1[2]};
+
+ uniqueEdges[0].normalize();
+ uniqueEdges[1].normalize();
+ uniqueEdges[2].normalize();
+
+ btConvexPolyhedron polyhedron;
+ polyhedron.m_vertices.push_back(tri->m_vertices1[2]);
+ polyhedron.m_vertices.push_back(tri->m_vertices1[0]);
+ polyhedron.m_vertices.push_back(tri->m_vertices1[1]);
+
+
+ {
+ btFace combinedFaceA;
+ combinedFaceA.m_indices.push_back(0);
+ combinedFaceA.m_indices.push_back(1);
+ combinedFaceA.m_indices.push_back(2);
+ btVector3 faceNormal = uniqueEdges[0].cross(uniqueEdges[1]);
+ faceNormal.normalize();
+ btScalar planeEq=1e30f;
+ for (int v=0;v<combinedFaceA.m_indices.size();v++)
+ {
+ btScalar eq = tri->m_vertices1[combinedFaceA.m_indices[v]].dot(faceNormal);
+ if (planeEq>eq)
+ {
+ planeEq=eq;
+ }
+ }
+ combinedFaceA.m_plane[0] = faceNormal[0];
+ combinedFaceA.m_plane[1] = faceNormal[1];
+ combinedFaceA.m_plane[2] = faceNormal[2];
+ combinedFaceA.m_plane[3] = -planeEq;
+ polyhedron.m_faces.push_back(combinedFaceA);
+ }
+ {
+ btFace combinedFaceB;
+ combinedFaceB.m_indices.push_back(0);
+ combinedFaceB.m_indices.push_back(2);
+ combinedFaceB.m_indices.push_back(1);
+ btVector3 faceNormal = -uniqueEdges[0].cross(uniqueEdges[1]);
+ faceNormal.normalize();
+ btScalar planeEq=1e30f;
+ for (int v=0;v<combinedFaceB.m_indices.size();v++)
+ {
+ btScalar eq = tri->m_vertices1[combinedFaceB.m_indices[v]].dot(faceNormal);
+ if (planeEq>eq)
+ {
+ planeEq=eq;
+ }
+ }
+
+ combinedFaceB.m_plane[0] = faceNormal[0];
+ combinedFaceB.m_plane[1] = faceNormal[1];
+ combinedFaceB.m_plane[2] = faceNormal[2];
+ combinedFaceB.m_plane[3] = -planeEq;
+ polyhedron.m_faces.push_back(combinedFaceB);
+ }
+
+
+ polyhedron.m_uniqueEdges.push_back(uniqueEdges[0]);
+ polyhedron.m_uniqueEdges.push_back(uniqueEdges[1]);
+ polyhedron.m_uniqueEdges.push_back(uniqueEdges[2]);
+ polyhedron.initialize2();
+
+ polyhedronB->setPolyhedralFeatures(polyhedron);
+ }
+
+
+
foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis(
- *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
- body0Wrap->getWorldTransform(),
- body1Wrap->getWorldTransform(),
- sepNormalWorldSpace,*resultOut);
+ *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(),
+ body0Wrap->getWorldTransform(),
+ body1Wrap->getWorldTransform(),
+ sepNormalWorldSpace,*resultOut);
// printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ());
- } else
+ }
+ else
{
#ifdef ZERO_MARGIN
gjkPairDetector.setIgnoreMargin(true);
@@ -598,6 +700,24 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw);
#endif//ZERO_MARGIN
+ if (dummy.m_hasContact && dummy.m_depth<0)
+ {
+
+ if (foundSepAxis)
+ {
+ if (dummy.m_normalOnBInWorld.dot(sepNormalWorldSpace)<0.99)
+ {
+ printf("?\n");
+ }
+ } else
+ {
+ printf("!\n");
+ }
+ sepNormalWorldSpace.setValue(0,0,1);// = dummy.m_normalOnBInWorld;
+ //minDist = dummy.m_depth;
+ foundSepAxis = true;
+ }
+#if 0
btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2();
if (l2>SIMD_EPSILON)
{
@@ -607,6 +727,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin();
foundSepAxis = true;
}
+#endif
}
@@ -614,7 +735,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
{
worldVertsB2.resize(0);
btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(),
- body0Wrap->getWorldTransform(), vertices, worldVertsB2,minDist-threshold, maxDist, *resultOut);
+ body0Wrap->getWorldTransform(), worldSpaceVertices, worldVertsB2,minDist-threshold, maxDist, *resultOut);
}
@@ -625,6 +746,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
return;
}
+
}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
index 8c8a7c3c1e..8271981b29 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
@@ -20,11 +20,12 @@ subject to the following restrictions:
#include <stdio.h>
+#ifdef BT_DEBUG_COLLISION_PAIRS
int gOverlappingSimplePairs = 0;
int gRemoveSimplePairs =0;
int gAddedSimplePairs =0;
int gFindSimplePairs =0;
-
+#endif //BT_DEBUG_COLLISION_PAIRS
@@ -61,7 +62,9 @@ void btHashedSimplePairCache::removeAllPairs()
btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB)
{
+#ifdef BT_DEBUG_COLLISION_PAIRS
gFindSimplePairs++;
+#endif
/*if (indexA > indexB)
@@ -172,7 +175,9 @@ btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB)
void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
{
+#ifdef BT_DEBUG_COLLISION_PAIRS
gRemoveSimplePairs++;
+#endif
/*if (indexA > indexB)
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
index 2aaf6201f3..318981cda1 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
@@ -43,12 +43,12 @@ struct btSimplePair
typedef btAlignedObjectArray<btSimplePair> btSimplePairArray;
-
+#ifdef BT_DEBUG_COLLISION_PAIRS
extern int gOverlappingSimplePairs;
extern int gRemoveSimplePairs;
extern int gAddedSimplePairs;
extern int gFindSimplePairs;
-
+#endif //BT_DEBUG_COLLISION_PAIRS
@@ -75,7 +75,9 @@ public:
// no new pair is created and the old one is returned.
virtual btSimplePair* addOverlappingPair(int indexA,int indexB)
{
+#ifdef BT_DEBUG_COLLISION_PAIRS
gAddedSimplePairs++;
+#endif
return internalAddPair(indexA,indexB);
}
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
index 6cba442ca5..898320ee1a 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
@@ -455,11 +455,20 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr
btBvhTriangleMeshShape* trimesh = 0;
if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE )
- trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
- else
- trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
-
- btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
+ {
+ trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape();
+ }
+ else
+ {
+ if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
+ {
+ trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape();
+ }
+ }
+ if (trimesh==0)
+ return;
+
+ btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap();
if (!triangleInfoMapPtr)
return;
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
index 1344782257..91c76a8dac 100644
--- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
@@ -199,6 +199,22 @@ class btPersistentManifoldSortPredicate
}
};
+class btPersistentManifoldSortPredicateDeterministic
+{
+public:
+
+ SIMD_FORCE_INLINE bool operator() (const btPersistentManifold* lhs, const btPersistentManifold* rhs) const
+ {
+ return (
+ (getIslandId(lhs) < getIslandId(rhs))
+ || ((getIslandId(lhs) == getIslandId(rhs)) && lhs->getBody0()->getBroadphaseHandle()->m_uniqueId < rhs->getBody0()->getBroadphaseHandle()->m_uniqueId)
+ ||((getIslandId(lhs) == getIslandId(rhs)) && (lhs->getBody0()->getBroadphaseHandle()->m_uniqueId == rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) &&
+ (lhs->getBody1()->getBroadphaseHandle()->m_uniqueId < rhs->getBody1()->getBroadphaseHandle()->m_uniqueId))
+ );
+
+ }
+};
+
void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld)
{
@@ -245,13 +261,11 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
- if (colObj0->getActivationState()== ACTIVE_TAG)
- {
- allSleeping = false;
- }
- if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
+ if (colObj0->getActivationState()== ACTIVE_TAG ||
+ colObj0->getActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
+ break;
}
}
}
@@ -318,7 +332,12 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
for (i=0;i<maxNumManifolds ;i++)
{
btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
-
+ if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs)
+ {
+ if (manifold->getNumContacts() == 0)
+ continue;
+ }
+
const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
@@ -379,7 +398,16 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
//tried a radix sort, but quicksort/heapsort seems still faster
//@todo rewrite island management
- m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
+ //btPersistentManifoldSortPredicateDeterministic sorts contact manifolds based on islandid,
+ //but also based on object0 unique id and object1 unique id
+ if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs)
+ {
+ m_islandmanifold.quickSort(btPersistentManifoldSortPredicateDeterministic());
+ } else
+ {
+ m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
+ }
+
//m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
index 7d64b46abf..5a3362834a 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h
@@ -49,6 +49,7 @@ public:
virtual void setMargin(btScalar collisionMargin)
{
//don't override the margin for capsules, their entire radius == margin
+ (void)collisionMargin;
}
virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
index e8c8c336cd..85572da307 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp
@@ -213,7 +213,7 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co
-void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const
+void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const
{
int n = m_children.size();
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
index 4eef8dba30..2cbcd1bfca 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h
@@ -160,7 +160,7 @@ public:
///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound
///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform
///of the collision object by the principal transform.
- void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const;
+ void calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const;
int getUpdateRevision() const
{
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
index 4f45319a83..0fea00df5c 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp
@@ -104,9 +104,9 @@ void btConvexPolyhedron::initialize()
btHashMap<btInternalVertexPair,btInternalEdge> edges;
- btScalar TotalArea = 0.0f;
- m_localCenter.setValue(0, 0, 0);
+
+
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
@@ -172,6 +172,13 @@ void btConvexPolyhedron::initialize()
}
#endif//USE_CONNECTED_FACES
+ initialize2();
+}
+
+void btConvexPolyhedron::initialize2()
+{
+ m_localCenter.setValue(0, 0, 0);
+ btScalar TotalArea = 0.0f;
for(int i=0;i<m_faces.size();i++)
{
int numVertices = m_faces[i].m_indices.size();
@@ -274,7 +281,6 @@ void btConvexPolyhedron::initialize()
}
#endif
}
-
void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const
{
minProj = FLT_MAX;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
index d3cd066ac8..c5aa20f453 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h
@@ -54,6 +54,7 @@ ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron
btVector3 mE;
void initialize();
+ void initialize2();
bool testContainment() const;
void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
index 8d7fb054d6..2f84858598 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -118,9 +118,13 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector
return supVec;
#else
- btScalar maxDot;
- long ptIndex = vec.maxDot( points, numPoints, maxDot);
+ btScalar maxDot;
+ long ptIndex = vec.maxDot( points, numPoints, maxDot);
btAssert(ptIndex >= 0);
+ if (ptIndex<0)
+ {
+ ptIndex = 0;
+ }
btVector3 supVec = points[ptIndex] * localScaling;
return supVec;
#endif //__SPU__
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
new file mode 100644
index 0000000000..afe45e1d2d
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp
@@ -0,0 +1,532 @@
+#include "btMiniSDF.h"
+
+//
+//Based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid
+//example:
+//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj
+//The MIT License (MIT)
+//
+//Copyright (c) 2017 Dan Koschier
+//
+
+#include <limits.h>
+#include <string.h> //memcpy
+
+struct btSdfDataStream
+{
+ const char* m_data;
+ int m_size;
+
+ int m_currentOffset;
+
+ btSdfDataStream(const char* data, int size)
+ :m_data(data),
+ m_size(size),
+ m_currentOffset(0)
+ {
+
+ }
+
+ template<class T> bool read(T& val)
+ {
+ int bytes = sizeof(T);
+ if (m_currentOffset+bytes<=m_size)
+ {
+ char* dest = (char*)&val;
+ memcpy(dest,&m_data[m_currentOffset],bytes);
+ m_currentOffset+=bytes;
+ return true;
+ }
+ btAssert(0);
+ return false;
+ }
+};
+
+
+bool btMiniSDF::load(const char* data, int size)
+{
+ int fileSize = -1;
+
+ btSdfDataStream ds(data,size);
+ {
+ double buf[6];
+ ds.read(buf);
+ m_domain.m_min[0] = buf[0];
+ m_domain.m_min[1] = buf[1];
+ m_domain.m_min[2] = buf[2];
+ m_domain.m_min[3] = 0;
+ m_domain.m_max[0] = buf[3];
+ m_domain.m_max[1] = buf[4];
+ m_domain.m_max[2] = buf[5];
+ m_domain.m_max[3] = 0;
+ }
+ {
+ unsigned int buf2[3];
+ ds.read(buf2);
+ m_resolution[0] = buf2[0];
+ m_resolution[1] = buf2[1];
+ m_resolution[2] = buf2[2];
+ }
+ {
+ double buf[3];
+ ds.read(buf);
+ m_cell_size[0] = buf[0];
+ m_cell_size[1] = buf[1];
+ m_cell_size[2] = buf[2];
+ }
+ {
+ double buf[3];
+ ds.read(buf);
+ m_inv_cell_size[0] = buf[0];
+ m_inv_cell_size[1] = buf[1];
+ m_inv_cell_size[2] = buf[2];
+ }
+ {
+ unsigned long long int cells;
+ ds.read(cells);
+ m_n_cells = cells;
+ }
+ {
+ unsigned long long int fields;
+ ds.read(fields);
+ m_n_fields = fields;
+ }
+
+
+ unsigned long long int nodes0;
+ std::size_t n_nodes0;
+ ds.read(nodes0);
+ n_nodes0 = nodes0;
+ if (n_nodes0 > 1024 * 1024 * 1024)
+ {
+ return m_isValid;
+ }
+ m_nodes.resize(n_nodes0);
+ for (unsigned int i=0;i<n_nodes0;i++)
+ {
+ unsigned long long int n_nodes1;
+ ds.read(n_nodes1);
+ btAlignedObjectArray<double>& nodes = m_nodes[i];
+ nodes.resize(n_nodes1);
+ for ( int j=0;j<nodes.size();j++)
+ {
+ double& node = nodes[j];
+ ds.read(node);
+ }
+ }
+
+ unsigned long long int n_cells0;
+ ds.read(n_cells0);
+ m_cells.resize(n_cells0);
+ for (int i=0;i<n_cells0;i++)
+ {
+ unsigned long long int n_cells1;
+ btAlignedObjectArray<btCell32 >& cells = m_cells[i];
+ ds.read(n_cells1);
+ cells.resize(n_cells1);
+ for (int j=0;j<n_cells1;j++)
+ {
+ btCell32& cell = cells[j];
+ ds.read(cell);
+ }
+ }
+
+ {
+ unsigned long long int n_cell_maps0;
+ ds.read(n_cell_maps0);
+
+ m_cell_map.resize(n_cell_maps0);
+ for (int i=0;i<n_cell_maps0;i++)
+ {
+ unsigned long long int n_cell_maps1;
+ btAlignedObjectArray<unsigned int>& cell_maps = m_cell_map[i];
+ ds.read(n_cell_maps1);
+ cell_maps.resize(n_cell_maps1);
+ for (int j=0;j<n_cell_maps1;j++)
+ {
+ unsigned int& cell_map = cell_maps[j];
+ ds.read(cell_map);
+ }
+ }
+ }
+
+ m_isValid = (ds.m_currentOffset == ds.m_size);
+ return m_isValid;
+}
+
+
+unsigned int btMiniSDF::multiToSingleIndex(btMultiIndex const & ijk) const
+{
+ return m_resolution[1] * m_resolution[0] * ijk.ijk[2] + m_resolution[0] * ijk.ijk[1] + ijk.ijk[0];
+}
+
+btAlignedBox3d
+btMiniSDF::subdomain(btMultiIndex const& ijk) const
+{
+ btAssert(m_isValid);
+ btVector3 tmp;
+ tmp.m_floats[0] = m_cell_size[0]*(double)ijk.ijk[0];
+ tmp.m_floats[1] = m_cell_size[1]*(double)ijk.ijk[1];
+ tmp.m_floats[2] = m_cell_size[2]*(double)ijk.ijk[2];
+
+
+ btVector3 origin = m_domain.min() + tmp;
+
+ btAlignedBox3d box = btAlignedBox3d (origin, origin + m_cell_size);
+ return box;
+}
+
+btMultiIndex
+btMiniSDF::singleToMultiIndex(unsigned int l) const
+{
+ btAssert(m_isValid);
+ unsigned int n01 = m_resolution[0] * m_resolution[1];
+ unsigned int k = l / n01;
+ unsigned int temp = l % n01;
+ unsigned int j = temp / m_resolution[0];
+ unsigned int i = temp % m_resolution[0];
+ btMultiIndex mi;
+ mi.ijk[0] = i;
+ mi.ijk[1] = j;
+ mi.ijk[2] = k;
+ return mi;
+}
+
+btAlignedBox3d
+btMiniSDF::subdomain(unsigned int l) const
+{
+ btAssert(m_isValid);
+ return subdomain(singleToMultiIndex(l));
+}
+
+
+btShapeMatrix
+btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) const
+{
+ btAssert(m_isValid);
+ btShapeMatrix res;
+
+ btScalar x = xi[0];
+ btScalar y = xi[1];
+ btScalar z = xi[2];
+
+ btScalar x2 = x*x;
+ btScalar y2 = y*y;
+ btScalar z2 = z*z;
+
+ btScalar _1mx = 1.0 - x;
+ btScalar _1my = 1.0 - y;
+ btScalar _1mz = 1.0 - z;
+
+ btScalar _1px = 1.0 + x;
+ btScalar _1py = 1.0 + y;
+ btScalar _1pz = 1.0 + z;
+
+ btScalar _1m3x = 1.0 - 3.0 * x;
+ btScalar _1m3y = 1.0 - 3.0 * y;
+ btScalar _1m3z = 1.0 - 3.0 * z;
+
+ btScalar _1p3x = 1.0 + 3.0 * x;
+ btScalar _1p3y = 1.0 + 3.0 * y;
+ btScalar _1p3z = 1.0 + 3.0 * z;
+
+ btScalar _1mxt1my = _1mx * _1my;
+ btScalar _1mxt1py = _1mx * _1py;
+ btScalar _1pxt1my = _1px * _1my;
+ btScalar _1pxt1py = _1px * _1py;
+
+ btScalar _1mxt1mz = _1mx * _1mz;
+ btScalar _1mxt1pz = _1mx * _1pz;
+ btScalar _1pxt1mz = _1px * _1mz;
+ btScalar _1pxt1pz = _1px * _1pz;
+
+ btScalar _1myt1mz = _1my * _1mz;
+ btScalar _1myt1pz = _1my * _1pz;
+ btScalar _1pyt1mz = _1py * _1mz;
+ btScalar _1pyt1pz = _1py * _1pz;
+
+ btScalar _1mx2 = 1.0 - x2;
+ btScalar _1my2 = 1.0 - y2;
+ btScalar _1mz2 = 1.0 - z2;
+
+
+ // Corner nodes.
+ btScalar fac = 1.0 / 64.0 * (9.0 * (x2 + y2 + z2) - 19.0);
+ res[0] = fac * _1mxt1my * _1mz;
+ res[1] = fac * _1pxt1my * _1mz;
+ res[2] = fac * _1mxt1py * _1mz;
+ res[3] = fac * _1pxt1py * _1mz;
+ res[4] = fac * _1mxt1my * _1pz;
+ res[5] = fac * _1pxt1my * _1pz;
+ res[6] = fac * _1mxt1py * _1pz;
+ res[7] = fac * _1pxt1py * _1pz;
+
+ // Edge nodes.
+
+ fac = 9.0 / 64.0 * _1mx2;
+ btScalar fact1m3x = fac * _1m3x;
+ btScalar fact1p3x = fac * _1p3x;
+ res[ 8] = fact1m3x * _1myt1mz;
+ res[ 9] = fact1p3x * _1myt1mz;
+ res[10] = fact1m3x * _1myt1pz;
+ res[11] = fact1p3x * _1myt1pz;
+ res[12] = fact1m3x * _1pyt1mz;
+ res[13] = fact1p3x * _1pyt1mz;
+ res[14] = fact1m3x * _1pyt1pz;
+ res[15] = fact1p3x * _1pyt1pz;
+
+ fac = 9.0 / 64.0 * _1my2;
+ btScalar fact1m3y = fac * _1m3y;
+ btScalar fact1p3y = fac * _1p3y;
+ res[16] = fact1m3y * _1mxt1mz;
+ res[17] = fact1p3y * _1mxt1mz;
+ res[18] = fact1m3y * _1pxt1mz;
+ res[19] = fact1p3y * _1pxt1mz;
+ res[20] = fact1m3y * _1mxt1pz;
+ res[21] = fact1p3y * _1mxt1pz;
+ res[22] = fact1m3y * _1pxt1pz;
+ res[23] = fact1p3y * _1pxt1pz;
+
+ fac = 9.0 / 64.0 * _1mz2;
+ btScalar fact1m3z = fac * _1m3z;
+ btScalar fact1p3z = fac * _1p3z;
+ res[24] = fact1m3z * _1mxt1my;
+ res[25] = fact1p3z * _1mxt1my;
+ res[26] = fact1m3z * _1mxt1py;
+ res[27] = fact1p3z * _1mxt1py;
+ res[28] = fact1m3z * _1pxt1my;
+ res[29] = fact1p3z * _1pxt1my;
+ res[30] = fact1m3z * _1pxt1py;
+ res[31] = fact1p3z * _1pxt1py;
+
+ if (gradient)
+ {
+ btShapeGradients& dN = *gradient;
+
+ btScalar _9t3x2py2pz2m19 = 9.0 * (3.0 * x2 + y2 + z2) - 19.0;
+ btScalar _9tx2p3y2pz2m19 = 9.0 * (x2 + 3.0 * y2 + z2) - 19.0;
+ btScalar _9tx2py2p3z2m19 = 9.0 * (x2 + y2 + 3.0 * z2) - 19.0;
+ btScalar _18x = 18.0 * x;
+ btScalar _18y = 18.0 * y;
+ btScalar _18z = 18.0 * z;
+
+ btScalar _3m9x2 = 3.0 - 9.0 * x2;
+ btScalar _3m9y2 = 3.0 - 9.0 * y2;
+ btScalar _3m9z2 = 3.0 - 9.0 * z2;
+
+ btScalar _2x = 2.0 * x;
+ btScalar _2y = 2.0 * y;
+ btScalar _2z = 2.0 * z;
+
+ btScalar _18xm9t3x2py2pz2m19 = _18x - _9t3x2py2pz2m19;
+ btScalar _18xp9t3x2py2pz2m19 = _18x + _9t3x2py2pz2m19;
+ btScalar _18ym9tx2p3y2pz2m19 = _18y - _9tx2p3y2pz2m19;
+ btScalar _18yp9tx2p3y2pz2m19 = _18y + _9tx2p3y2pz2m19;
+ btScalar _18zm9tx2py2p3z2m19 = _18z - _9tx2py2p3z2m19;
+ btScalar _18zp9tx2py2p3z2m19 = _18z + _9tx2py2p3z2m19;
+
+ dN(0,0) =_18xm9t3x2py2pz2m19 * _1myt1mz;
+ dN(0,1) =_1mxt1mz * _18ym9tx2p3y2pz2m19;
+ dN(0,2) =_1mxt1my * _18zm9tx2py2p3z2m19;
+ dN(1,0) =_18xp9t3x2py2pz2m19 * _1myt1mz;
+ dN(1,1) =_1pxt1mz * _18ym9tx2p3y2pz2m19;
+ dN(1,2) =_1pxt1my * _18zm9tx2py2p3z2m19;
+ dN(2,0) =_18xm9t3x2py2pz2m19 * _1pyt1mz;
+ dN(2,1) =_1mxt1mz * _18yp9tx2p3y2pz2m19;
+ dN(2,2) =_1mxt1py * _18zm9tx2py2p3z2m19;
+ dN(3,0) =_18xp9t3x2py2pz2m19 * _1pyt1mz;
+ dN(3,1) =_1pxt1mz * _18yp9tx2p3y2pz2m19;
+ dN(3,2) =_1pxt1py * _18zm9tx2py2p3z2m19;
+ dN(4,0) =_18xm9t3x2py2pz2m19 * _1myt1pz;
+ dN(4,1) =_1mxt1pz * _18ym9tx2p3y2pz2m19;
+ dN(4,2) =_1mxt1my * _18zp9tx2py2p3z2m19;
+ dN(5,0) =_18xp9t3x2py2pz2m19 * _1myt1pz;
+ dN(5,1) =_1pxt1pz * _18ym9tx2p3y2pz2m19;
+ dN(5,2) =_1pxt1my * _18zp9tx2py2p3z2m19;
+ dN(6,0) =_18xm9t3x2py2pz2m19 * _1pyt1pz;
+ dN(6,1) =_1mxt1pz * _18yp9tx2p3y2pz2m19;
+ dN(6,2) =_1mxt1py * _18zp9tx2py2p3z2m19;
+ dN(7,0) =_18xp9t3x2py2pz2m19 * _1pyt1pz;
+ dN(7,1) =_1pxt1pz * _18yp9tx2p3y2pz2m19;
+ dN(7,2) =_1pxt1py * _18zp9tx2py2p3z2m19;
+
+ dN.topRowsDivide(8, 64.0);
+
+ btScalar _m3m9x2m2x = -_3m9x2 - _2x;
+ btScalar _p3m9x2m2x = _3m9x2 - _2x;
+ btScalar _1mx2t1m3x = _1mx2 * _1m3x;
+ btScalar _1mx2t1p3x = _1mx2 * _1p3x;
+ dN( 8,0) = _m3m9x2m2x * _1myt1mz,
+ dN( 8,1) = -_1mx2t1m3x * _1mz,
+ dN( 8,2) = -_1mx2t1m3x * _1my;
+ dN( 9,0) = _p3m9x2m2x * _1myt1mz,
+ dN( 9,1) = -_1mx2t1p3x * _1mz,
+ dN( 9,2) = -_1mx2t1p3x * _1my;
+ dN(10,0) = _m3m9x2m2x * _1myt1pz,
+ dN(10,1) = -_1mx2t1m3x * _1pz,
+ dN(10,2) = _1mx2t1m3x * _1my;
+ dN(11,0) = _p3m9x2m2x * _1myt1pz,
+ dN(11,1) = -_1mx2t1p3x * _1pz,
+ dN(11,2) = _1mx2t1p3x * _1my;
+ dN(12,0) = _m3m9x2m2x * _1pyt1mz,
+ dN(12,1) = _1mx2t1m3x * _1mz,
+ dN(12,2) = -_1mx2t1m3x * _1py;
+ dN(13,0) = _p3m9x2m2x * _1pyt1mz,
+ dN(13,1) = _1mx2t1p3x * _1mz,
+ dN(13,2) = -_1mx2t1p3x * _1py;
+ dN(14,0) = _m3m9x2m2x * _1pyt1pz,
+ dN(14,1) = _1mx2t1m3x * _1pz,
+ dN(14,2) = _1mx2t1m3x * _1py;
+ dN(15,0) = _p3m9x2m2x * _1pyt1pz,
+ dN(15,1) = _1mx2t1p3x * _1pz,
+ dN(15,2) = _1mx2t1p3x * _1py;
+
+ btScalar _m3m9y2m2y = -_3m9y2 - _2y;
+ btScalar _p3m9y2m2y = _3m9y2 - _2y;
+ btScalar _1my2t1m3y = _1my2 * _1m3y;
+ btScalar _1my2t1p3y = _1my2 * _1p3y;
+ dN(16,0) = -_1my2t1m3y * _1mz,
+ dN(16,1) = _m3m9y2m2y * _1mxt1mz,
+ dN(16,2) = -_1my2t1m3y * _1mx;
+ dN(17,0) = -_1my2t1p3y * _1mz,
+ dN(17,1) = _p3m9y2m2y * _1mxt1mz,
+ dN(17,2) = -_1my2t1p3y * _1mx;
+ dN(18,0) = _1my2t1m3y * _1mz,
+ dN(18,1) = _m3m9y2m2y * _1pxt1mz,
+ dN(18,2) = -_1my2t1m3y * _1px;
+ dN(19,0) = _1my2t1p3y * _1mz,
+ dN(19,1) = _p3m9y2m2y * _1pxt1mz,
+ dN(19,2) = -_1my2t1p3y * _1px;
+ dN(20,0) = -_1my2t1m3y * _1pz,
+ dN(20,1) = _m3m9y2m2y * _1mxt1pz,
+ dN(20,2) = _1my2t1m3y * _1mx;
+ dN(21,0) = -_1my2t1p3y * _1pz,
+ dN(21,1) = _p3m9y2m2y * _1mxt1pz,
+ dN(21,2) = _1my2t1p3y * _1mx;
+ dN(22,0) = _1my2t1m3y * _1pz,
+ dN(22,1) = _m3m9y2m2y * _1pxt1pz,
+ dN(22,2) = _1my2t1m3y * _1px;
+ dN(23,0) = _1my2t1p3y * _1pz,
+ dN(23,1) = _p3m9y2m2y * _1pxt1pz,
+ dN(23,2) = _1my2t1p3y * _1px;
+
+
+ btScalar _m3m9z2m2z = -_3m9z2 - _2z;
+ btScalar _p3m9z2m2z = _3m9z2 - _2z;
+ btScalar _1mz2t1m3z = _1mz2 * _1m3z;
+ btScalar _1mz2t1p3z = _1mz2 * _1p3z;
+ dN(24,0) = -_1mz2t1m3z * _1my,
+ dN(24,1) = -_1mz2t1m3z * _1mx,
+ dN(24,2) = _m3m9z2m2z * _1mxt1my;
+ dN(25,0) = -_1mz2t1p3z * _1my,
+ dN(25,1) = -_1mz2t1p3z * _1mx,
+ dN(25,2) = _p3m9z2m2z * _1mxt1my;
+ dN(26,0) = -_1mz2t1m3z * _1py,
+ dN(26,1) = _1mz2t1m3z * _1mx,
+ dN(26,2) = _m3m9z2m2z * _1mxt1py;
+ dN(27,0) = -_1mz2t1p3z * _1py,
+ dN(27,1) = _1mz2t1p3z * _1mx,
+ dN(27,2) = _p3m9z2m2z * _1mxt1py;
+ dN(28,0) = _1mz2t1m3z * _1my,
+ dN(28,1) = -_1mz2t1m3z * _1px,
+ dN(28,2) = _m3m9z2m2z * _1pxt1my;
+ dN(29,0) = _1mz2t1p3z * _1my,
+ dN(29,1) = -_1mz2t1p3z * _1px,
+ dN(29,2) = _p3m9z2m2z * _1pxt1my;
+ dN(30,0) = _1mz2t1m3z * _1py,
+ dN(30,1) = _1mz2t1m3z * _1px,
+ dN(30,2) = _m3m9z2m2z * _1pxt1py;
+ dN(31,0) = _1mz2t1p3z * _1py,
+ dN(31,1) = _1mz2t1p3z * _1px,
+ dN(31,2) = _p3m9z2m2z * _1pxt1py;
+
+ dN.bottomRowsMul(32u - 8u, 9.0 / 64.0);
+
+ }
+
+ return res;
+}
+
+
+
+bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const& x,
+ btVector3* gradient) const
+{
+ btAssert(m_isValid);
+ if (!m_isValid)
+ return false;
+
+ if (!m_domain.contains(x))
+ return false;
+
+ btVector3 tmpmi = ((x - m_domain.min())*(m_inv_cell_size));//.cast<unsigned int>().eval();
+ unsigned int mi[3] = {(unsigned int )tmpmi[0],(unsigned int )tmpmi[1],(unsigned int )tmpmi[2]};
+ if (mi[0] >= m_resolution[0])
+ mi[0] = m_resolution[0]-1;
+ if (mi[1] >= m_resolution[1])
+ mi[1] = m_resolution[1]-1;
+ if (mi[2] >= m_resolution[2])
+ mi[2] = m_resolution[2]-1;
+ btMultiIndex mui;
+ mui.ijk[0] = mi[0];
+ mui.ijk[1] = mi[1];
+ mui.ijk[2] = mi[2];
+ int i = multiToSingleIndex(mui);
+ unsigned int i_ = m_cell_map[field_id][i];
+ if (i_ == UINT_MAX)
+ return false;
+
+ btAlignedBox3d sd = subdomain(i);
+ i = i_;
+ btVector3 d = sd.m_max-sd.m_min;//.diagonal().eval();
+
+ btVector3 denom = (sd.max() - sd.min());
+ btVector3 c0 = btVector3(2.0,2.0,2.0)/denom;
+ btVector3 c1 = (sd.max() + sd.min())/denom;
+ btVector3 xi = (c0*x - c1);
+
+ btCell32 const& cell = m_cells[field_id][i];
+ if (!gradient)
+ {
+ //auto phi = m_coefficients[field_id][i].dot(shape_function_(xi, 0));
+ double phi = 0.0;
+ btShapeMatrix N = shape_function_(xi, 0);
+ for (unsigned int j = 0u; j < 32u; ++j)
+ {
+ unsigned int v = cell.m_cells[j];
+ double c = m_nodes[field_id][v];
+ if (c == DBL_MAX)
+ {
+ return false;;
+ }
+ phi += c * N[j];
+ }
+
+ dist = phi;
+ return true;
+ }
+
+ btShapeGradients dN;
+ btShapeMatrix N = shape_function_(xi, &dN);
+
+ double phi = 0.0;
+ gradient->setZero();
+ for (unsigned int j = 0u; j < 32u; ++j)
+ {
+ unsigned int v = cell.m_cells[j];
+ double c = m_nodes[field_id][v];
+ if (c == DBL_MAX)
+ {
+ gradient->setZero();
+ return false;
+ }
+ phi += c * N[j];
+ (*gradient)[0] += c * dN(j, 0);
+ (*gradient)[1] += c * dN(j, 1);
+ (*gradient)[2] += c * dN(j, 2);
+ }
+ (*gradient) *= c0;
+ dist = phi;
+ return true;
+}
+
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h
new file mode 100644
index 0000000000..3de90e4f8a
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h
@@ -0,0 +1,134 @@
+#ifndef MINISDF_H
+#define MINISDF_H
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAabbUtil2.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+struct btMultiIndex
+{
+ unsigned int ijk[3];
+};
+
+struct btAlignedBox3d
+{
+ btVector3 m_min;
+ btVector3 m_max;
+
+ const btVector3& min() const
+ {
+ return m_min;
+ }
+
+ const btVector3& max() const
+ {
+ return m_max;
+ }
+
+
+ bool contains(const btVector3& x) const
+ {
+ return TestPointAgainstAabb2(m_min, m_max, x);
+ }
+
+ btAlignedBox3d(const btVector3& mn, const btVector3& mx)
+ :m_min(mn),
+ m_max(mx)
+ {
+ }
+
+ btAlignedBox3d()
+ {
+ }
+};
+
+struct btShapeMatrix
+{
+ double m_vec[32];
+
+ inline double& operator[](int i)
+ {
+ return m_vec[i];
+ }
+
+ inline const double& operator[](int i) const
+ {
+ return m_vec[i];
+ }
+
+};
+
+struct btShapeGradients
+{
+ btVector3 m_vec[32];
+
+ void topRowsDivide(int row, double denom)
+ {
+ for (int i=0;i<row;i++)
+ {
+ m_vec[i] /= denom;
+ }
+ }
+
+ void bottomRowsMul(int row, double val)
+ {
+ for (int i=32-row;i<32;i++)
+ {
+ m_vec[i] *= val;
+ }
+ }
+
+ inline btScalar& operator()(int i, int j)
+ {
+ return m_vec[i][j];
+ }
+};
+
+struct btCell32
+{
+ unsigned int m_cells[32];
+};
+
+struct btMiniSDF
+{
+
+ btAlignedBox3d m_domain;
+ unsigned int m_resolution[3];
+ btVector3 m_cell_size;
+ btVector3 m_inv_cell_size;
+ std::size_t m_n_cells;
+ std::size_t m_n_fields;
+ bool m_isValid;
+
+
+ btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes;
+ btAlignedObjectArray<btAlignedObjectArray<btCell32 > > m_cells;
+ btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map;
+
+ btMiniSDF()
+ :m_isValid(false)
+ {
+ }
+ bool load(const char* data, int size);
+ bool isValid() const
+ {
+ return m_isValid;
+ }
+ unsigned int multiToSingleIndex(btMultiIndex const & ijk) const;
+
+ btAlignedBox3d subdomain(btMultiIndex const& ijk) const;
+
+ btMultiIndex singleToMultiIndex(unsigned int l) const;
+
+ btAlignedBox3d subdomain(unsigned int l) const;
+
+
+ btShapeMatrix
+ shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const;
+
+ bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const;
+};
+
+
+#endif //MINISDF_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
index 4854f370f7..d51b6760fc 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
@@ -39,6 +39,17 @@ btPolyhedralConvexShape::~btPolyhedralConvexShape()
}
}
+void btPolyhedralConvexShape::setPolyhedralFeatures(btConvexPolyhedron& polyhedron)
+{
+ if (m_polyhedron)
+ {
+ *m_polyhedron = polyhedron;
+ } else
+ {
+ void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16);
+ m_polyhedron = new (mem) btConvexPolyhedron(polyhedron);
+ }
+}
bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin)
{
@@ -87,8 +98,72 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f);
}
+#ifndef BT_RECONSTRUCT_FACES
+
+ int numVertices = conv.vertices.size();
+ m_polyhedron->m_vertices.resize(numVertices);
+ for (int p=0;p<numVertices;p++)
+ {
+ m_polyhedron->m_vertices[p] = conv.vertices[p];
+ }
+
+ int v0, v1;
+ for (int j = 0; j < conv.faces.size(); j++)
+ {
+ btVector3 edges[3];
+ int numEdges = 0;
+ btFace combinedFace;
+ const btConvexHullComputer::Edge* edge = &conv.edges[conv.faces[j]];
+ v0 = edge->getSourceVertex();
+ int prevVertex=v0;
+ combinedFace.m_indices.push_back(v0);
+ v1 = edge->getTargetVertex();
+ while (v1 != v0)
+ {
+
+ btVector3 wa = conv.vertices[prevVertex];
+ btVector3 wb = conv.vertices[v1];
+ btVector3 newEdge = wb-wa;
+ newEdge.normalize();
+ if (numEdges<2)
+ edges[numEdges++] = newEdge;
+ //face->addIndex(v1);
+ combinedFace.m_indices.push_back(v1);
+ edge = edge->getNextEdgeOfFace();
+ prevVertex = v1;
+ int v01 = edge->getSourceVertex();
+ v1 = edge->getTargetVertex();
+
+ }
+
+ btAssert(combinedFace.m_indices.size() > 2);
+
+ btVector3 faceNormal = edges[0].cross(edges[1]);
+ faceNormal.normalize();
+
+ btScalar planeEq=1e30f;
+
+ for (int v=0;v<combinedFace.m_indices.size();v++)
+ {
+ btScalar eq = m_polyhedron->m_vertices[combinedFace.m_indices[v]].dot(faceNormal);
+ if (planeEq>eq)
+ {
+ planeEq=eq;
+ }
+ }
+ combinedFace.m_plane[0] = faceNormal.getX();
+ combinedFace.m_plane[1] = faceNormal.getY();
+ combinedFace.m_plane[2] = faceNormal.getZ();
+ combinedFace.m_plane[3] = -planeEq;
+
+ m_polyhedron->m_faces.push_back(combinedFace);
+ }
+
+
+#else//BT_RECONSTRUCT_FACES
+
btAlignedObjectArray<btVector3> faceNormals;
int numFaces = conv.faces.size();
faceNormals.resize(numFaces);
@@ -311,7 +386,9 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa
}
-
+
+#endif //BT_RECONSTRUCT_FACES
+
m_polyhedron->initialize();
return true;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
index 7bf8e01c1f..b7ddb6e060 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
@@ -43,6 +43,9 @@ public:
///experimental/work-in-progress
virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0);
+ virtual void setPolyhedralFeatures(btConvexPolyhedron& polyhedron);
+
+
const btConvexPolyhedron* getConvexPolyhedron() const
{
return m_polyhedron;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
new file mode 100644
index 0000000000..828acda470
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp
@@ -0,0 +1,99 @@
+#include "btSdfCollisionShape.h"
+#include "btMiniSDF.h"
+#include "LinearMath/btAabbUtil2.h"
+
+struct btSdfCollisionShapeInternalData
+{
+ btVector3 m_localScaling;
+ btScalar m_margin;
+ btMiniSDF m_sdf;
+
+ btSdfCollisionShapeInternalData()
+ :m_localScaling(1,1,1),
+ m_margin(0)
+ {
+
+ }
+};
+
+bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes)
+{
+ bool valid = m_data->m_sdf.load(sdfData, sizeInBytes);
+ return valid;
+}
+btSdfCollisionShape::btSdfCollisionShape()
+{
+ m_shapeType = SDF_SHAPE_PROXYTYPE;
+ m_data = new btSdfCollisionShapeInternalData();
+
+
+
+ //"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf");
+ /*unsigned int field_id=0;
+ Eigen::Vector3d x (1,10,1);
+ Eigen::Vector3d gradient;
+ double dist = m_data->m_sdf.interpolate(field_id, x, &gradient);
+ printf("dist=%g\n", dist);
+ */
+
+}
+btSdfCollisionShape::~btSdfCollisionShape()
+{
+ delete m_data;
+}
+
+void btSdfCollisionShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
+{
+ btAssert(m_data->m_sdf.isValid());
+ btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min;
+ btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max;
+ btScalar margin(0);
+ btTransformAabb(localAabbMin,localAabbMax,margin,t,aabbMin,aabbMax);
+
+}
+
+
+void btSdfCollisionShape::setLocalScaling(const btVector3& scaling)
+{
+ m_data->m_localScaling = scaling;
+}
+const btVector3& btSdfCollisionShape::getLocalScaling() const
+{
+ return m_data->m_localScaling;
+}
+void btSdfCollisionShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+ inertia.setValue(0,0,0);
+}
+const char* btSdfCollisionShape::getName()const
+{
+ return "btSdfCollisionShape";
+}
+void btSdfCollisionShape::setMargin(btScalar margin)
+{
+ m_data->m_margin = margin;
+}
+btScalar btSdfCollisionShape::getMargin() const
+{
+ return m_data->m_margin;
+}
+
+void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
+{
+ //not yet
+}
+
+
+bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal)
+{
+ int field = 0;
+ btVector3 grad;
+ double dist;
+ bool hasResult = m_data->m_sdf.interpolate(field,dist, ptInSDF,&grad);
+ if (hasResult)
+ {
+ normal.setValue(grad[0],grad[1],grad[2]);
+ distOut= dist;
+ }
+ return hasResult;
+}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h
new file mode 100644
index 0000000000..6e32db9cd8
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h
@@ -0,0 +1,30 @@
+#ifndef BT_SDF_COLLISION_SHAPE_H
+#define BT_SDF_COLLISION_SHAPE_H
+
+#include "btConcaveShape.h"
+
+class btSdfCollisionShape : public btConcaveShape
+{
+ struct btSdfCollisionShapeInternalData* m_data;
+
+public:
+
+ btSdfCollisionShape();
+ virtual ~btSdfCollisionShape();
+
+ bool initializeSDF(const char* sdfData, int sizeInBytes);
+
+ virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
+ virtual void setLocalScaling(const btVector3& scaling);
+ virtual const btVector3& getLocalScaling() const;
+ virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
+ virtual const char* getName()const;
+ virtual void setMargin(btScalar margin);
+ virtual btScalar getMargin() const;
+
+ virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
+
+ bool queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal);
+};
+
+#endif //BT_SDF_COLLISION_SHAPE_H
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
index 3beaf86580..9f712fe555 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp
@@ -20,6 +20,8 @@ subject to the following restrictions:
#include "LinearMath/btConvexHull.h"
#define NUM_UNITSPHERE_POINTS 42
+#define NUM_UNITSPHERE_POINTS_HIGHRES 256
+
btShapeHull::btShapeHull (const btConvexShape* shape)
{
@@ -36,9 +38,9 @@ btShapeHull::~btShapeHull ()
}
bool
-btShapeHull::buildHull (btScalar /*margin*/)
+btShapeHull::buildHull (btScalar /*margin*/, int highres)
{
- int numSampleDirections = NUM_UNITSPHERE_POINTS;
+ int numSampleDirections = highres? NUM_UNITSPHERE_POINTS_HIGHRES:NUM_UNITSPHERE_POINTS;
{
int numPDA = m_shape->getNumPreferredPenetrationDirections();
if (numPDA)
@@ -47,17 +49,17 @@ btShapeHull::buildHull (btScalar /*margin*/)
{
btVector3 norm;
m_shape->getPreferredPenetrationDirection(i,norm);
- getUnitSpherePoints()[numSampleDirections] = norm;
+ getUnitSpherePoints(highres)[numSampleDirections] = norm;
numSampleDirections++;
}
}
}
- btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
+ btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
int i;
for (i = 0; i < numSampleDirections; i++)
{
- supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]);
+ supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
}
HullDesc hd;
@@ -118,9 +120,268 @@ btShapeHull::numIndices () const
}
-btVector3* btShapeHull::getUnitSpherePoints()
+btVector3* btShapeHull::getUnitSpherePoints(int highres)
{
- static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] =
+ static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
+ {
+ btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)),
+ btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)),
+ btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)),
+ btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)),
+ btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)),
+ btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)),
+ btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)),
+ btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)),
+ btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)),
+ btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)),
+ btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)),
+ btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)),
+ btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)),
+ btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)),
+ btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)),
+ btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)),
+ btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)),
+ btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)),
+ btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)),
+ btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)),
+ btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)),
+ btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)),
+ btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)),
+ btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)),
+ btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)),
+ btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)),
+ btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)),
+ btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)),
+ btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)),
+ btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)),
+ btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)),
+ btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)),
+ btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)),
+ btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)),
+ btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)),
+ btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)),
+ btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)),
+ btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)),
+ btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)),
+ btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)),
+ btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)),
+ btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)),
+ btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)),
+ btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)),
+ btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)),
+ btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)),
+ btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)),
+ btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)),
+ btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)),
+ btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)),
+ btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)),
+ btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)),
+ btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)),
+ btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)),
+ btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)),
+ btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)),
+ btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)),
+ btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)),
+ btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)),
+ btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)),
+ btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)),
+ btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)),
+ btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)),
+ btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)),
+ btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)),
+ btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)),
+ btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)),
+ btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)),
+ btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)),
+ btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)),
+ btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)),
+ btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)),
+ btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)),
+ btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)),
+ btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)),
+ btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)),
+ btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)),
+ btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)),
+ btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)),
+ btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)),
+ btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)),
+ btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)),
+ btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)),
+ btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)),
+ btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)),
+ btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)),
+ btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)),
+ btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)),
+ btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)),
+ btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)),
+ btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)),
+ btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)),
+ btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)),
+ btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)),
+ btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)),
+ btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)),
+ btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)),
+ btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)),
+ btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)),
+ btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)),
+ btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)),
+ btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)),
+ btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)),
+ btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)),
+ btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)),
+ btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)),
+ btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)),
+ btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)),
+ btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)),
+ btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)),
+ btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)),
+ btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)),
+ btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)),
+ btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)),
+ btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)),
+ btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)),
+ btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)),
+ btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)),
+ btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)),
+ btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)),
+ btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)),
+ btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)),
+ btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)),
+ btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)),
+ btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)),
+ btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)),
+ btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)),
+ btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)),
+ btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)),
+ btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)),
+ btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)),
+ btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)),
+ btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)),
+ btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)),
+ btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)),
+ btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)),
+ btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)),
+ btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)),
+ btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)),
+ btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)),
+ btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)),
+ btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)),
+ btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)),
+ btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)),
+ btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)),
+ btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)),
+ btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)),
+ btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)),
+ btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)),
+ btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)),
+ btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)),
+ btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)),
+ btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)),
+ btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)),
+ btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)),
+ btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)),
+ btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)),
+ btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)),
+ btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)),
+ btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)),
+ btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)),
+ btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)),
+ btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)),
+ btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)),
+ btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)),
+ btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)),
+ btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)),
+ btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)),
+ btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)),
+ btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)),
+ btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)),
+ btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)),
+ btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)),
+ btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)),
+ btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)),
+ btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)),
+ btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)),
+ btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)),
+ btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)),
+ btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)),
+ btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)),
+ btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)),
+ btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)),
+ btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)),
+ btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)),
+ btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)),
+ btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)),
+ btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)),
+ btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)),
+ btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)),
+ btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)),
+ btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)),
+ btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)),
+ btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)),
+ btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)),
+ btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)),
+ btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)),
+ btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)),
+ btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)),
+ btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)),
+ btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)),
+ btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)),
+ btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)),
+ btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)),
+ btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)),
+ btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)),
+ btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)),
+ btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)),
+ btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)),
+ btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)),
+ btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)),
+ btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)),
+ btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)),
+ btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)),
+ btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)),
+ btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)),
+ btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)),
+ btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)),
+ btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)),
+ btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)),
+ btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)),
+ btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)),
+ btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)),
+ btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)),
+ btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)),
+ btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)),
+ btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)),
+ btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)),
+ btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)),
+ btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)),
+ btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)),
+ btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)),
+ btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)),
+ btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)),
+ btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)),
+ btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)),
+ btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)),
+ btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)),
+ btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)),
+ btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)),
+ btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)),
+ btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)),
+ btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)),
+ btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)),
+ btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)),
+ btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)),
+ btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)),
+ btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)),
+ btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)),
+ btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)),
+ btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)),
+ btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)),
+ btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)),
+ btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)),
+ btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)),
+ btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)),
+ };
+ static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
{
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
@@ -165,6 +426,8 @@ btVector3* btShapeHull::getUnitSpherePoints()
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
+ if (highres)
+ return sUnitSpherePointsHighres;
return sUnitSpherePoints;
}
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
index e959f198b6..78ea4b6501 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h
@@ -34,7 +34,7 @@ protected:
unsigned int m_numIndices;
const btConvexShape* m_shape;
- static btVector3* getUnitSpherePoints();
+ static btVector3* getUnitSpherePoints(int highres=0);
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -42,7 +42,7 @@ public:
btShapeHull (const btConvexShape* shape);
~btShapeHull ();
- bool buildHull (btScalar margin);
+ bool buildHull (btScalar margin, int highres=0);
int numTriangles () const;
int numVertices () const;
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
index d17141e3f2..b5e0e716d4 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
@@ -69,8 +69,6 @@ void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const
//tangentDir0/tangentDir1 can be precalculated
btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1);
- btVector3 supVertex0,supVertex1;
-
btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal;
btVector3 triangle[3];
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
index 9e1544e87a..b7a6f74361 100644
--- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
@@ -63,7 +63,7 @@ typedef btAlignedObjectArray<btIndexedMesh> IndexedMeshArray;
///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays.
///Additional meshes can be added using addIndexedMesh
-///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays.
+///No duplicate is made of the vertex/index data, it only indexes into external vertex/index arrays.
///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray.
ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface
{
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
index 940282f576..3481fec850 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
@@ -113,12 +113,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f)
return false;
-
-
btScalar lambda = btScalar(0.);
- btVector3 v(1,0,0);
-
- int maxIter = MAX_ITERATIONS;
btVector3 n;
n.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
@@ -137,8 +132,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
btPointCollector pointCollector1;
- {
-
+ {
computeClosestPoints(fromA,fromB,pointCollector1);
hasResult = pointCollector1.m_hasResult;
@@ -172,28 +166,20 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity);
-
-
- lambda = lambda + dLambda;
+ lambda += dLambda;
- if (lambda > btScalar(1.))
+ if (lambda > btScalar(1.) || lambda < btScalar(0.))
return false;
- if (lambda < btScalar(0.))
- return false;
-
-
//todo: next check with relative epsilon
if (lambda <= lastLambda)
{
return false;
//n.setValue(0,0,0);
- break;
+ //break;
}
lastLambda = lambda;
-
-
//interpolate to next lambda
btTransform interpolatedTransA,interpolatedTransB,relativeTrans;
@@ -223,7 +209,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
}
numIter++;
- if (numIter > maxIter)
+ if (numIter > MAX_ITERATIONS)
{
result.reportFailure(-2, numIter);
return false;
@@ -237,6 +223,5 @@ bool btContinuousConvexCollision::calcTimeOfImpact(
}
return false;
-
}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
index bdc0572f75..528b5e0101 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
@@ -25,7 +25,7 @@ class btStaticPlaneShape;
/// btContinuousConvexCollision implements angular and linear time of impact for convex objects.
/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
-/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent.
+/// Algorithm operates in worldspace, in order to keep in between motion globally consistent.
/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
class btContinuousConvexCollision : public btConvexCast
{
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
index 572ec36f56..b79f49d611 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
@@ -21,46 +21,64 @@ subject to the following restrictions:
#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
-bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
- const btConvexShape* pConvexA, const btConvexShape* pConvexB,
- const btTransform& transformA, const btTransform& transformB,
- btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
- class btIDebugDraw* debugDraw)
+bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver,
+ const btConvexShape* pConvexA, const btConvexShape* pConvexB,
+ const btTransform& transformA, const btTransform& transformB,
+ btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
+ class btIDebugDraw* debugDraw)
{
(void)debugDraw;
(void)v;
(void)simplexSolver;
-// const btScalar radialmargin(btScalar(0.));
-
- btVector3 guessVector(transformB.getOrigin()-transformA.getOrigin());
- btGjkEpaSolver2::sResults results;
-
+ btVector3 guessVectors[] = {
+ btVector3(transformB.getOrigin() - transformA.getOrigin()).normalized(),
+ btVector3(transformA.getOrigin() - transformB.getOrigin()).normalized(),
+ btVector3(0, 0, 1),
+ btVector3(0, 1, 0),
+ btVector3(1, 0, 0),
+ btVector3(1, 1, 0),
+ btVector3(1, 1, 1),
+ btVector3(0, 1, 1),
+ btVector3(1, 0, 1),
+ };
- if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
- pConvexB,transformB,
- guessVector,results))
-
- {
- // debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
- //resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
- wWitnessOnA = results.witnesses[0];
- wWitnessOnB = results.witnesses[1];
- v = results.normal;
- return true;
- } else
+ int numVectors = sizeof(guessVectors) / sizeof(btVector3);
+
+ for (int i = 0; i < numVectors; i++)
{
- if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
+ simplexSolver.reset();
+ btVector3 guessVector = guessVectors[i];
+
+ btGjkEpaSolver2::sResults results;
+
+ if (btGjkEpaSolver2::Penetration(pConvexA, transformA,
+ pConvexB, transformB,
+ guessVector, results))
+
{
wWitnessOnA = results.witnesses[0];
wWitnessOnB = results.witnesses[1];
v = results.normal;
- return false;
+ return true;
+ }
+ else
+ {
+ if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results))
+ {
+ wWitnessOnA = results.witnesses[0];
+ wWitnessOnB = results.witnesses[1];
+ v = results.normal;
+ return false;
+ }
}
}
+ //failed to find a distance/penetration
+ wWitnessOnA.setValue(0, 0, 0);
+ wWitnessOnB.setValue(0, 0, 0);
+ v.setValue(0, 0, 0);
return false;
}
-
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index 257b026d9b..a0b825f0e8 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -1,4 +1,4 @@
-/*
+/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
@@ -32,7 +32,7 @@ subject to the following restrictions:
//must be above the machine epsilon
#ifdef BT_USE_DOUBLE_PRECISION
#define REL_ERROR2 btScalar(1.0e-12)
- btScalar gGjkEpaPenetrationTolerance = 1e-7;
+ btScalar gGjkEpaPenetrationTolerance = 1.0e-12;
#else
#define REL_ERROR2 btScalar(1.0e-6)
btScalar gGjkEpaPenetrationTolerance = 0.001;
@@ -83,6 +83,593 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result&
getClosestPointsNonVirtual(input,output,debugDraw);
}
+static void btComputeSupport(const btConvexShape* convexA, const btTransform& localTransA, const btConvexShape* convexB, const btTransform& localTransB, const btVector3& dir, bool check2d, btVector3& supAworld, btVector3& supBworld, btVector3& aMinb)
+{
+ btVector3 seperatingAxisInA = (dir)* localTransA.getBasis();
+ btVector3 seperatingAxisInB = (-dir)* localTransB.getBasis();
+
+ btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+ btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+
+ btVector3 pInA = pInANoMargin;
+ btVector3 qInB = qInBNoMargin;
+
+ supAworld = localTransA(pInA);
+ supBworld = localTransB(qInB);
+
+ if (check2d)
+ {
+ supAworld[2] = 0.f;
+ supBworld[2] = 0.f;
+ }
+
+ aMinb = supAworld - supBworld;
+}
+
+struct btSupportVector
+{
+ btVector3 v; //!< Support point in minkowski sum
+ btVector3 v1; //!< Support point in obj1
+ btVector3 v2; //!< Support point in obj2
+};
+
+struct btSimplex
+{
+ btSupportVector ps[4];
+ int last; //!< index of last added point
+};
+
+static btVector3 ccd_vec3_origin(0, 0, 0);
+
+
+inline void btSimplexInit(btSimplex *s)
+{
+ s->last = -1;
+}
+
+inline int btSimplexSize(const btSimplex *s)
+{
+ return s->last + 1;
+}
+
+inline const btSupportVector *btSimplexPoint(const btSimplex *s, int idx)
+{
+ // here is no check on boundaries
+ return &s->ps[idx];
+}
+inline void btSupportCopy(btSupportVector *d, const btSupportVector *s)
+{
+ *d = *s;
+}
+
+inline void btVec3Copy(btVector3 *v, const btVector3* w)
+{
+ *v = *w;
+}
+
+inline void ccdVec3Add(btVector3*v, const btVector3*w)
+{
+ v->m_floats[0] += w->m_floats[0];
+ v->m_floats[1] += w->m_floats[1];
+ v->m_floats[2] += w->m_floats[2];
+}
+
+
+inline void ccdVec3Sub(btVector3 *v, const btVector3 *w)
+{
+ *v -= *w;
+}
+inline void btVec3Sub2(btVector3 *d, const btVector3 *v, const btVector3 *w)
+{
+ *d = (*v) - (*w);
+
+}
+inline btScalar btVec3Dot(const btVector3 *a, const btVector3 *b)
+{
+ btScalar dot;
+ dot = a->dot(*b);
+
+ return dot;
+}
+
+inline btScalar ccdVec3Dist2(const btVector3 *a, const btVector3*b)
+{
+ btVector3 ab;
+ btVec3Sub2(&ab, a, b);
+ return btVec3Dot(&ab, &ab);
+}
+
+
+inline void btVec3Scale(btVector3 *d, btScalar k)
+{
+ d->m_floats[0] *= k;
+ d->m_floats[1] *= k;
+ d->m_floats[2] *= k;
+}
+
+inline void btVec3Cross(btVector3 *d, const btVector3 *a, const btVector3 *b)
+{
+ d->m_floats[0] = (a->m_floats[1] * b->m_floats[2]) - (a->m_floats[2] * b->m_floats[1]);
+ d->m_floats[1] = (a->m_floats[2] * b->m_floats[0]) - (a->m_floats[0] * b->m_floats[2]);
+ d->m_floats[2] = (a->m_floats[0] * b->m_floats[1]) - (a->m_floats[1] * b->m_floats[0]);
+}
+
+inline void btTripleCross(const btVector3 *a, const btVector3 *b,
+ const btVector3 *c, btVector3 *d)
+{
+ btVector3 e;
+ btVec3Cross(&e, a, b);
+ btVec3Cross(d, &e, c);
+}
+
+inline int ccdEq(btScalar _a, btScalar _b)
+{
+ btScalar ab;
+ btScalar a, b;
+
+ ab = btFabs(_a - _b);
+ if (btFabs(ab) < SIMD_EPSILON)
+ return 1;
+
+ a = btFabs(_a);
+ b = btFabs(_b);
+ if (b > a) {
+ return ab < SIMD_EPSILON * b;
+ }
+ else {
+ return ab < SIMD_EPSILON * a;
+ }
+}
+
+btScalar ccdVec3X(const btVector3* v)
+{
+ return v->x();
+}
+
+btScalar ccdVec3Y(const btVector3* v)
+{
+ return v->y();
+}
+
+btScalar ccdVec3Z(const btVector3* v)
+{
+ return v->z();
+}
+inline int btVec3Eq(const btVector3 *a, const btVector3 *b)
+{
+ return ccdEq(ccdVec3X(a), ccdVec3X(b))
+ && ccdEq(ccdVec3Y(a), ccdVec3Y(b))
+ && ccdEq(ccdVec3Z(a), ccdVec3Z(b));
+}
+
+
+inline void btSimplexAdd(btSimplex *s, const btSupportVector *v)
+{
+ // here is no check on boundaries in sake of speed
+ ++s->last;
+ btSupportCopy(s->ps + s->last, v);
+}
+
+
+inline void btSimplexSet(btSimplex *s, size_t pos, const btSupportVector *a)
+{
+ btSupportCopy(s->ps + pos, a);
+}
+
+inline void btSimplexSetSize(btSimplex *s, int size)
+{
+ s->last = size - 1;
+}
+
+inline const btSupportVector *ccdSimplexLast(const btSimplex *s)
+{
+ return btSimplexPoint(s, s->last);
+}
+
+inline int ccdSign(btScalar val)
+{
+ if (btFuzzyZero(val)) {
+ return 0;
+ }
+ else if (val < btScalar(0)) {
+ return -1;
+ }
+ return 1;
+}
+
+
+inline btScalar btVec3PointSegmentDist2(const btVector3 *P,
+ const btVector3 *x0,
+ const btVector3 *b,
+ btVector3 *witness)
+{
+ // The computation comes from solving equation of segment:
+ // S(t) = x0 + t.d
+ // where - x0 is initial point of segment
+ // - d is direction of segment from x0 (|d| > 0)
+ // - t belongs to <0, 1> interval
+ //
+ // Than, distance from a segment to some point P can be expressed:
+ // D(t) = |x0 + t.d - P|^2
+ // which is distance from any point on segment. Minimization
+ // of this function brings distance from P to segment.
+ // Minimization of D(t) leads to simple quadratic equation that's
+ // solving is straightforward.
+ //
+ // Bonus of this method is witness point for free.
+
+ btScalar dist, t;
+ btVector3 d, a;
+
+ // direction of segment
+ btVec3Sub2(&d, b, x0);
+
+ // precompute vector from P to x0
+ btVec3Sub2(&a, x0, P);
+
+ t = -btScalar(1.) * btVec3Dot(&a, &d);
+ t /= btVec3Dot(&d, &d);
+
+ if (t < btScalar(0) || btFuzzyZero(t)) {
+ dist = ccdVec3Dist2(x0, P);
+ if (witness)
+ btVec3Copy(witness, x0);
+ }
+ else if (t > btScalar(1) || ccdEq(t, btScalar(1))) {
+ dist = ccdVec3Dist2(b, P);
+ if (witness)
+ btVec3Copy(witness, b);
+ }
+ else {
+ if (witness) {
+ btVec3Copy(witness, &d);
+ btVec3Scale(witness, t);
+ ccdVec3Add(witness, x0);
+ dist = ccdVec3Dist2(witness, P);
+ }
+ else {
+ // recycling variables
+ btVec3Scale(&d, t);
+ ccdVec3Add(&d, &a);
+ dist = btVec3Dot(&d, &d);
+ }
+ }
+
+ return dist;
+}
+
+
+btScalar btVec3PointTriDist2(const btVector3 *P,
+ const btVector3 *x0, const btVector3 *B,
+ const btVector3 *C,
+ btVector3 *witness)
+{
+ // Computation comes from analytic expression for triangle (x0, B, C)
+ // T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and
+ // Then equation for distance is:
+ // D(s, t) = | T(s, t) - P |^2
+ // This leads to minimization of quadratic function of two variables.
+ // The solution from is taken only if s is between 0 and 1, t is
+ // between 0 and 1 and t + s < 1, otherwise distance from segment is
+ // computed.
+
+ btVector3 d1, d2, a;
+ double u, v, w, p, q, r;
+ double s, t, dist, dist2;
+ btVector3 witness2;
+
+ btVec3Sub2(&d1, B, x0);
+ btVec3Sub2(&d2, C, x0);
+ btVec3Sub2(&a, x0, P);
+
+ u = btVec3Dot(&a, &a);
+ v = btVec3Dot(&d1, &d1);
+ w = btVec3Dot(&d2, &d2);
+ p = btVec3Dot(&a, &d1);
+ q = btVec3Dot(&a, &d2);
+ r = btVec3Dot(&d1, &d2);
+
+ s = (q * r - w * p) / (w * v - r * r);
+ t = (-s * r - q) / w;
+
+ if ((btFuzzyZero(s) || s > btScalar(0))
+ && (ccdEq(s, btScalar(1)) || s < btScalar(1))
+ && (btFuzzyZero(t) || t > btScalar(0))
+ && (ccdEq(t, btScalar(1)) || t < btScalar(1))
+ && (ccdEq(t + s, btScalar(1)) || t + s < btScalar(1))) {
+
+ if (witness)
+ {
+ btVec3Scale(&d1, s);
+ btVec3Scale(&d2, t);
+ btVec3Copy(witness, x0);
+ ccdVec3Add(witness, &d1);
+ ccdVec3Add(witness, &d2);
+
+ dist = ccdVec3Dist2(witness, P);
+ }
+ else
+ {
+ dist = s * s * v;
+ dist += t * t * w;
+ dist += btScalar(2.) * s * t * r;
+ dist += btScalar(2.) * s * p;
+ dist += btScalar(2.) * t * q;
+ dist += u;
+ }
+ }
+ else {
+ dist = btVec3PointSegmentDist2(P, x0, B, witness);
+
+ dist2 = btVec3PointSegmentDist2(P, x0, C, &witness2);
+ if (dist2 < dist) {
+ dist = dist2;
+ if (witness)
+ btVec3Copy(witness, &witness2);
+ }
+
+ dist2 = btVec3PointSegmentDist2(P, B, C, &witness2);
+ if (dist2 < dist) {
+ dist = dist2;
+ if (witness)
+ btVec3Copy(witness, &witness2);
+ }
+ }
+
+ return dist;
+}
+
+
+static int btDoSimplex2(btSimplex *simplex, btVector3 *dir)
+{
+ const btSupportVector *A, *B;
+ btVector3 AB, AO, tmp;
+ btScalar dot;
+
+ // get last added as A
+ A = ccdSimplexLast(simplex);
+ // get the other point
+ B = btSimplexPoint(simplex, 0);
+ // compute AB oriented segment
+ btVec3Sub2(&AB, &B->v, &A->v);
+ // compute AO vector
+ btVec3Copy(&AO, &A->v);
+ btVec3Scale(&AO, -btScalar(1));
+
+ // dot product AB . AO
+ dot = btVec3Dot(&AB, &AO);
+
+ // check if origin doesn't lie on AB segment
+ btVec3Cross(&tmp, &AB, &AO);
+ if (btFuzzyZero(btVec3Dot(&tmp, &tmp)) && dot > btScalar(0)) {
+ return 1;
+ }
+
+ // check if origin is in area where AB segment is
+ if (btFuzzyZero(dot) || dot < btScalar(0)) {
+ // origin is in outside are of A
+ btSimplexSet(simplex, 0, A);
+ btSimplexSetSize(simplex, 1);
+ btVec3Copy(dir, &AO);
+ }
+ else {
+ // origin is in area where AB segment is
+
+ // keep simplex untouched and set direction to
+ // AB x AO x AB
+ btTripleCross(&AB, &AO, &AB, dir);
+ }
+
+ return 0;
+}
+
+
+
+static int btDoSimplex3(btSimplex *simplex, btVector3 *dir)
+{
+ const btSupportVector *A, *B, *C;
+ btVector3 AO, AB, AC, ABC, tmp;
+ btScalar dot, dist;
+
+ // get last added as A
+ A = ccdSimplexLast(simplex);
+ // get the other points
+ B = btSimplexPoint(simplex, 1);
+ C = btSimplexPoint(simplex, 0);
+
+ // check touching contact
+ dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &C->v, 0);
+ if (btFuzzyZero(dist)) {
+ return 1;
+ }
+
+ // check if triangle is really triangle (has area > 0)
+ // if not simplex can't be expanded and thus no itersection is found
+ if (btVec3Eq(&A->v, &B->v) || btVec3Eq(&A->v, &C->v)) {
+ return -1;
+ }
+
+ // compute AO vector
+ btVec3Copy(&AO, &A->v);
+ btVec3Scale(&AO, -btScalar(1));
+
+ // compute AB and AC segments and ABC vector (perpendircular to triangle)
+ btVec3Sub2(&AB, &B->v, &A->v);
+ btVec3Sub2(&AC, &C->v, &A->v);
+ btVec3Cross(&ABC, &AB, &AC);
+
+ btVec3Cross(&tmp, &ABC, &AC);
+ dot = btVec3Dot(&tmp, &AO);
+ if (btFuzzyZero(dot) || dot > btScalar(0)) {
+ dot = btVec3Dot(&AC, &AO);
+ if (btFuzzyZero(dot) || dot > btScalar(0)) {
+ // C is already in place
+ btSimplexSet(simplex, 1, A);
+ btSimplexSetSize(simplex, 2);
+ btTripleCross(&AC, &AO, &AC, dir);
+ }
+ else {
+
+ dot = btVec3Dot(&AB, &AO);
+ if (btFuzzyZero(dot) || dot > btScalar(0)) {
+ btSimplexSet(simplex, 0, B);
+ btSimplexSet(simplex, 1, A);
+ btSimplexSetSize(simplex, 2);
+ btTripleCross(&AB, &AO, &AB, dir);
+ }
+ else {
+ btSimplexSet(simplex, 0, A);
+ btSimplexSetSize(simplex, 1);
+ btVec3Copy(dir, &AO);
+ }
+ }
+ }
+ else {
+ btVec3Cross(&tmp, &AB, &ABC);
+ dot = btVec3Dot(&tmp, &AO);
+ if (btFuzzyZero(dot) || dot > btScalar(0))
+ {
+ dot = btVec3Dot(&AB, &AO);
+ if (btFuzzyZero(dot) || dot > btScalar(0)) {
+ btSimplexSet(simplex, 0, B);
+ btSimplexSet(simplex, 1, A);
+ btSimplexSetSize(simplex, 2);
+ btTripleCross(&AB, &AO, &AB, dir);
+ }
+ else {
+ btSimplexSet(simplex, 0, A);
+ btSimplexSetSize(simplex, 1);
+ btVec3Copy(dir, &AO);
+ }
+ }
+ else {
+ dot = btVec3Dot(&ABC, &AO);
+ if (btFuzzyZero(dot) || dot > btScalar(0)) {
+ btVec3Copy(dir, &ABC);
+ }
+ else {
+ btSupportVector tmp;
+ btSupportCopy(&tmp, C);
+ btSimplexSet(simplex, 0, B);
+ btSimplexSet(simplex, 1, &tmp);
+
+ btVec3Copy(dir, &ABC);
+ btVec3Scale(dir, -btScalar(1));
+ }
+ }
+ }
+
+ return 0;
+}
+
+static int btDoSimplex4(btSimplex *simplex, btVector3 *dir)
+{
+ const btSupportVector *A, *B, *C, *D;
+ btVector3 AO, AB, AC, AD, ABC, ACD, ADB;
+ int B_on_ACD, C_on_ADB, D_on_ABC;
+ int AB_O, AC_O, AD_O;
+ btScalar dist;
+
+ // get last added as A
+ A = ccdSimplexLast(simplex);
+ // get the other points
+ B = btSimplexPoint(simplex, 2);
+ C = btSimplexPoint(simplex, 1);
+ D = btSimplexPoint(simplex, 0);
+
+ // check if tetrahedron is really tetrahedron (has volume > 0)
+ // if it is not simplex can't be expanded and thus no intersection is
+ // found
+ dist = btVec3PointTriDist2(&A->v, &B->v, &C->v, &D->v, 0);
+ if (btFuzzyZero(dist)) {
+ return -1;
+ }
+
+ // check if origin lies on some of tetrahedron's face - if so objects
+ // intersect
+ dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &C->v, 0);
+ if (btFuzzyZero(dist))
+ return 1;
+ dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &C->v, &D->v, 0);
+ if (btFuzzyZero(dist))
+ return 1;
+ dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &D->v, 0);
+ if (btFuzzyZero(dist))
+ return 1;
+ dist = btVec3PointTriDist2(&ccd_vec3_origin, &B->v, &C->v, &D->v, 0);
+ if (btFuzzyZero(dist))
+ return 1;
+
+ // compute AO, AB, AC, AD segments and ABC, ACD, ADB normal vectors
+ btVec3Copy(&AO, &A->v);
+ btVec3Scale(&AO, -btScalar(1));
+ btVec3Sub2(&AB, &B->v, &A->v);
+ btVec3Sub2(&AC, &C->v, &A->v);
+ btVec3Sub2(&AD, &D->v, &A->v);
+ btVec3Cross(&ABC, &AB, &AC);
+ btVec3Cross(&ACD, &AC, &AD);
+ btVec3Cross(&ADB, &AD, &AB);
+
+ // side (positive or negative) of B, C, D relative to planes ACD, ADB
+ // and ABC respectively
+ B_on_ACD = ccdSign(btVec3Dot(&ACD, &AB));
+ C_on_ADB = ccdSign(btVec3Dot(&ADB, &AC));
+ D_on_ABC = ccdSign(btVec3Dot(&ABC, &AD));
+
+ // whether origin is on same side of ACD, ADB, ABC as B, C, D
+ // respectively
+ AB_O = ccdSign(btVec3Dot(&ACD, &AO)) == B_on_ACD;
+ AC_O = ccdSign(btVec3Dot(&ADB, &AO)) == C_on_ADB;
+ AD_O = ccdSign(btVec3Dot(&ABC, &AO)) == D_on_ABC;
+
+ if (AB_O && AC_O && AD_O) {
+ // origin is in tetrahedron
+ return 1;
+ // rearrange simplex to triangle and call btDoSimplex3()
+ }
+ else if (!AB_O) {
+ // B is farthest from the origin among all of the tetrahedron's
+ // points, so remove it from the list and go on with the triangle
+ // case
+
+ // D and C are in place
+ btSimplexSet(simplex, 2, A);
+ btSimplexSetSize(simplex, 3);
+ }
+ else if (!AC_O) {
+ // C is farthest
+ btSimplexSet(simplex, 1, D);
+ btSimplexSet(simplex, 0, B);
+ btSimplexSet(simplex, 2, A);
+ btSimplexSetSize(simplex, 3);
+ }
+ else { // (!AD_O)
+ btSimplexSet(simplex, 0, C);
+ btSimplexSet(simplex, 1, B);
+ btSimplexSet(simplex, 2, A);
+ btSimplexSetSize(simplex, 3);
+ }
+
+ return btDoSimplex3(simplex, dir);
+}
+
+static int btDoSimplex(btSimplex *simplex, btVector3 *dir)
+{
+ if (btSimplexSize(simplex) == 2) {
+ // simplex contains segment only one segment
+ return btDoSimplex2(simplex, dir);
+ }
+ else if (btSimplexSize(simplex) == 3) {
+ // simplex contains triangle
+ return btDoSimplex3(simplex, dir);
+ }
+ else { // btSimplexSize(simplex) == 4
+ // tetrahedron - this is the only shape which can encapsule origin
+ // so btDoSimplex4() also contains test on it
+ return btDoSimplex4(simplex, dir);
+ }
+}
+
#ifdef __SPU__
void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw)
#else
@@ -123,193 +710,308 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
bool checkSimplex = false;
bool checkPenetration = true;
m_degenerateSimplex = 0;
-
+
m_lastUsedMethod = -1;
-
+ int status = -2;
+ btVector3 orgNormalInB(0, 0, 0);
+ btScalar margin = marginA + marginB;
+
+ //we add a separate implementation to check if the convex shapes intersect
+ //See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang
+ //Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver
+ //and remove this temporary code from libCCD
+ //this fixes issue https://github.com/bulletphysics/bullet3/issues/1703
+ //note, for large differences in shapes, use double precision build!
{
btScalar squaredDistance = BT_LARGE_FLOAT;
btScalar delta = btScalar(0.);
-
- btScalar margin = marginA + marginB;
-
-
- m_simplexSolver->reset();
+
+
- for ( ; ; )
- //while (true)
- {
+ btSimplex simplex1;
+ btSimplex* simplex = &simplex1;
+ btSimplexInit(simplex);
- btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis();
- btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis();
+ btVector3 dir(1, 0, 0);
+ {
- btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
- btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+ btVector3 lastSupV;
+ btVector3 supAworld;
+ btVector3 supBworld;
+ btComputeSupport(m_minkowskiA, localTransA, m_minkowskiB, localTransB, dir, check2d, supAworld, supBworld, lastSupV);
+
+ btSupportVector last;
+ last.v = lastSupV;
+ last.v1 = supAworld;
+ last.v2 = supBworld;
- btVector3 pWorld = localTransA(pInA);
- btVector3 qWorld = localTransB(qInB);
+ btSimplexAdd(simplex, &last);
+ dir = -lastSupV;
- if (check2d)
+
+
+ // start iterations
+ for (int iterations = 0; iterations <gGjkMaxIter; iterations++)
{
- pWorld[2] = 0.f;
- qWorld[2] = 0.f;
- }
+ // obtain support point
+ btComputeSupport(m_minkowskiA, localTransA, m_minkowskiB, localTransB, dir, check2d, supAworld, supBworld, lastSupV);
+
+ // check if farthest point in Minkowski difference in direction dir
+ // isn't somewhere before origin (the test on negative dot product)
+ // - because if it is, objects are not intersecting at all.
+ btScalar delta = lastSupV.dot(dir);
+ if (delta < 0)
+ {
+ //no intersection, besides margin
+ status = -1;
+ break;
+ }
+
+ // add last support vector to simplex
+ last.v = lastSupV;
+ last.v1 = supAworld;
+ last.v2 = supBworld;
- btVector3 w = pWorld - qWorld;
- delta = m_cachedSeparatingAxis.dot(w);
+ btSimplexAdd(simplex, &last);
- // potential exit, they don't overlap
- if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
- {
- m_degenerateSimplex = 10;
- checkSimplex=true;
- //checkPenetration = false;
- break;
- }
+ // if btDoSimplex returns 1 if objects intersect, -1 if objects don't
+ // intersect and 0 if algorithm should continue
- //exit 0: the new point is already in the simplex, or we didn't come any closer
- if (m_simplexSolver->inSimplex(w))
- {
- m_degenerateSimplex = 1;
- checkSimplex = true;
- break;
- }
- // are we getting any closer ?
- btScalar f0 = squaredDistance - delta;
- btScalar f1 = squaredDistance * REL_ERROR2;
+ btVector3 newDir;
+ int do_simplex_res = btDoSimplex(simplex, &dir);
- if (f0 <= f1)
- {
- if (f0 <= btScalar(0.))
+ if (do_simplex_res == 1)
{
- m_degenerateSimplex = 2;
- } else
+ status = 0; // intersection found
+ break;
+ }
+ else if (do_simplex_res == -1)
+ {
+ // intersection not found
+ status = -1;
+ break;
+ }
+
+ if (btFuzzyZero(btVec3Dot(&dir, &dir)))
+ {
+ // intersection not found
+ status = -1;
+ }
+
+ if (dir.length2() < SIMD_EPSILON)
{
- m_degenerateSimplex = 11;
+ //no intersection, besides margin
+ status = -1;
+ break;
+ }
+
+ if (dir.fuzzyZero())
+ {
+ // intersection not found
+ status = -1;
+ break;
}
- checkSimplex = true;
- break;
}
- //add current vertex to simplex
- m_simplexSolver->addVertex(w, pWorld, qWorld);
- btVector3 newCachedSeparatingAxis;
+ }
+
+ m_simplexSolver->reset();
+ if (status == 0)
+ {
+ //status = 0;
+ //printf("Intersect!\n");
+ }
- //calculate the closest point to the origin (update vector v)
- if (!m_simplexSolver->closest(newCachedSeparatingAxis))
+ if (status==-1)
+ {
+ //printf("not intersect\n");
+ }
+ //printf("dir=%f,%f,%f\n",dir[0],dir[1],dir[2]);
+ if (1)
+ {
+ for (; ; )
+ //while (true)
{
- m_degenerateSimplex = 3;
- checkSimplex = true;
- break;
- }
- if(newCachedSeparatingAxis.length2()<REL_ERROR2)
- {
- m_cachedSeparatingAxis = newCachedSeparatingAxis;
- m_degenerateSimplex = 6;
- checkSimplex = true;
- break;
- }
+ btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* localTransA.getBasis();
+ btVector3 seperatingAxisInB = m_cachedSeparatingAxis* localTransB.getBasis();
+
+
+ btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+ btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+
+ btVector3 pWorld = localTransA(pInA);
+ btVector3 qWorld = localTransB(qInB);
- btScalar previousSquaredDistance = squaredDistance;
- squaredDistance = newCachedSeparatingAxis.length2();
+
+ if (check2d)
+ {
+ pWorld[2] = 0.f;
+ qWorld[2] = 0.f;
+ }
+
+ btVector3 w = pWorld - qWorld;
+ delta = m_cachedSeparatingAxis.dot(w);
+
+ // potential exit, they don't overlap
+ if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared))
+ {
+ m_degenerateSimplex = 10;
+ checkSimplex = true;
+ //checkPenetration = false;
+ break;
+ }
+
+ //exit 0: the new point is already in the simplex, or we didn't come any closer
+ if (m_simplexSolver->inSimplex(w))
+ {
+ m_degenerateSimplex = 1;
+ checkSimplex = true;
+ break;
+ }
+ // are we getting any closer ?
+ btScalar f0 = squaredDistance - delta;
+ btScalar f1 = squaredDistance * REL_ERROR2;
+
+ if (f0 <= f1)
+ {
+ if (f0 <= btScalar(0.))
+ {
+ m_degenerateSimplex = 2;
+ }
+ else
+ {
+ m_degenerateSimplex = 11;
+ }
+ checkSimplex = true;
+ break;
+ }
+
+ //add current vertex to simplex
+ m_simplexSolver->addVertex(w, pWorld, qWorld);
+ btVector3 newCachedSeparatingAxis;
+
+ //calculate the closest point to the origin (update vector v)
+ if (!m_simplexSolver->closest(newCachedSeparatingAxis))
+ {
+ m_degenerateSimplex = 3;
+ checkSimplex = true;
+ break;
+ }
+
+ if (newCachedSeparatingAxis.length2() < REL_ERROR2)
+ {
+ m_cachedSeparatingAxis = newCachedSeparatingAxis;
+ m_degenerateSimplex = 6;
+ checkSimplex = true;
+ break;
+ }
+
+ btScalar previousSquaredDistance = squaredDistance;
+ squaredDistance = newCachedSeparatingAxis.length2();
#if 0
-///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
- if (squaredDistance>previousSquaredDistance)
- {
- m_degenerateSimplex = 7;
- squaredDistance = previousSquaredDistance;
- checkSimplex = false;
- break;
- }
+ ///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo
+ if (squaredDistance > previousSquaredDistance)
+ {
+ m_degenerateSimplex = 7;
+ squaredDistance = previousSquaredDistance;
+ checkSimplex = false;
+ break;
+ }
#endif //
-
- //redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
- //are we getting any closer ?
- if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
- {
-// m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
- checkSimplex = true;
- m_degenerateSimplex = 12;
-
- break;
- }
+ //redundant m_simplexSolver->compute_points(pointOnA, pointOnB);
- m_cachedSeparatingAxis = newCachedSeparatingAxis;
+ //are we getting any closer ?
+ if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance)
+ {
+ // m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+ checkSimplex = true;
+ m_degenerateSimplex = 12;
+
+ break;
+ }
- //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
- if (m_curIter++ > gGjkMaxIter)
- {
- #if defined(DEBUG) || defined (_DEBUG)
+ m_cachedSeparatingAxis = newCachedSeparatingAxis;
- printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter);
- printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
- m_cachedSeparatingAxis.getX(),
- m_cachedSeparatingAxis.getY(),
- m_cachedSeparatingAxis.getZ(),
- squaredDistance,
- m_minkowskiA->getShapeType(),
- m_minkowskiB->getShapeType());
+ //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject
+ if (m_curIter++ > gGjkMaxIter)
+ {
+#if defined(DEBUG) || defined (_DEBUG)
- #endif
- break;
+ printf("btGjkPairDetector maxIter exceeded:%i\n", m_curIter);
+ printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n",
+ m_cachedSeparatingAxis.getX(),
+ m_cachedSeparatingAxis.getY(),
+ m_cachedSeparatingAxis.getZ(),
+ squaredDistance,
+ m_minkowskiA->getShapeType(),
+ m_minkowskiB->getShapeType());
- }
+#endif
+ break;
+ }
- bool check = (!m_simplexSolver->fullSimplex());
- //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
- if (!check)
- {
- //do we need this backup_closest here ?
-// m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
- m_degenerateSimplex = 13;
- break;
+ bool check = (!m_simplexSolver->fullSimplex());
+ //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex());
+
+ if (!check)
+ {
+ //do we need this backup_closest here ?
+ // m_simplexSolver->backup_closest(m_cachedSeparatingAxis);
+ m_degenerateSimplex = 13;
+ break;
+ }
}
- }
- if (checkSimplex)
- {
+ if (checkSimplex)
+ {
m_simplexSolver->compute_points(pointOnA, pointOnB);
normalInB = m_cachedSeparatingAxis;
btScalar lenSqr =m_cachedSeparatingAxis.length2();
- //valid normal
- if (lenSqr < REL_ERROR2)
- {
- m_degenerateSimplex = 5;
- }
- if (lenSqr > SIMD_EPSILON*SIMD_EPSILON)
- {
- btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
- normalInB *= rlen; //normalize
+ //valid normal
+ if (lenSqr < REL_ERROR2)
+ {
+ m_degenerateSimplex = 5;
+ }
+ if (lenSqr > SIMD_EPSILON*SIMD_EPSILON)
+ {
+ btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
+ normalInB *= rlen; //normalize
- btScalar s = btSqrt(squaredDistance);
-
- btAssert(s > btScalar(0.0));
- pointOnA -= m_cachedSeparatingAxis * (marginA / s);
- pointOnB += m_cachedSeparatingAxis * (marginB / s);
- distance = ((btScalar(1.)/rlen) - margin);
- isValid = true;
-
- m_lastUsedMethod = 1;
- } else
- {
- m_lastUsedMethod = 2;
+ btScalar s = btSqrt(squaredDistance);
+
+ btAssert(s > btScalar(0.0));
+ pointOnA -= m_cachedSeparatingAxis * (marginA / s);
+ pointOnB += m_cachedSeparatingAxis * (marginB / s);
+ distance = ((btScalar(1.) / rlen) - margin);
+ isValid = true;
+ orgNormalInB = normalInB;
+
+ m_lastUsedMethod = 1;
+ }
+ else
+ {
+ m_lastUsedMethod = 2;
+ }
}
}
+
+
bool catchDegeneratePenetrationCase =
(m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < gGjkEpaPenetrationTolerance));
//if (checkPenetration && !isValid)
- if (checkPenetration && (!isValid || catchDegeneratePenetrationCase ))
+ if ((checkPenetration && (!isValid || catchDegeneratePenetrationCase )) || (status == 0))
{
//penetration case
@@ -331,70 +1033,79 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
);
- if (isValid2)
+ if (m_cachedSeparatingAxis.length2())
{
- btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA;
- btScalar lenSqr = tmpNormalInB.length2();
- if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON))
+ if (isValid2)
{
- tmpNormalInB = m_cachedSeparatingAxis;
- lenSqr = m_cachedSeparatingAxis.length2();
- }
+ btVector3 tmpNormalInB = tmpPointOnB - tmpPointOnA;
+ btScalar lenSqr = tmpNormalInB.length2();
+ if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON))
+ {
+ tmpNormalInB = m_cachedSeparatingAxis;
+ lenSqr = m_cachedSeparatingAxis.length2();
+ }
- if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
- {
- tmpNormalInB /= btSqrt(lenSqr);
- btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length();
- m_lastUsedMethod = 3;
- //only replace valid penetrations when the result is deeper (check)
- if (!isValid || (distance2 < distance))
+ if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON))
{
- distance = distance2;
- pointOnA = tmpPointOnA;
- pointOnB = tmpPointOnB;
- normalInB = tmpNormalInB;
-
- isValid = true;
-
- } else
+ tmpNormalInB /= btSqrt(lenSqr);
+ btScalar distance2 = -(tmpPointOnA - tmpPointOnB).length();
+ m_lastUsedMethod = 3;
+ //only replace valid penetrations when the result is deeper (check)
+ if (!isValid || (distance2 < distance))
+ {
+ distance = distance2;
+ pointOnA = tmpPointOnA;
+ pointOnB = tmpPointOnB;
+ normalInB = tmpNormalInB;
+ isValid = true;
+
+ }
+ else
+ {
+ m_lastUsedMethod = 8;
+ }
+ }
+ else
{
- m_lastUsedMethod = 8;
+ m_lastUsedMethod = 9;
}
- } else
- {
- m_lastUsedMethod = 9;
}
- } else
-
- {
- ///this is another degenerate case, where the initial GJK calculation reports a degenerate case
- ///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
- ///reports a valid positive distance. Use the results of the second GJK instead of failing.
- ///thanks to Jacob.Langford for the reproduction case
- ///http://code.google.com/p/bullet/issues/detail?id=250
+ else
-
- if (m_cachedSeparatingAxis.length2() > btScalar(0.))
{
- btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin;
- //only replace valid distances when the distance is less
- if (!isValid || (distance2 < distance))
- {
- distance = distance2;
- pointOnA = tmpPointOnA;
- pointOnB = tmpPointOnB;
- pointOnA -= m_cachedSeparatingAxis * marginA ;
- pointOnB += m_cachedSeparatingAxis * marginB ;
- normalInB = m_cachedSeparatingAxis;
- normalInB.normalize();
-
- isValid = true;
- m_lastUsedMethod = 6;
- } else
+ ///this is another degenerate case, where the initial GJK calculation reports a degenerate case
+ ///EPA reports no penetration, and the second GJK (using the supporting vector without margin)
+ ///reports a valid positive distance. Use the results of the second GJK instead of failing.
+ ///thanks to Jacob.Langford for the reproduction case
+ ///http://code.google.com/p/bullet/issues/detail?id=250
+
+
+ if (m_cachedSeparatingAxis.length2() > btScalar(0.))
{
- m_lastUsedMethod = 5;
+ btScalar distance2 = (tmpPointOnA - tmpPointOnB).length() - margin;
+ //only replace valid distances when the distance is less
+ if (!isValid || (distance2 < distance))
+ {
+ distance = distance2;
+ pointOnA = tmpPointOnA;
+ pointOnB = tmpPointOnB;
+ pointOnA -= m_cachedSeparatingAxis * marginA;
+ pointOnB += m_cachedSeparatingAxis * marginB;
+ normalInB = m_cachedSeparatingAxis;
+ normalInB.normalize();
+
+ isValid = true;
+ m_lastUsedMethod = 6;
+ }
+ else
+ {
+ m_lastUsedMethod = 5;
+ }
}
}
+ } else
+ {
+ //printf("EPA didn't return a valid value\n");
}
}
@@ -409,17 +1120,33 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
m_cachedSeparatingAxis = normalInB;
m_cachedSeparatingDistance = distance;
-
+ if (1)
{
///todo: need to track down this EPA penetration solver degeneracy
///the penetration solver reports penetration but the contact normal
///connecting the contact points is pointing in the opposite direction
///until then, detect the issue and revert the normal
+ btScalar d2 = 0.f;
+ {
+ btVector3 seperatingAxisInA = (-orgNormalInB)* localTransA.getBasis();
+ btVector3 seperatingAxisInB = orgNormalInB* localTransB.getBasis();
+
+
+ btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
+ btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB);
+
+ btVector3 pWorld = localTransA(pInA);
+ btVector3 qWorld = localTransB(qInB);
+ btVector3 w = pWorld - qWorld;
+ d2 = orgNormalInB.dot(w)- margin;
+ }
+
btScalar d1=0;
{
- btVector3 seperatingAxisInA = (normalInB)* input.m_transformA.getBasis();
- btVector3 seperatingAxisInB = -normalInB* input.m_transformB.getBasis();
+
+ btVector3 seperatingAxisInA = (normalInB)* localTransA.getBasis();
+ btVector3 seperatingAxisInB = -normalInB* localTransB.getBasis();
btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA);
@@ -428,7 +1155,8 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);
btVector3 w = pWorld - qWorld;
- d1 = (-normalInB).dot(w);
+ d1 = (-normalInB).dot(w)- margin;
+
}
btScalar d0 = 0.f;
{
@@ -442,21 +1170,37 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
btVector3 pWorld = localTransA(pInA);
btVector3 qWorld = localTransB(qInB);
btVector3 w = pWorld - qWorld;
- d0 = normalInB.dot(w);
+ d0 = normalInB.dot(w)-margin;
}
+
if (d1>d0)
{
m_lastUsedMethod = 10;
normalInB*=-1;
}
+ if (orgNormalInB.length2())
+ {
+ if (d2 > d0 && d2 > d1 && d2 > distance)
+ {
+
+ normalInB = orgNormalInB;
+ distance = d2;
+ }
+ }
}
+
+
output.addContactPoint(
normalInB,
pointOnB+positionOffset,
distance);
}
+ else
+ {
+ //printf("invalid gjk query\n");
+ }
}
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
index 23aaece22b..9603a8bbdc 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
@@ -16,7 +16,13 @@ subject to the following restrictions:
#include "btPersistentManifold.h"
#include "LinearMath/btTransform.h"
+#include "LinearMath/btSerializer.h"
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btCollisionObjectData btCollisionObjectDoubleData
+#else
+#define btCollisionObjectData btCollisionObjectFloatData
+#endif
btScalar gContactBreakingThreshold = btScalar(0.02);
ContactDestroyedCallback gContactDestroyedCallback = 0;
@@ -33,6 +39,8 @@ btPersistentManifold::btPersistentManifold()
m_body0(0),
m_body1(0),
m_cachedPoints (0),
+m_companionIdA(0),
+m_companionIdB(0),
m_index1a(0)
{
}
@@ -303,6 +311,149 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT
}
+int btPersistentManifold::calculateSerializeBufferSize() const
+{
+ return sizeof(btPersistentManifoldData);
+}
+
+const char* btPersistentManifold::serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const
+{
+ btPersistentManifoldData* dataOut = (btPersistentManifoldData*)dataBuffer;
+ memset(dataOut, 0, sizeof(btPersistentManifoldData));
+
+ dataOut->m_body0 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody0());
+ dataOut->m_body1 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody1());
+ dataOut->m_contactBreakingThreshold = manifold->getContactBreakingThreshold();
+ dataOut->m_contactProcessingThreshold = manifold->getContactProcessingThreshold();
+ dataOut->m_numCachedPoints = manifold->getNumContacts();
+ dataOut->m_companionIdA = manifold->m_companionIdA;
+ dataOut->m_companionIdB = manifold->m_companionIdB;
+ dataOut->m_index1a = manifold->m_index1a;
+ dataOut->m_objectType = manifold->m_objectType;
+
+ for (int i = 0; i < this->getNumContacts(); i++)
+ {
+ const btManifoldPoint& pt = manifold->getContactPoint(i);
+ dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse;
+ dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
+ dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2;
+ pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]);
+ pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]);
+ pt.m_normalWorldOnB.serialize(dataOut->m_pointCacheNormalWorldOnB[i]);
+ dataOut->m_pointCacheDistance[i] = pt.m_distance1;
+ dataOut->m_pointCacheCombinedContactDamping1[i] = pt.m_combinedContactDamping1;
+ dataOut->m_pointCacheCombinedContactStiffness1[i] = pt.m_combinedContactStiffness1;
+ dataOut->m_pointCacheLifeTime[i] = pt.m_lifeTime;
+ dataOut->m_pointCacheFrictionCFM[i] = pt.m_frictionCFM;
+ dataOut->m_pointCacheContactERP[i] = pt.m_contactERP;
+ dataOut->m_pointCacheContactCFM[i] = pt.m_contactCFM;
+ dataOut->m_pointCacheContactPointFlags[i] = pt.m_contactPointFlags;
+ dataOut->m_pointCacheIndex0[i] = pt.m_index0;
+ dataOut->m_pointCacheIndex1[i] = pt.m_index1;
+ dataOut->m_pointCachePartId0[i] = pt.m_partId0;
+ dataOut->m_pointCachePartId1[i] = pt.m_partId1;
+ pt.m_positionWorldOnA.serialize(dataOut->m_pointCachePositionWorldOnA[i]);
+ pt.m_positionWorldOnB.serialize(dataOut->m_pointCachePositionWorldOnB[i]);
+ dataOut->m_pointCacheCombinedFriction[i] = pt.m_combinedFriction;
+ pt.m_lateralFrictionDir1.serialize(dataOut->m_pointCacheLateralFrictionDir1[i]);
+ pt.m_lateralFrictionDir2.serialize(dataOut->m_pointCacheLateralFrictionDir2[i]);
+ dataOut->m_pointCacheCombinedRollingFriction[i] = pt.m_combinedRollingFriction;
+ dataOut->m_pointCacheCombinedSpinningFriction[i] = pt.m_combinedSpinningFriction;
+ dataOut->m_pointCacheCombinedRestitution[i] = pt.m_combinedRestitution;
+ dataOut->m_pointCacheContactMotion1[i] = pt.m_contactMotion1;
+ dataOut->m_pointCacheContactMotion2[i] = pt.m_contactMotion2;
+ }
+ return btPersistentManifoldDataName;
+}
+
+void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr)
+{
+ m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
+ m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
+ m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
+ m_companionIdA = manifoldDataPtr->m_companionIdA;
+ m_companionIdB = manifoldDataPtr->m_companionIdB;
+ //m_index1a = manifoldDataPtr->m_index1a;
+ m_objectType = manifoldDataPtr->m_objectType;
+
+ for (int i = 0; i < this->getNumContacts(); i++)
+ {
+ btManifoldPoint& pt = m_pointCache[i];
+
+ pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
+ pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
+ pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
+ pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]);
+ pt.m_localPointB.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointB[i]);
+ pt.m_normalWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
+ pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
+ pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
+ pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
+ pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
+ pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
+ pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
+ pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
+ pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
+ pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
+ pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
+ pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
+ pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
+ pt.m_positionWorldOnA.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
+ pt.m_positionWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
+ pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
+ pt.m_lateralFrictionDir1.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
+ pt.m_lateralFrictionDir2.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
+ pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
+ pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
+ pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
+ pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
+ pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
+ }
+}
+void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr)
+{
+ m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
+ m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
+ m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
+ m_companionIdA = manifoldDataPtr->m_companionIdA;
+ m_companionIdB = manifoldDataPtr->m_companionIdB;
+ //m_index1a = manifoldDataPtr->m_index1a;
+ m_objectType = manifoldDataPtr->m_objectType;
+
+ for (int i = 0; i < this->getNumContacts(); i++)
+ {
+ btManifoldPoint& pt = m_pointCache[i];
+
+ pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
+ pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
+ pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
+ pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]);
+ pt.m_localPointB.deSerialize(manifoldDataPtr->m_pointCacheLocalPointB[i]);
+ pt.m_normalWorldOnB.deSerialize(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
+ pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
+ pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
+ pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
+ pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
+ pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
+ pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
+ pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
+ pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
+ pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
+ pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
+ pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
+ pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
+ pt.m_positionWorldOnA.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
+ pt.m_positionWorldOnB.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
+ pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
+ pt.m_lateralFrictionDir1.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
+ pt.m_lateralFrictionDir2.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
+ pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
+ pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
+ pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
+ pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
+ pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
+ }
+} \ No newline at end of file
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
index f872c8e1c9..67be0c48eb 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
@@ -24,6 +24,8 @@ class btCollisionObject;
#include "LinearMath/btAlignedAllocator.h"
struct btCollisionResult;
+struct btCollisionObjectDoubleData;
+struct btCollisionObjectFloatData;
///maximum contact breaking and merging threshold
extern btScalar gContactBreakingThreshold;
@@ -95,7 +97,10 @@ public:
: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
m_body0(body0),m_body1(body1),m_cachedPoints(0),
m_contactBreakingThreshold(contactBreakingThreshold),
- m_contactProcessingThreshold(contactProcessingThreshold)
+ m_contactProcessingThreshold(contactProcessingThreshold),
+ m_companionIdA(0),
+ m_companionIdB(0),
+ m_index1a(0)
{
}
@@ -256,10 +261,115 @@ public:
m_cachedPoints = 0;
}
+ int calculateSerializeBufferSize() const;
+ const char* serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const;
+ void deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr);
+ void deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr);
-}
-;
+};
+
+
+
+struct btPersistentManifoldDoubleData
+{
+ btVector3DoubleData m_pointCacheLocalPointA[4];
+ btVector3DoubleData m_pointCacheLocalPointB[4];
+ btVector3DoubleData m_pointCachePositionWorldOnA[4];
+ btVector3DoubleData m_pointCachePositionWorldOnB[4];
+ btVector3DoubleData m_pointCacheNormalWorldOnB[4];
+ btVector3DoubleData m_pointCacheLateralFrictionDir1[4];
+ btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
+ double m_pointCacheDistance[4];
+ double m_pointCacheAppliedImpulse[4];
+ double m_pointCacheCombinedFriction[4];
+ double m_pointCacheCombinedRollingFriction[4];
+ double m_pointCacheCombinedSpinningFriction[4];
+ double m_pointCacheCombinedRestitution[4];
+ int m_pointCachePartId0[4];
+ int m_pointCachePartId1[4];
+ int m_pointCacheIndex0[4];
+ int m_pointCacheIndex1[4];
+ int m_pointCacheContactPointFlags[4];
+ double m_pointCacheAppliedImpulseLateral1[4];
+ double m_pointCacheAppliedImpulseLateral2[4];
+ double m_pointCacheContactMotion1[4];
+ double m_pointCacheContactMotion2[4];
+ double m_pointCacheContactCFM[4];
+ double m_pointCacheCombinedContactStiffness1[4];
+ double m_pointCacheContactERP[4];
+ double m_pointCacheCombinedContactDamping1[4];
+ double m_pointCacheFrictionCFM[4];
+ int m_pointCacheLifeTime[4];
+
+ int m_numCachedPoints;
+ int m_companionIdA;
+ int m_companionIdB;
+ int m_index1a;
+
+ int m_objectType;
+ double m_contactBreakingThreshold;
+ double m_contactProcessingThreshold;
+ int m_padding;
+
+ btCollisionObjectDoubleData *m_body0;
+ btCollisionObjectDoubleData *m_body1;
+};
+
+
+struct btPersistentManifoldFloatData
+{
+ btVector3FloatData m_pointCacheLocalPointA[4];
+ btVector3FloatData m_pointCacheLocalPointB[4];
+ btVector3FloatData m_pointCachePositionWorldOnA[4];
+ btVector3FloatData m_pointCachePositionWorldOnB[4];
+ btVector3FloatData m_pointCacheNormalWorldOnB[4];
+ btVector3FloatData m_pointCacheLateralFrictionDir1[4];
+ btVector3FloatData m_pointCacheLateralFrictionDir2[4];
+ float m_pointCacheDistance[4];
+ float m_pointCacheAppliedImpulse[4];
+ float m_pointCacheCombinedFriction[4];
+ float m_pointCacheCombinedRollingFriction[4];
+ float m_pointCacheCombinedSpinningFriction[4];
+ float m_pointCacheCombinedRestitution[4];
+ int m_pointCachePartId0[4];
+ int m_pointCachePartId1[4];
+ int m_pointCacheIndex0[4];
+ int m_pointCacheIndex1[4];
+ int m_pointCacheContactPointFlags[4];
+ float m_pointCacheAppliedImpulseLateral1[4];
+ float m_pointCacheAppliedImpulseLateral2[4];
+ float m_pointCacheContactMotion1[4];
+ float m_pointCacheContactMotion2[4];
+ float m_pointCacheContactCFM[4];
+ float m_pointCacheCombinedContactStiffness1[4];
+ float m_pointCacheContactERP[4];
+ float m_pointCacheCombinedContactDamping1[4];
+ float m_pointCacheFrictionCFM[4];
+ int m_pointCacheLifeTime[4];
+
+ int m_numCachedPoints;
+ int m_companionIdA;
+ int m_companionIdB;
+ int m_index1a;
+
+ int m_objectType;
+ float m_contactBreakingThreshold;
+ float m_contactProcessingThreshold;
+ int m_padding;
+
+ btCollisionObjectFloatData *m_body0;
+ btCollisionObjectFloatData *m_body1;
+};
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btPersistentManifoldData btPersistentManifoldDoubleData
+#define btPersistentManifoldDataName "btPersistentManifoldDoubleData"
+#else
+#define btPersistentManifoldData btPersistentManifoldFloatData
+#define btPersistentManifoldDataName "btPersistentManifoldFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
index ec638f60ba..08d6e6de86 100644
--- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
@@ -72,11 +72,18 @@ bool btSubsimplexConvexCast::calcTimeOfImpact(
btScalar dist2 = v.length2();
+
#ifdef BT_USE_DOUBLE_PRECISION
- btScalar epsilon = btScalar(0.0001);
+ btScalar epsilon = SIMD_EPSILON * 10;
#else
+//todo: epsilon kept for backward compatibility of unit tests.
+//will need to digg deeper to make the algorithm more robust
+//since, a large epsilon can cause an early termination with false
+//positive results (ray intersections that shouldn't be there)
btScalar epsilon = btScalar(0.0001);
#endif //BT_USE_DOUBLE_PRECISION
+
+
btVector3 w,p;
btScalar VdotR;
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
new file mode 100644
index 0000000000..c82ba87f9f
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp
@@ -0,0 +1,1128 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "btBatchedConstraints.h"
+
+#include "LinearMath/btIDebugDraw.h"
+#include "LinearMath/btMinMax.h"
+#include "LinearMath/btStackAlloc.h"
+#include "LinearMath/btQuickprof.h"
+
+#include <string.h> //for memset
+
+const int kNoMerge = -1;
+
+bool btBatchedConstraints::s_debugDrawBatches = false;
+
+
+struct btBatchedConstraintInfo
+{
+ int constraintIndex;
+ int numConstraintRows;
+ int bodyIds[2];
+};
+
+
+struct btBatchInfo
+{
+ int numConstraints;
+ int mergeIndex;
+
+ btBatchInfo() : numConstraints(0), mergeIndex(kNoMerge) {}
+};
+
+
+bool btBatchedConstraints::validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const
+{
+ //
+ // validate: for debugging only. Verify coloring of bodies, that no body is touched by more than one batch in any given phase
+ //
+ int errors = 0;
+ const int kUnassignedBatch = -1;
+
+ btAlignedObjectArray<int> bodyBatchId;
+ for (int iPhase = 0; iPhase < m_phases.size(); ++iPhase)
+ {
+ bodyBatchId.resizeNoInitialize(0);
+ bodyBatchId.resize( bodies.size(), kUnassignedBatch );
+ const Range& phase = m_phases[iPhase];
+ for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch)
+ {
+ const Range& batch = m_batches[iBatch];
+ for (int iiCons = batch.begin; iiCons < batch.end; ++iiCons)
+ {
+ int iCons = m_constraintIndices[iiCons];
+ const btSolverConstraint& cons = constraints->at(iCons);
+ const btSolverBody& bodyA = bodies[cons.m_solverBodyIdA];
+ const btSolverBody& bodyB = bodies[cons.m_solverBodyIdB];
+ if (! bodyA.internalGetInvMass().isZero())
+ {
+ int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdA];
+ if (thisBodyBatchId == kUnassignedBatch)
+ {
+ bodyBatchId[cons.m_solverBodyIdA] = iBatch;
+ }
+ else if (thisBodyBatchId != iBatch)
+ {
+ btAssert( !"dynamic body is used in 2 different batches in the same phase" );
+ errors++;
+ }
+ }
+ if (! bodyB.internalGetInvMass().isZero())
+ {
+ int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdB];
+ if (thisBodyBatchId == kUnassignedBatch)
+ {
+ bodyBatchId[cons.m_solverBodyIdB] = iBatch;
+ }
+ else if (thisBodyBatchId != iBatch)
+ {
+ btAssert( !"dynamic body is used in 2 different batches in the same phase" );
+ errors++;
+ }
+ }
+ }
+ }
+ }
+ return errors == 0;
+}
+
+
+static void debugDrawSingleBatch( const btBatchedConstraints* bc,
+ btConstraintArray* constraints,
+ const btAlignedObjectArray<btSolverBody>& bodies,
+ int iBatch,
+ const btVector3& color,
+ const btVector3& offset
+ )
+{
+ if (bc && bc->m_debugDrawer && iBatch < bc->m_batches.size())
+ {
+ const btBatchedConstraints::Range& b = bc->m_batches[iBatch];
+ for (int iiCon = b.begin; iiCon < b.end; ++iiCon)
+ {
+ int iCon = bc->m_constraintIndices[iiCon];
+ const btSolverConstraint& con = constraints->at(iCon);
+ int iBody0 = con.m_solverBodyIdA;
+ int iBody1 = con.m_solverBodyIdB;
+ btVector3 pos0 = bodies[iBody0].getWorldTransform().getOrigin() + offset;
+ btVector3 pos1 = bodies[iBody1].getWorldTransform().getOrigin() + offset;
+ bc->m_debugDrawer->drawLine(pos0, pos1, color);
+ }
+ }
+}
+
+
+static void debugDrawPhase( const btBatchedConstraints* bc,
+ btConstraintArray* constraints,
+ const btAlignedObjectArray<btSolverBody>& bodies,
+ int iPhase,
+ const btVector3& color0,
+ const btVector3& color1,
+ const btVector3& offset
+ )
+{
+ BT_PROFILE( "debugDrawPhase" );
+ if ( bc && bc->m_debugDrawer && iPhase < bc->m_phases.size() )
+ {
+ const btBatchedConstraints::Range& phase = bc->m_phases[iPhase];
+ for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch)
+ {
+ float tt = float(iBatch - phase.begin) / float(btMax(1, phase.end - phase.begin - 1));
+ btVector3 col = lerp(color0, color1, tt);
+ debugDrawSingleBatch(bc, constraints, bodies, iBatch, col, offset);
+ }
+ }
+}
+
+
+static void debugDrawAllBatches( const btBatchedConstraints* bc,
+ btConstraintArray* constraints,
+ const btAlignedObjectArray<btSolverBody>& bodies
+ )
+{
+ BT_PROFILE( "debugDrawAllBatches" );
+ if ( bc && bc->m_debugDrawer && bc->m_phases.size() > 0 )
+ {
+ btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
+ btVector3 bboxMax = -bboxMin;
+ for (int iBody = 0; iBody < bodies.size(); ++iBody)
+ {
+ const btVector3& pos = bodies[iBody].getWorldTransform().getOrigin();
+ bboxMin.setMin(pos);
+ bboxMax.setMax(pos);
+ }
+ btVector3 bboxExtent = bboxMax - bboxMin;
+ btVector3 offsetBase = btVector3( 0, bboxExtent.y()*1.1f, 0 );
+ btVector3 offsetStep = btVector3( 0, 0, bboxExtent.z()*1.1f );
+ int numPhases = bc->m_phases.size();
+ for (int iPhase = 0; iPhase < numPhases; ++iPhase)
+ {
+ float b = float(iPhase)/float(numPhases-1);
+ btVector3 color0 = btVector3(1,0,b);
+ btVector3 color1 = btVector3(0,1,b);
+ btVector3 offset = offsetBase + offsetStep*(float(iPhase) - float(numPhases-1)*0.5);
+ debugDrawPhase(bc, constraints, bodies, iPhase, color0, color1, offset);
+ }
+ }
+}
+
+
+static void initBatchedBodyDynamicFlags(btAlignedObjectArray<bool>* outBodyDynamicFlags, const btAlignedObjectArray<btSolverBody>& bodies)
+{
+ BT_PROFILE("initBatchedBodyDynamicFlags");
+ btAlignedObjectArray<bool>& bodyDynamicFlags = *outBodyDynamicFlags;
+ bodyDynamicFlags.resizeNoInitialize(bodies.size());
+ for (int i = 0; i < bodies.size(); ++i)
+ {
+ const btSolverBody& body = bodies[ i ];
+ bodyDynamicFlags[i] = ( body.internalGetInvMass().x() > btScalar( 0 ) );
+ }
+}
+
+
+static int runLengthEncodeConstraintInfo(btBatchedConstraintInfo* outConInfos, int numConstraints)
+{
+ BT_PROFILE("runLengthEncodeConstraintInfo");
+ // detect and run-length encode constraint rows that repeat the same bodies
+ int iDest = 0;
+ int iSrc = 0;
+ while (iSrc < numConstraints)
+ {
+ const btBatchedConstraintInfo& srcConInfo = outConInfos[iSrc];
+ btBatchedConstraintInfo& conInfo = outConInfos[iDest];
+ conInfo.constraintIndex = iSrc;
+ conInfo.bodyIds[0] = srcConInfo.bodyIds[0];
+ conInfo.bodyIds[1] = srcConInfo.bodyIds[1];
+ while (iSrc < numConstraints && outConInfos[iSrc].bodyIds[0] == srcConInfo.bodyIds[0] && outConInfos[iSrc].bodyIds[1] == srcConInfo.bodyIds[1])
+ {
+ ++iSrc;
+ }
+ conInfo.numConstraintRows = iSrc - conInfo.constraintIndex;
+ ++iDest;
+ }
+ return iDest;
+}
+
+
+struct ReadSolverConstraintsLoop : public btIParallelForBody
+{
+ btBatchedConstraintInfo* m_outConInfos;
+ btConstraintArray* m_constraints;
+
+ ReadSolverConstraintsLoop( btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints )
+ {
+ m_outConInfos = outConInfos;
+ m_constraints = constraints;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ for (int i = iBegin; i < iEnd; ++i)
+ {
+ btBatchedConstraintInfo& conInfo = m_outConInfos[i];
+ const btSolverConstraint& con = m_constraints->at( i );
+ conInfo.bodyIds[0] = con.m_solverBodyIdA;
+ conInfo.bodyIds[1] = con.m_solverBodyIdB;
+ conInfo.constraintIndex = i;
+ conInfo.numConstraintRows = 1;
+ }
+ }
+};
+
+
+static int initBatchedConstraintInfo(btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints)
+{
+ BT_PROFILE("initBatchedConstraintInfo");
+ int numConstraints = constraints->size();
+ bool inParallel = true;
+ if (inParallel)
+ {
+ ReadSolverConstraintsLoop loop(outConInfos, constraints);
+ int grainSize = 1200;
+ btParallelFor(0, numConstraints, grainSize, loop);
+ }
+ else
+ {
+ for (int i = 0; i < numConstraints; ++i)
+ {
+ btBatchedConstraintInfo& conInfo = outConInfos[i];
+ const btSolverConstraint& con = constraints->at( i );
+ conInfo.bodyIds[0] = con.m_solverBodyIdA;
+ conInfo.bodyIds[1] = con.m_solverBodyIdB;
+ conInfo.constraintIndex = i;
+ conInfo.numConstraintRows = 1;
+ }
+ }
+ bool useRunLengthEncoding = true;
+ if (useRunLengthEncoding)
+ {
+ numConstraints = runLengthEncodeConstraintInfo(outConInfos, numConstraints);
+ }
+ return numConstraints;
+}
+
+
+static void expandConstraintRowsInPlace(int* constraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
+{
+ BT_PROFILE("expandConstraintRowsInPlace");
+ if (numConstraintRows > numConstraints)
+ {
+ // we walk the array in reverse to avoid overwriteing
+ for (int iCon = numConstraints - 1; iCon >= 0; --iCon)
+ {
+ const btBatchedConstraintInfo& conInfo = conInfos[iCon];
+ int iBatch = constraintBatchIds[iCon];
+ for (int i = conInfo.numConstraintRows - 1; i >= 0; --i)
+ {
+ int iDest = conInfo.constraintIndex + i;
+ btAssert(iDest >= iCon);
+ btAssert(iDest >= 0 && iDest < numConstraintRows);
+ constraintBatchIds[iDest] = iBatch;
+ }
+ }
+ }
+}
+
+
+static void expandConstraintRows(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
+{
+ BT_PROFILE("expandConstraintRows");
+ for ( int iCon = 0; iCon < numConstraints; ++iCon )
+ {
+ const btBatchedConstraintInfo& conInfo = conInfos[ iCon ];
+ int iBatch = srcConstraintBatchIds[ iCon ];
+ for ( int i = 0; i < conInfo.numConstraintRows; ++i )
+ {
+ int iDest = conInfo.constraintIndex + i;
+ btAssert( iDest >= iCon );
+ btAssert( iDest >= 0 && iDest < numConstraintRows );
+ destConstraintBatchIds[ iDest ] = iBatch;
+ }
+ }
+}
+
+
+struct ExpandConstraintRowsLoop : public btIParallelForBody
+{
+ int* m_destConstraintBatchIds;
+ const int* m_srcConstraintBatchIds;
+ const btBatchedConstraintInfo* m_conInfos;
+ int m_numConstraintRows;
+
+ ExpandConstraintRowsLoop( int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraintRows)
+ {
+ m_destConstraintBatchIds = destConstraintBatchIds;
+ m_srcConstraintBatchIds = srcConstraintBatchIds;
+ m_conInfos = conInfos;
+ m_numConstraintRows = numConstraintRows;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ expandConstraintRows(m_destConstraintBatchIds, m_srcConstraintBatchIds + iBegin, m_conInfos + iBegin, iEnd - iBegin, m_numConstraintRows);
+ }
+};
+
+
+static void expandConstraintRowsMt(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows)
+{
+ BT_PROFILE("expandConstraintRowsMt");
+ ExpandConstraintRowsLoop loop(destConstraintBatchIds, srcConstraintBatchIds, conInfos, numConstraintRows);
+ int grainSize = 600;
+ btParallelFor(0, numConstraints, grainSize, loop);
+}
+
+
+static void initBatchedConstraintInfoArray(btAlignedObjectArray<btBatchedConstraintInfo>* outConInfos, btConstraintArray* constraints)
+{
+ BT_PROFILE("initBatchedConstraintInfoArray");
+ btAlignedObjectArray<btBatchedConstraintInfo>& conInfos = *outConInfos;
+ int numConstraints = constraints->size();
+ conInfos.resizeNoInitialize(numConstraints);
+
+ int newSize = initBatchedConstraintInfo(&outConInfos->at(0), constraints);
+ conInfos.resizeNoInitialize(newSize);
+}
+
+
+static void mergeSmallBatches(btBatchInfo* batches, int iBeginBatch, int iEndBatch, int minBatchSize, int maxBatchSize)
+{
+ BT_PROFILE("mergeSmallBatches");
+ for ( int iBatch = iEndBatch - 1; iBatch >= iBeginBatch; --iBatch )
+ {
+ btBatchInfo& batch = batches[ iBatch ];
+ if ( batch.mergeIndex == kNoMerge && batch.numConstraints > 0 && batch.numConstraints < minBatchSize )
+ {
+ for ( int iDestBatch = iBatch - 1; iDestBatch >= iBeginBatch; --iDestBatch )
+ {
+ btBatchInfo& destBatch = batches[ iDestBatch ];
+ if ( destBatch.mergeIndex == kNoMerge && ( destBatch.numConstraints + batch.numConstraints ) < maxBatchSize )
+ {
+ destBatch.numConstraints += batch.numConstraints;
+ batch.numConstraints = 0;
+ batch.mergeIndex = iDestBatch;
+ break;
+ }
+ }
+ }
+ }
+ // flatten mergeIndexes
+ // e.g. in case where A was merged into B and then B was merged into C, we need A to point to C instead of B
+ // Note: loop goes forward through batches because batches always merge from higher indexes to lower,
+ // so by going from low to high it reduces the amount of trail-following
+ for ( int iBatch = iBeginBatch; iBatch < iEndBatch; ++iBatch )
+ {
+ btBatchInfo& batch = batches[ iBatch ];
+ if ( batch.mergeIndex != kNoMerge )
+ {
+ int iMergeDest = batches[ batch.mergeIndex ].mergeIndex;
+ // follow trail of merges to the end
+ while ( iMergeDest != kNoMerge )
+ {
+ int iNext = batches[ iMergeDest ].mergeIndex;
+ if ( iNext == kNoMerge )
+ {
+ batch.mergeIndex = iMergeDest;
+ break;
+ }
+ iMergeDest = iNext;
+ }
+ }
+ }
+}
+
+
+static void updateConstraintBatchIdsForMerges(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches)
+{
+ BT_PROFILE("updateConstraintBatchIdsForMerges");
+ // update batchIds to account for merges
+ for (int i = 0; i < numConstraints; ++i)
+ {
+ int iBatch = constraintBatchIds[i];
+ btAssert(iBatch < numBatches);
+ // if this constraint references a batch that was merged into another batch
+ if (batches[iBatch].mergeIndex != kNoMerge)
+ {
+ // update batchId
+ constraintBatchIds[i] = batches[iBatch].mergeIndex;
+ }
+ }
+}
+
+
+struct UpdateConstraintBatchIdsForMergesLoop : public btIParallelForBody
+{
+ int* m_constraintBatchIds;
+ const btBatchInfo* m_batches;
+ int m_numBatches;
+
+ UpdateConstraintBatchIdsForMergesLoop( int* constraintBatchIds, const btBatchInfo* batches, int numBatches )
+ {
+ m_constraintBatchIds = constraintBatchIds;
+ m_batches = batches;
+ m_numBatches = numBatches;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ BT_PROFILE( "UpdateConstraintBatchIdsForMergesLoop" );
+ updateConstraintBatchIdsForMerges( m_constraintBatchIds + iBegin, iEnd - iBegin, m_batches, m_numBatches );
+ }
+};
+
+
+static void updateConstraintBatchIdsForMergesMt(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches)
+{
+ BT_PROFILE( "updateConstraintBatchIdsForMergesMt" );
+ UpdateConstraintBatchIdsForMergesLoop loop(constraintBatchIds, batches, numBatches);
+ int grainSize = 800;
+ btParallelFor(0, numConstraints, grainSize, loop);
+}
+
+
+inline bool BatchCompare(const btBatchedConstraints::Range& a, const btBatchedConstraints::Range& b)
+{
+ int lenA = a.end - a.begin;
+ int lenB = b.end - b.begin;
+ return lenA > lenB;
+}
+
+
+static void writeOutConstraintIndicesForRangeOfBatches(btBatchedConstraints* bc,
+ const int* constraintBatchIds,
+ int numConstraints,
+ int* constraintIdPerBatch,
+ int batchBegin,
+ int batchEnd
+ )
+{
+ BT_PROFILE("writeOutConstraintIndicesForRangeOfBatches");
+ for ( int iCon = 0; iCon < numConstraints; ++iCon )
+ {
+ int iBatch = constraintBatchIds[ iCon ];
+ if (iBatch >= batchBegin && iBatch < batchEnd)
+ {
+ int iDestCon = constraintIdPerBatch[ iBatch ];
+ constraintIdPerBatch[ iBatch ] = iDestCon + 1;
+ bc->m_constraintIndices[ iDestCon ] = iCon;
+ }
+ }
+}
+
+
+struct WriteOutConstraintIndicesLoop : public btIParallelForBody
+{
+ btBatchedConstraints* m_batchedConstraints;
+ const int* m_constraintBatchIds;
+ int m_numConstraints;
+ int* m_constraintIdPerBatch;
+ int m_maxNumBatchesPerPhase;
+
+ WriteOutConstraintIndicesLoop( btBatchedConstraints* bc, const int* constraintBatchIds, int numConstraints, int* constraintIdPerBatch, int maxNumBatchesPerPhase )
+ {
+ m_batchedConstraints = bc;
+ m_constraintBatchIds = constraintBatchIds;
+ m_numConstraints = numConstraints;
+ m_constraintIdPerBatch = constraintIdPerBatch;
+ m_maxNumBatchesPerPhase = maxNumBatchesPerPhase;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ BT_PROFILE( "WriteOutConstraintIndicesLoop" );
+ int batchBegin = iBegin * m_maxNumBatchesPerPhase;
+ int batchEnd = iEnd * m_maxNumBatchesPerPhase;
+ writeOutConstraintIndicesForRangeOfBatches(m_batchedConstraints,
+ m_constraintBatchIds,
+ m_numConstraints,
+ m_constraintIdPerBatch,
+ batchBegin,
+ batchEnd
+ );
+ }
+};
+
+
+static void writeOutConstraintIndicesMt(btBatchedConstraints* bc,
+ const int* constraintBatchIds,
+ int numConstraints,
+ int* constraintIdPerBatch,
+ int maxNumBatchesPerPhase,
+ int numPhases
+ )
+{
+ BT_PROFILE("writeOutConstraintIndicesMt");
+ bool inParallel = true;
+ if (inParallel)
+ {
+ WriteOutConstraintIndicesLoop loop( bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase );
+ btParallelFor( 0, numPhases, 1, loop );
+ }
+ else
+ {
+ for ( int iCon = 0; iCon < numConstraints; ++iCon )
+ {
+ int iBatch = constraintBatchIds[ iCon ];
+ int iDestCon = constraintIdPerBatch[ iBatch ];
+ constraintIdPerBatch[ iBatch ] = iDestCon + 1;
+ bc->m_constraintIndices[ iDestCon ] = iCon;
+ }
+ }
+}
+
+
+static void writeGrainSizes(btBatchedConstraints* bc)
+{
+ typedef btBatchedConstraints::Range Range;
+ int numPhases = bc->m_phases.size();
+ bc->m_phaseGrainSize.resizeNoInitialize(numPhases);
+ int numThreads = btGetTaskScheduler()->getNumThreads();
+ for (int iPhase = 0; iPhase < numPhases; ++iPhase)
+ {
+ const Range& phase = bc->m_phases[ iPhase ];
+ int numBatches = phase.end - phase.begin;
+ float grainSize = floor((0.25f*numBatches / float(numThreads)) + 0.0f);
+ bc->m_phaseGrainSize[ iPhase ] = btMax(1, int(grainSize));
+ }
+}
+
+
+static void writeOutBatches(btBatchedConstraints* bc,
+ const int* constraintBatchIds,
+ int numConstraints,
+ const btBatchInfo* batches,
+ int* batchWork,
+ int maxNumBatchesPerPhase,
+ int numPhases
+)
+{
+ BT_PROFILE("writeOutBatches");
+ typedef btBatchedConstraints::Range Range;
+ bc->m_constraintIndices.reserve( numConstraints );
+ bc->m_batches.resizeNoInitialize( 0 );
+ bc->m_phases.resizeNoInitialize( 0 );
+
+ //int maxNumBatches = numPhases * maxNumBatchesPerPhase;
+ {
+ int* constraintIdPerBatch = batchWork; // for each batch, keep an index into the next available slot in the m_constraintIndices array
+ int iConstraint = 0;
+ for (int iPhase = 0; iPhase < numPhases; ++iPhase)
+ {
+ int curPhaseBegin = bc->m_batches.size();
+ int iBegin = iPhase * maxNumBatchesPerPhase;
+ int iEnd = iBegin + maxNumBatchesPerPhase;
+ for ( int i = iBegin; i < iEnd; ++i )
+ {
+ const btBatchInfo& batch = batches[ i ];
+ int curBatchBegin = iConstraint;
+ constraintIdPerBatch[ i ] = curBatchBegin; // record the start of each batch in m_constraintIndices array
+ int numConstraints = batch.numConstraints;
+ iConstraint += numConstraints;
+ if ( numConstraints > 0 )
+ {
+ bc->m_batches.push_back( Range( curBatchBegin, iConstraint ) );
+ }
+ }
+ // if any batches were emitted this phase,
+ if ( bc->m_batches.size() > curPhaseBegin )
+ {
+ // output phase
+ bc->m_phases.push_back( Range( curPhaseBegin, bc->m_batches.size() ) );
+ }
+ }
+
+ btAssert(iConstraint == numConstraints);
+ bc->m_constraintIndices.resizeNoInitialize( numConstraints );
+ writeOutConstraintIndicesMt( bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase, numPhases );
+ }
+ // for each phase
+ for (int iPhase = 0; iPhase < bc->m_phases.size(); ++iPhase)
+ {
+ // sort the batches from largest to smallest (can be helpful to some task schedulers)
+ const Range& curBatches = bc->m_phases[iPhase];
+ bc->m_batches.quickSortInternal(BatchCompare, curBatches.begin, curBatches.end-1);
+ }
+ bc->m_phaseOrder.resize(bc->m_phases.size());
+ for (int i = 0; i < bc->m_phases.size(); ++i)
+ {
+ bc->m_phaseOrder[i] = i;
+ }
+ writeGrainSizes(bc);
+}
+
+
+//
+// PreallocatedMemoryHelper -- helper object for allocating a number of chunks of memory in a single contiguous block.
+// It is generally more efficient to do a single larger allocation than many smaller allocations.
+//
+// Example Usage:
+//
+// btVector3* bodyPositions = NULL;
+// btBatchedConstraintInfo* conInfos = NULL;
+// {
+// PreallocatedMemoryHelper<8> memHelper;
+// memHelper.addChunk( (void**) &bodyPositions, sizeof( btVector3 ) * bodies.size() );
+// memHelper.addChunk( (void**) &conInfos, sizeof( btBatchedConstraintInfo ) * numConstraints );
+// void* memPtr = malloc( memHelper.getSizeToAllocate() ); // allocate the memory
+// memHelper.setChunkPointers( memPtr ); // update pointers to chunks
+// }
+template <int N>
+class PreallocatedMemoryHelper
+{
+ struct Chunk
+ {
+ void** ptr;
+ size_t size;
+ };
+ Chunk m_chunks[N];
+ int m_numChunks;
+public:
+ PreallocatedMemoryHelper() {m_numChunks=0;}
+ void addChunk( void** ptr, size_t sz )
+ {
+ btAssert( m_numChunks < N );
+ if ( m_numChunks < N )
+ {
+ Chunk& chunk = m_chunks[ m_numChunks ];
+ chunk.ptr = ptr;
+ chunk.size = sz;
+ m_numChunks++;
+ }
+ }
+ size_t getSizeToAllocate() const
+ {
+ size_t totalSize = 0;
+ for (int i = 0; i < m_numChunks; ++i)
+ {
+ totalSize += m_chunks[i].size;
+ }
+ return totalSize;
+ }
+ void setChunkPointers(void* mem) const
+ {
+ size_t totalSize = 0;
+ for (int i = 0; i < m_numChunks; ++i)
+ {
+ const Chunk& chunk = m_chunks[ i ];
+ char* chunkPtr = static_cast<char*>(mem) + totalSize;
+ *chunk.ptr = chunkPtr;
+ totalSize += chunk.size;
+ }
+ }
+};
+
+
+
+static btVector3 findMaxDynamicConstraintExtent(
+ btVector3* bodyPositions,
+ bool* bodyDynamicFlags,
+ btBatchedConstraintInfo* conInfos,
+ int numConstraints,
+ int numBodies
+ )
+{
+ BT_PROFILE("findMaxDynamicConstraintExtent");
+ btVector3 consExtent = btVector3(1,1,1) * 0.001;
+ for (int iCon = 0; iCon < numConstraints; ++iCon)
+ {
+ const btBatchedConstraintInfo& con = conInfos[ iCon ];
+ int iBody0 = con.bodyIds[0];
+ int iBody1 = con.bodyIds[1];
+ btAssert(iBody0 >= 0 && iBody0 < numBodies);
+ btAssert(iBody1 >= 0 && iBody1 < numBodies);
+ // is it a dynamic constraint?
+ if (bodyDynamicFlags[iBody0] && bodyDynamicFlags[iBody1])
+ {
+ btVector3 delta = bodyPositions[iBody1] - bodyPositions[iBody0];
+ consExtent.setMax(delta.absolute());
+ }
+ }
+ return consExtent;
+}
+
+
+struct btIntVec3
+{
+ int m_ints[ 3 ];
+
+ SIMD_FORCE_INLINE const int& operator[](int i) const {return m_ints[i];}
+ SIMD_FORCE_INLINE int& operator[](int i) {return m_ints[i];}
+};
+
+
+struct AssignConstraintsToGridBatchesParams
+{
+ bool* bodyDynamicFlags;
+ btIntVec3* bodyGridCoords;
+ int numBodies;
+ btBatchedConstraintInfo* conInfos;
+ int* constraintBatchIds;
+ btIntVec3 gridChunkDim;
+ int maxNumBatchesPerPhase;
+ int numPhases;
+ int phaseMask;
+
+ AssignConstraintsToGridBatchesParams()
+ {
+ memset(this, 0, sizeof(*this));
+ }
+};
+
+
+static void assignConstraintsToGridBatches(const AssignConstraintsToGridBatchesParams& params, int iConBegin, int iConEnd)
+{
+ BT_PROFILE("assignConstraintsToGridBatches");
+ // (can be done in parallel)
+ for ( int iCon = iConBegin; iCon < iConEnd; ++iCon )
+ {
+ const btBatchedConstraintInfo& con = params.conInfos[ iCon ];
+ int iBody0 = con.bodyIds[ 0 ];
+ int iBody1 = con.bodyIds[ 1 ];
+ int iPhase = iCon; //iBody0; // pseudorandom choice to distribute evenly amongst phases
+ iPhase &= params.phaseMask;
+ int gridCoord[ 3 ];
+ // is it a dynamic constraint?
+ if ( params.bodyDynamicFlags[ iBody0 ] && params.bodyDynamicFlags[ iBody1 ] )
+ {
+ const btIntVec3& body0Coords = params.bodyGridCoords[iBody0];
+ const btIntVec3& body1Coords = params.bodyGridCoords[iBody1];
+ // for each dimension x,y,z,
+ for (int i = 0; i < 3; ++i)
+ {
+ int coordMin = btMin(body0Coords.m_ints[i], body1Coords.m_ints[i]);
+ int coordMax = btMax(body0Coords.m_ints[i], body1Coords.m_ints[i]);
+ if (coordMin != coordMax)
+ {
+ btAssert( coordMax == coordMin + 1 );
+ if ((coordMin&1) == 0)
+ {
+ iPhase &= ~(1 << i); // force bit off
+ }
+ else
+ {
+ iPhase |= (1 << i); // force bit on
+ iPhase &= params.phaseMask;
+ }
+ }
+ gridCoord[ i ] = coordMin;
+ }
+ }
+ else
+ {
+ if ( !params.bodyDynamicFlags[ iBody0 ] )
+ {
+ iBody0 = con.bodyIds[ 1 ];
+ }
+ btAssert(params.bodyDynamicFlags[ iBody0 ]);
+ const btIntVec3& body0Coords = params.bodyGridCoords[iBody0];
+ // for each dimension x,y,z,
+ for ( int i = 0; i < 3; ++i )
+ {
+ gridCoord[ i ] = body0Coords.m_ints[ i ];
+ }
+ }
+ // calculate chunk coordinates
+ int chunkCoord[ 3 ];
+ btIntVec3 gridChunkDim = params.gridChunkDim;
+ // for each dimension x,y,z,
+ for ( int i = 0; i < 3; ++i )
+ {
+ int coordOffset = ( iPhase >> i ) & 1;
+ chunkCoord[ i ] = (gridCoord[ i ] - coordOffset)/2;
+ btClamp( chunkCoord[ i ], 0, gridChunkDim[ i ] - 1);
+ btAssert( chunkCoord[ i ] < gridChunkDim[ i ] );
+ }
+ int iBatch = iPhase * params.maxNumBatchesPerPhase + chunkCoord[ 0 ] + chunkCoord[ 1 ] * gridChunkDim[ 0 ] + chunkCoord[ 2 ] * gridChunkDim[ 0 ] * gridChunkDim[ 1 ];
+ btAssert(iBatch >= 0 && iBatch < params.maxNumBatchesPerPhase*params.numPhases);
+ params.constraintBatchIds[ iCon ] = iBatch;
+ }
+}
+
+
+struct AssignConstraintsToGridBatchesLoop : public btIParallelForBody
+{
+ const AssignConstraintsToGridBatchesParams* m_params;
+
+ AssignConstraintsToGridBatchesLoop( const AssignConstraintsToGridBatchesParams& params )
+ {
+ m_params = &params;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ assignConstraintsToGridBatches(*m_params, iBegin, iEnd);
+ }
+};
+
+
+//
+// setupSpatialGridBatchesMt -- generate batches using a uniform 3D grid
+//
+/*
+
+Bodies are treated as 3D points at their center of mass. We only consider dynamic bodies at this stage,
+because only dynamic bodies are mutated when a constraint is solved, thus subject to race conditions.
+
+1. Compute a bounding box around all dynamic bodies
+2. Compute the maximum extent of all dynamic constraints. Each dynamic constraint is treated as a line segment, and we need the size of
+ box that will fully enclose any single dynamic constraint
+
+3. Establish the cell size of our grid, the cell size in each dimension must be at least as large as the dynamic constraints max-extent,
+ so that no dynamic constraint can span more than 2 cells of our grid on any axis of the grid. The cell size should be adjusted
+ larger in order to keep the total number of cells from being excessively high
+
+Key idea: Given that each constraint spans 1 or 2 grid cells in each dimension, we can handle all constraints by processing
+ in chunks of 2x2x2 cells with 8 different 1-cell offsets ((0,0,0),(0,0,1),(0,1,0),(0,1,1),(1,0,0)...).
+ For each of the 8 offsets, we create a phase, and for each 2x2x2 chunk with dynamic constraints becomes a batch in that phase.
+
+4. Once the grid is established, we can calculate for each constraint which phase and batch it belongs in.
+
+5. Do a merge small batches on the batches of each phase separately, to try to even out the sizes of batches
+
+Optionally, we can "collapse" one dimension of our 3D grid to turn it into a 2D grid, which reduces the number of phases
+to 4. With fewer phases, there are more constraints per phase and this makes it easier to create batches of a useful size.
+*/
+//
+static void setupSpatialGridBatchesMt(
+ btBatchedConstraints* batchedConstraints,
+ btAlignedObjectArray<char>* scratchMemory,
+ btConstraintArray* constraints,
+ const btAlignedObjectArray<btSolverBody>& bodies,
+ int minBatchSize,
+ int maxBatchSize,
+ bool use2DGrid
+)
+{
+ BT_PROFILE("setupSpatialGridBatchesMt");
+ const int numPhases = 8;
+ int numConstraints = constraints->size();
+ int numConstraintRows = constraints->size();
+
+ const int maxGridChunkCount = 128;
+ int allocNumBatchesPerPhase = maxGridChunkCount;
+ int minNumBatchesPerPhase = 16;
+ int allocNumBatches = allocNumBatchesPerPhase * numPhases;
+
+ btVector3* bodyPositions = NULL;
+ bool* bodyDynamicFlags = NULL;
+ btIntVec3* bodyGridCoords = NULL;
+ btBatchInfo* batches = NULL;
+ int* batchWork = NULL;
+ btBatchedConstraintInfo* conInfos = NULL;
+ int* constraintBatchIds = NULL;
+ int* constraintRowBatchIds = NULL;
+ {
+ PreallocatedMemoryHelper<10> memHelper;
+ memHelper.addChunk( (void**) &bodyPositions, sizeof( btVector3 ) * bodies.size() );
+ memHelper.addChunk( (void**) &bodyDynamicFlags, sizeof( bool ) * bodies.size() );
+ memHelper.addChunk( (void**) &bodyGridCoords, sizeof( btIntVec3 ) * bodies.size() );
+ memHelper.addChunk( (void**) &batches, sizeof( btBatchInfo )* allocNumBatches );
+ memHelper.addChunk( (void**) &batchWork, sizeof( int )* allocNumBatches );
+ memHelper.addChunk( (void**) &conInfos, sizeof( btBatchedConstraintInfo ) * numConstraints );
+ memHelper.addChunk( (void**) &constraintBatchIds, sizeof( int ) * numConstraints );
+ memHelper.addChunk( (void**) &constraintRowBatchIds, sizeof( int ) * numConstraintRows );
+ size_t scratchSize = memHelper.getSizeToAllocate();
+ // if we need to reallocate
+ if (scratchMemory->capacity() < scratchSize)
+ {
+ // allocate 6.25% extra to avoid repeated reallocs
+ scratchMemory->reserve( scratchSize + scratchSize/16 );
+ }
+ scratchMemory->resizeNoInitialize( scratchSize );
+ char* memPtr = &scratchMemory->at(0);
+ memHelper.setChunkPointers( memPtr );
+ }
+
+ numConstraints = initBatchedConstraintInfo(conInfos, constraints);
+
+ // compute bounding box around all dynamic bodies
+ // (could be done in parallel)
+ btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT);
+ btVector3 bboxMax = -bboxMin;
+ //int dynamicBodyCount = 0;
+ for (int i = 0; i < bodies.size(); ++i)
+ {
+ const btSolverBody& body = bodies[i];
+ btVector3 bodyPos = body.getWorldTransform().getOrigin();
+ bool isDynamic = ( body.internalGetInvMass().x() > btScalar( 0 ) );
+ bodyPositions[i] = bodyPos;
+ bodyDynamicFlags[i] = isDynamic;
+ if (isDynamic)
+ {
+ //dynamicBodyCount++;
+ bboxMin.setMin(bodyPos);
+ bboxMax.setMax(bodyPos);
+ }
+ }
+
+ // find max extent of all dynamic constraints
+ // (could be done in parallel)
+ btVector3 consExtent = findMaxDynamicConstraintExtent(bodyPositions, bodyDynamicFlags, conInfos, numConstraints, bodies.size());
+
+ btVector3 gridExtent = bboxMax - bboxMin;
+
+ btVector3 gridCellSize = consExtent;
+ int gridDim[3];
+ gridDim[ 0 ] = int( 1.0 + gridExtent.x() / gridCellSize.x() );
+ gridDim[ 1 ] = int( 1.0 + gridExtent.y() / gridCellSize.y() );
+ gridDim[ 2 ] = int( 1.0 + gridExtent.z() / gridCellSize.z() );
+
+ // if we can collapse an axis, it will cut our number of phases in half which could be more efficient
+ int phaseMask = 7;
+ bool collapseAxis = use2DGrid;
+ if ( collapseAxis )
+ {
+ // pick the smallest axis to collapse, leaving us with the greatest number of cells in our grid
+ int iAxisToCollapse = 0;
+ int axisDim = gridDim[iAxisToCollapse];
+ //for each dimension
+ for ( int i = 0; i < 3; ++i )
+ {
+ if (gridDim[i] < axisDim)
+ {
+ iAxisToCollapse = i;
+ axisDim = gridDim[i];
+ }
+ }
+ // collapse it
+ gridCellSize[iAxisToCollapse] = gridExtent[iAxisToCollapse] * 2.0f;
+ phaseMask &= ~(1 << iAxisToCollapse);
+ }
+
+ int numGridChunks = 0;
+ btIntVec3 gridChunkDim; // each chunk is 2x2x2 group of cells
+ while (true)
+ {
+ gridDim[0] = int( 1.0 + gridExtent.x() / gridCellSize.x() );
+ gridDim[1] = int( 1.0 + gridExtent.y() / gridCellSize.y() );
+ gridDim[2] = int( 1.0 + gridExtent.z() / gridCellSize.z() );
+ gridChunkDim[ 0 ] = btMax( 1, ( gridDim[ 0 ] + 0 ) / 2 );
+ gridChunkDim[ 1 ] = btMax( 1, ( gridDim[ 1 ] + 0 ) / 2 );
+ gridChunkDim[ 2 ] = btMax( 1, ( gridDim[ 2 ] + 0 ) / 2 );
+ numGridChunks = gridChunkDim[ 0 ] * gridChunkDim[ 1 ] * gridChunkDim[ 2 ];
+ float nChunks = float(gridChunkDim[0]) * float(gridChunkDim[1]) * float(gridChunkDim[2]); // suceptible to integer overflow
+ if ( numGridChunks <= maxGridChunkCount && nChunks <= maxGridChunkCount )
+ {
+ break;
+ }
+ gridCellSize *= 1.25; // should roughly cut numCells in half
+ }
+ btAssert(numGridChunks <= maxGridChunkCount );
+ int maxNumBatchesPerPhase = numGridChunks;
+
+ // for each dynamic body, compute grid coords
+ btVector3 invGridCellSize = btVector3(1,1,1)/gridCellSize;
+ // (can be done in parallel)
+ for (int iBody = 0; iBody < bodies.size(); ++iBody)
+ {
+ btIntVec3& coords = bodyGridCoords[iBody];
+ if (bodyDynamicFlags[iBody])
+ {
+ btVector3 v = ( bodyPositions[ iBody ] - bboxMin )*invGridCellSize;
+ coords.m_ints[0] = int(v.x());
+ coords.m_ints[1] = int(v.y());
+ coords.m_ints[2] = int(v.z());
+ btAssert(coords.m_ints[0] >= 0 && coords.m_ints[0] < gridDim[0]);
+ btAssert(coords.m_ints[1] >= 0 && coords.m_ints[1] < gridDim[1]);
+ btAssert(coords.m_ints[2] >= 0 && coords.m_ints[2] < gridDim[2]);
+ }
+ else
+ {
+ coords.m_ints[0] = -1;
+ coords.m_ints[1] = -1;
+ coords.m_ints[2] = -1;
+ }
+ }
+
+ for (int iPhase = 0; iPhase < numPhases; ++iPhase)
+ {
+ int batchBegin = iPhase * maxNumBatchesPerPhase;
+ int batchEnd = batchBegin + maxNumBatchesPerPhase;
+ for ( int iBatch = batchBegin; iBatch < batchEnd; ++iBatch )
+ {
+ btBatchInfo& batch = batches[ iBatch ];
+ batch = btBatchInfo();
+ }
+ }
+
+ {
+ AssignConstraintsToGridBatchesParams params;
+ params.bodyDynamicFlags = bodyDynamicFlags;
+ params.bodyGridCoords = bodyGridCoords;
+ params.numBodies = bodies.size();
+ params.conInfos = conInfos;
+ params.constraintBatchIds = constraintBatchIds;
+ params.gridChunkDim = gridChunkDim;
+ params.maxNumBatchesPerPhase = maxNumBatchesPerPhase;
+ params.numPhases = numPhases;
+ params.phaseMask = phaseMask;
+ bool inParallel = true;
+ if (inParallel)
+ {
+ AssignConstraintsToGridBatchesLoop loop(params);
+ int grainSize = 250;
+ btParallelFor(0, numConstraints, grainSize, loop);
+ }
+ else
+ {
+ assignConstraintsToGridBatches( params, 0, numConstraints );
+ }
+ }
+ for ( int iCon = 0; iCon < numConstraints; ++iCon )
+ {
+ const btBatchedConstraintInfo& con = conInfos[ iCon ];
+ int iBatch = constraintBatchIds[ iCon ];
+ btBatchInfo& batch = batches[iBatch];
+ batch.numConstraints += con.numConstraintRows;
+ }
+
+ for (int iPhase = 0; iPhase < numPhases; ++iPhase)
+ {
+ // if phase is legit,
+ if (iPhase == (iPhase&phaseMask))
+ {
+ int iBeginBatch = iPhase * maxNumBatchesPerPhase;
+ int iEndBatch = iBeginBatch + maxNumBatchesPerPhase;
+ mergeSmallBatches( batches, iBeginBatch, iEndBatch, minBatchSize, maxBatchSize );
+ }
+ }
+ // all constraints have been assigned a batchId
+ updateConstraintBatchIdsForMergesMt(constraintBatchIds, numConstraints, batches, maxNumBatchesPerPhase*numPhases);
+
+ if (numConstraintRows > numConstraints)
+ {
+ expandConstraintRowsMt(&constraintRowBatchIds[0], &constraintBatchIds[0], &conInfos[0], numConstraints, numConstraintRows);
+ }
+ else
+ {
+ constraintRowBatchIds = constraintBatchIds;
+ }
+
+ writeOutBatches(batchedConstraints, constraintRowBatchIds, numConstraintRows, batches, batchWork, maxNumBatchesPerPhase, numPhases);
+ btAssert(batchedConstraints->validate(constraints, bodies));
+}
+
+
+static void setupSingleBatch(
+ btBatchedConstraints* bc,
+ int numConstraints
+)
+{
+ BT_PROFILE("setupSingleBatch");
+ typedef btBatchedConstraints::Range Range;
+
+ bc->m_constraintIndices.resize( numConstraints );
+ for ( int i = 0; i < numConstraints; ++i )
+ {
+ bc->m_constraintIndices[ i ] = i;
+ }
+
+ bc->m_batches.resizeNoInitialize( 0 );
+ bc->m_phases.resizeNoInitialize( 0 );
+ bc->m_phaseOrder.resizeNoInitialize( 0 );
+ bc->m_phaseGrainSize.resizeNoInitialize( 0 );
+
+ if (numConstraints > 0)
+ {
+ bc->m_batches.push_back( Range( 0, numConstraints ) );
+ bc->m_phases.push_back( Range( 0, 1 ) );
+ bc->m_phaseOrder.push_back(0);
+ bc->m_phaseGrainSize.push_back(1);
+ }
+}
+
+
+void btBatchedConstraints::setup(
+ btConstraintArray* constraints,
+ const btAlignedObjectArray<btSolverBody>& bodies,
+ BatchingMethod batchingMethod,
+ int minBatchSize,
+ int maxBatchSize,
+ btAlignedObjectArray<char>* scratchMemory
+ )
+{
+ if (constraints->size() >= minBatchSize*4)
+ {
+ bool use2DGrid = batchingMethod == BATCHING_METHOD_SPATIAL_GRID_2D;
+ setupSpatialGridBatchesMt( this, scratchMemory, constraints, bodies, minBatchSize, maxBatchSize, use2DGrid );
+ if (s_debugDrawBatches)
+ {
+ debugDrawAllBatches( this, constraints, bodies );
+ }
+ }
+ else
+ {
+ setupSingleBatch( this, constraints->size() );
+ }
+}
+
+
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
new file mode 100644
index 0000000000..0fd8f31dd4
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h
@@ -0,0 +1,66 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_BATCHED_CONSTRAINTS_H
+#define BT_BATCHED_CONSTRAINTS_H
+
+#include "LinearMath/btThreads.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
+#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
+
+
+class btIDebugDraw;
+
+struct btBatchedConstraints
+{
+ enum BatchingMethod
+ {
+ BATCHING_METHOD_SPATIAL_GRID_2D,
+ BATCHING_METHOD_SPATIAL_GRID_3D,
+ BATCHING_METHOD_COUNT
+ };
+ struct Range
+ {
+ int begin;
+ int end;
+
+ Range() : begin( 0 ), end( 0 ) {}
+ Range( int _beg, int _end ) : begin( _beg ), end( _end ) {}
+ };
+
+ btAlignedObjectArray<int> m_constraintIndices;
+ btAlignedObjectArray<Range> m_batches; // each batch is a range of indices in the m_constraintIndices array
+ btAlignedObjectArray<Range> m_phases; // each phase is range of indices in the m_batches array
+ btAlignedObjectArray<char> m_phaseGrainSize; // max grain size for each phase
+ btAlignedObjectArray<int> m_phaseOrder; // phases can be done in any order, so we can randomize the order here
+ btIDebugDraw* m_debugDrawer;
+
+ static bool s_debugDrawBatches;
+
+ btBatchedConstraints() {m_debugDrawer=NULL;}
+ void setup( btConstraintArray* constraints,
+ const btAlignedObjectArray<btSolverBody>& bodies,
+ BatchingMethod batchingMethod,
+ int minBatchSize,
+ int maxBatchSize,
+ btAlignedObjectArray<char>* scratchMemory
+ );
+ bool validate( btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies ) const;
+};
+
+
+#endif // BT_BATCHED_CONSTRAINTS_H
+
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h
index 890afe6da4..0491639f70 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h
@@ -34,7 +34,8 @@ enum btConstraintSolverType
{
BT_SEQUENTIAL_IMPULSE_SOLVER=1,
BT_MLCP_SOLVER=2,
- BT_NNCG_SOLVER=4
+ BT_NNCG_SOLVER=4,
+ BT_MULTIBODY_SOLVER=8,
};
class btConstraintSolver
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 28d0c1dd48..93865cbc59 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -29,7 +29,8 @@ enum btSolverMode
SOLVER_CACHE_FRIENDLY = 128,
SOLVER_SIMD = 256,
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
- SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
+ SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
+ SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048
};
struct btContactSolverInfoData
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
index fa17254ec3..c38b8353f0 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
@@ -855,8 +855,8 @@ int btGeneric6DofConstraint::get_limit_motor_info2(
tag_vel,
info->fps * limot->m_stopERP);
info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity;
- info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
- info->m_upperLimit[srow] = limot->m_maxMotorForce;
+ info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
+ info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
}
}
if(limit)
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
index bea8629c32..b2ad45f749 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
@@ -77,7 +77,7 @@ public:
{
m_accumulatedImpulse = 0.f;
m_targetVelocity = 0;
- m_maxMotorForce = 0.1f;
+ m_maxMotorForce = 6.0f;
m_maxLimitForce = 300.0f;
m_loLimit = 1.0f;
m_hiLimit = -1.0f;
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
index f0976ee493..540dcd18f7 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp
@@ -719,8 +719,8 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
tag_vel,
info->fps * limot->m_motorERP);
info->m_constraintError[srow] = mot_fact * limot->m_targetVelocity;
- info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
- info->m_upperLimit[srow] = limot->m_maxMotorForce;
+ info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
+ info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
info->cfm[srow] = limot->m_motorCFM;
srow += info->rowskip;
++count;
@@ -769,8 +769,8 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
mot_fact = 0;
}
info->m_constraintError[srow] = mot_fact * targetvelocity * (rotational ? -1 : 1);
- info->m_lowerLimit[srow] = -limot->m_maxMotorForce;
- info->m_upperLimit[srow] = limot->m_maxMotorForce;
+ info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps;
+ info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps;
info->cfm[srow] = limot->m_motorCFM;
srow += info->rowskip;
++count;
@@ -797,6 +797,12 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
btScalar cfm = BT_ZERO;
btScalar mA = BT_ONE / m_rbA.getInvMass();
btScalar mB = BT_ONE / m_rbB.getInvMass();
+ if (rotational) {
+ btScalar rrA = (m_calculatedTransformA.getOrigin() - transA.getOrigin()).length2();
+ btScalar rrB = (m_calculatedTransformB.getOrigin() - transB.getOrigin()).length2();
+ if (m_rbA.getInvMass()) mA = mA * rrA + 1 / (m_rbA.getInvInertiaTensorWorld() * ax1).length();
+ if (m_rbB.getInvMass()) mB = mB * rrB + 1 / (m_rbB.getInvInertiaTensorWorld() * ax1).length();
+ }
btScalar m = mA > mB ? mB : mA;
btScalar angularfreq = sqrt(ks / m);
@@ -815,7 +821,18 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
btScalar fd = -kd * (vel) * (rotational ? -1 : 1) * dt;
btScalar f = (fs+fd);
- info->m_constraintError[srow] = (vel + f * (rotational ? -1 : 1)) ;
+ // after the spring force affecting the body(es) the new velocity will be
+ // vel + f / m * (rotational ? -1 : 1)
+ // so in theory this should be set here for m_constraintError
+ // (with m_constraintError we set a desired velocity for the affected body(es))
+ // however in practice any value is fine as long as it is greater then the "proper" velocity,
+ // because the m_lowerLimit and the m_upperLimit will determinate the strength of the final pulling force
+ // so it is much simpler (and more robust) just to simply use inf (with the proper sign)
+ // you may also wonder what if the current velocity (vel) so high that the pulling force will not change its direction (in this iteration)
+ // will we not request a velocity with the wrong direction ?
+ // and the answare is not, because in practice during the solving the current velocity is subtracted from the m_constraintError
+ // so the sign of the force that is really matters
+ info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
btScalar minf = f < fd ? f : fd;
btScalar maxf = f < fd ? fd : f;
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
index 66d1769583..1b8d0eace9 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h
@@ -107,7 +107,7 @@ public:
m_motorCFM = 0.f;
m_enableMotor = false;
m_targetVelocity = 0;
- m_maxMotorForce = 0.1f;
+ m_maxMotorForce = 6.0f;
m_servoMotor = false;
m_servoTarget = 0;
m_enableSpring = false;
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
index 6f765884ec..3f875989ea 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
@@ -131,7 +131,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
btScalar force = delta * m_springStiffness[i];
btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations);
m_linearLimits.m_targetVelocity[i] = velFactor * force;
- m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps;
+ m_linearLimits.m_maxMotorForce[i] = btFabs(force);
}
}
for(i = 0; i < 3; i++)
@@ -146,7 +146,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf
btScalar force = -delta * m_springStiffness[i+3];
btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations);
m_angularLimits[i].m_targetVelocity = velFactor * force;
- m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps;
+ m_angularLimits[i].m_maxMotorForce = btFabs(force);
}
}
}
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
index b0d57a3e87..63174a6ec0 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "btSequentialImpulseConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btCpuFeatureUtility.h"
@@ -42,11 +43,11 @@ int gNumSplitImpulseRecoveries = 0;
//#define VERBOSE_RESIDUAL_PRINTF 1
///This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver
///Below are optional SSE2 and SSE4/FMA3 versions. We assume most hardware has SSE2. For SSE4/FMA3 we perform a CPU feature check.
-static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm;
- const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
- const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
+ const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetDeltaAngularVelocity());
+ const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetDeltaAngularVelocity());
// const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn;
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
@@ -68,18 +69,18 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolver
c.m_appliedImpulse = sum;
}
- body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
- body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
+ bodyA.internalApplyImpulse(c.m_contactNormal1*bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+ bodyB.internalApplyImpulse(c.m_contactNormal2*bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
- return deltaImpulse;
+ return deltaImpulse*(1./c.m_jacDiagABInv);
}
-static btSimdScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm;
- const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity());
- const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity());
+ const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetDeltaAngularVelocity());
+ const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetDeltaAngularVelocity());
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
@@ -93,10 +94,10 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSol
{
c.m_appliedImpulse = sum;
}
- body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
- body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
+ bodyA.internalApplyImpulse(c.m_contactNormal1*bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+ bodyB.internalApplyImpulse(c.m_contactNormal2*bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
- return deltaImpulse;
+ return deltaImpulse*(1./c.m_jacDiagABInv);
}
@@ -149,14 +150,14 @@ static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 )
#endif
// Project Gauss Seidel or the equivalent Sequential Impulse
-static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
{
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
- __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
- __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
+ __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
+ __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
@@ -169,27 +170,27 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1,
__m128 upperMinApplied = _mm_sub_ps(upperLimit1, cpAppliedImp);
deltaImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied));
c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1));
- __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128);
- __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128, body2.internalGetInvMass().mVec128);
+ __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128);
+ __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128, bodyB.internalGetInvMass().mVec128);
__m128 impulseMagnitude = deltaImpulse;
- body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
- body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
- body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
- body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
- return deltaImpulse;
+ bodyA.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
+ bodyA.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
+ bodyB.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
+ bodyB.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
+ return deltaImpulse.m_floats[0]/c.m_jacDiagABInv;
}
// Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3
-static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
{
#if defined (BT_ALLOW_SSE4)
__m128 tmp = _mm_set_ps1(c.m_jacDiagABInv);
__m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm);
const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit);
const __m128 upperLimit = _mm_set_ps1(c.m_upperLimit);
- const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
- const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
+ const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
+ const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse);
deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse);
tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse); // sum
@@ -197,26 +198,27 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody&
const __m128 maskUpper = _mm_cmpgt_ps(upperLimit, tmp);
deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), _mm_blendv_ps(_mm_sub_ps(upperLimit, c.m_appliedImpulse), deltaImpulse, maskUpper), maskLower);
c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, _mm_blendv_ps(upperLimit, tmp, maskUpper), maskLower);
- body1.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128);
- body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128);
- body2.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128);
- body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128);
- return deltaImpulse;
+ bodyA.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128), deltaImpulse, bodyA.internalGetDeltaLinearVelocity().mVec128);
+ bodyA.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, bodyA.internalGetDeltaAngularVelocity().mVec128);
+ bodyB.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128), deltaImpulse, bodyB.internalGetDeltaLinearVelocity().mVec128);
+ bodyB.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, bodyB.internalGetDeltaAngularVelocity().mVec128);
+ btSimdScalar deltaImp = deltaImpulse;
+ return deltaImp.m_floats[0]*(1./c.m_jacDiagABInv);
#else
- return gResolveSingleConstraintRowGeneric_sse2(body1,body2,c);
+ return gResolveSingleConstraintRowGeneric_sse2(bodyA,bodyB,c);
#endif
}
-static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
{
__m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse);
__m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit);
__m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit);
btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm)));
- __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
- __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
+ __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
+ __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv)));
btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse);
@@ -226,39 +228,40 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& bod
__m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp);
deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse));
c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum));
- __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128);
- __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128);
+ __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128);
+ __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128);
__m128 impulseMagnitude = deltaImpulse;
- body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
- body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
- body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
- body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
- return deltaImpulse;
+ bodyA.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude));
+ bodyA.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude));
+ bodyB.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude));
+ bodyB.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude));
+ return deltaImpulse.m_floats[0]/c.m_jacDiagABInv;
}
// Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3
-static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c)
+static btScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c)
{
#ifdef BT_ALLOW_SSE4
__m128 tmp = _mm_set_ps1(c.m_jacDiagABInv);
__m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm);
const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit);
- const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128));
- const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128));
+ const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128));
+ const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128));
deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse);
deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse);
tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse);
const __m128 mask = _mm_cmpgt_ps(tmp, lowerLimit);
deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), deltaImpulse, mask);
c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, tmp, mask);
- body1.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128);
- body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128);
- body2.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128);
- body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128);
- return deltaImpulse;
+ bodyA.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128), deltaImpulse, bodyA.internalGetDeltaLinearVelocity().mVec128);
+ bodyA.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, bodyA.internalGetDeltaAngularVelocity().mVec128);
+ bodyB.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128), deltaImpulse, bodyB.internalGetDeltaLinearVelocity().mVec128);
+ bodyB.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, bodyB.internalGetDeltaAngularVelocity().mVec128);
+ btSimdScalar deltaImp = deltaImpulse;
+ return deltaImp.m_floats[0]*(1./c.m_jacDiagABInv);
#else
- return gResolveSingleConstraintRowLowerLimit_sse2(body1,body2,c);
+ return gResolveSingleConstraintRowLowerLimit_sse2(bodyA,bodyB,c);
#endif //BT_ALLOW_SSE4
}
@@ -267,32 +270,32 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBo
-btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c)
{
- return m_resolveSingleConstraintRowGeneric(body1, body2, c);
+ return m_resolveSingleConstraintRowGeneric(bodyA, bodyB, c);
}
// Project Gauss Seidel or the equivalent Sequential Impulse
-btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c)
{
- return m_resolveSingleConstraintRowGeneric(body1, body2, c);
+ return m_resolveSingleConstraintRowGeneric(bodyA, bodyB, c);
}
-btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c)
{
- return m_resolveSingleConstraintRowLowerLimit(body1, body2, c);
+ return m_resolveSingleConstraintRowLowerLimit(bodyA, bodyB, c);
}
-btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c)
{
- return m_resolveSingleConstraintRowLowerLimit(body1, body2, c);
+ return m_resolveSingleConstraintRowLowerLimit(bodyA, bodyB, c);
}
-static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference(
- btSolverBody& body1,
- btSolverBody& body2,
+static btScalar gResolveSplitPenetrationImpulse_scalar_reference(
+ btSolverBody& bodyA,
+ btSolverBody& bodyB,
const btSolverConstraint& c)
{
btScalar deltaImpulse = 0.f;
@@ -301,8 +304,8 @@ static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference(
{
gNumSplitImpulseRecoveries++;
deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm;
- const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity());
- const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity());
+ const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetTurnVelocity());
+ const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetTurnVelocity());
deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv;
deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv;
@@ -316,13 +319,13 @@ static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference(
{
c.m_appliedPushImpulse = sum;
}
- body1.internalApplyPushImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
- body2.internalApplyPushImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+ bodyA.internalApplyPushImpulse(c.m_contactNormal1*bodyA.internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+ bodyB.internalApplyPushImpulse(c.m_contactNormal2*bodyB.internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
}
- return deltaImpulse;
+ return deltaImpulse*(1./c.m_jacDiagABInv);
}
-static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
+static btScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c)
{
#ifdef USE_SIMD
if (!c.m_rhsPenetration)
@@ -334,8 +337,8 @@ static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btS
__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(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128));
- __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128));
+ __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,bodyA.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,bodyA.internalGetTurnVelocity().mVec128));
+ __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,bodyB.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,bodyB.internalGetTurnVelocity().mVec128));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv)));
btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse);
@@ -345,16 +348,17 @@ static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btS
__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_contactNormal1.mVec128,body1.internalGetInvMass().mVec128);
- __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128);
+ __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,bodyA.internalGetInvMass().mVec128);
+ __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,bodyB.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_add_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));
- return deltaImpulse;
+ bodyA.internalGetPushVelocity().mVec128 = _mm_add_ps(bodyA.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude));
+ bodyA.internalGetTurnVelocity().mVec128 = _mm_add_ps(bodyA.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude));
+ bodyB.internalGetPushVelocity().mVec128 = _mm_add_ps(bodyB.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude));
+ bodyB.internalGetTurnVelocity().mVec128 = _mm_add_ps(bodyB.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude));
+ btSimdScalar deltaImp = deltaImpulse;
+ return deltaImp.m_floats[0] * (1. / c.m_jacDiagABInv);
#else
- return gResolveSplitPenetrationImpulse_scalar_reference(body1,body2,c);
+ return gResolveSplitPenetrationImpulse_scalar_reference(bodyA,bodyB,c);
#endif
}
@@ -548,7 +552,7 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody;
- btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
+ btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
@@ -572,12 +576,12 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
solverConstraint.m_angularComponentA .setZero();
}
- if (body1)
+ if (bodyA)
{
solverConstraint.m_contactNormal2 = -normalAxis;
btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
- solverConstraint.m_angularComponentB = body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor();
+ solverConstraint.m_angularComponentB = bodyA->getInvInertiaTensorWorld()*ftorqueAxis1*bodyA->getAngularFactor();
} else
{
solverConstraint.m_contactNormal2.setZero();
@@ -594,10 +598,10 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
denom0 = body0->getInvMass() + normalAxis.dot(vec);
}
- if (body1)
+ if (bodyA)
{
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
- denom1 = body1->getInvMass() + normalAxis.dot(vec);
+ denom1 = bodyA->getInvMass() + normalAxis.dot(vec);
}
btScalar denom = relaxation/(denom0+denom1);
solverConstraint.m_jacDiagABInv = denom;
@@ -609,8 +613,8 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
btScalar rel_vel;
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
- btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
- + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
+ btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyA?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
+ + solverConstraint.m_relpos2CrossNormal.dot(bodyA?solverBodyB.m_angularVelocity:btVector3(0,0,0));
rel_vel = vel1Dotn+vel2Dotn;
@@ -662,7 +666,7 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint( btSo
btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody;
- btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
+ btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody;
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
@@ -681,13 +685,13 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint( btSo
{
btVector3 ftorqueAxis1 = normalAxis1;
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
- solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
+ solverConstraint.m_angularComponentB = bodyA ? bodyA->getInvInertiaTensorWorld()*ftorqueAxis1*bodyA->getAngularFactor() : btVector3(0,0,0);
}
{
btVector3 iMJaA = body0?body0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0);
- btVector3 iMJaB = body1?body1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0);
+ btVector3 iMJaB = bodyA?bodyA->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0);
btScalar sum = 0;
sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
@@ -700,8 +704,8 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint( btSo
btScalar rel_vel;
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
- btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
- + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
+ btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyA?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
+ + solverConstraint.m_relpos2CrossNormal.dot(bodyA?solverBodyB.m_angularVelocity:btVector3(0,0,0));
rel_vel = vel1Dotn+vel2Dotn;
@@ -738,23 +742,21 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{
#if BT_THREADSAFE
int solverBodyId = -1;
- if ( !body.isStaticOrKinematicObject() )
+ bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL;
+ if ( isRigidBodyType && !body.isStaticOrKinematicObject() )
{
// dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId
solverBodyId = body.getCompanionId();
if ( solverBodyId < 0 )
{
- if ( btRigidBody* rb = btRigidBody::upcast( &body ) )
- {
- solverBodyId = m_tmpSolverBodyPool.size();
- btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
- initSolverBody( &solverBody, &body, timeStep );
- body.setCompanionId( solverBodyId );
- }
+ solverBodyId = m_tmpSolverBodyPool.size();
+ btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
+ initSolverBody( &solverBody, &body, timeStep );
+ body.setCompanionId( solverBodyId );
}
}
- else if (body.isKinematicObject())
+ else if (isRigidBodyType && body.isKinematicObject())
{
//
// NOTE: must test for kinematic before static because some kinematic objects also
@@ -774,7 +776,6 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
if ( solverBodyId == INVALID_SOLVER_BODY_ID )
{
// create a table entry for this body
- btRigidBody* rb = btRigidBody::upcast( &body );
solverBodyId = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody( &solverBody, &body, timeStep );
@@ -783,6 +784,13 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
}
else
{
+ bool isMultiBodyType = (body.getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK);
+ // Incorrectly set collision object flags can degrade performance in various ways.
+ if (!isMultiBodyType)
+ {
+ btAssert( body.isStaticOrKinematicObject() );
+ }
+ //it could be a multibody link collider
// all fixed bodies (inf mass) get mapped to a single solver id
if ( m_fixedBodyId < 0 )
{
@@ -792,7 +800,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
}
solverBodyId = m_fixedBodyId;
}
- btAssert( solverBodyId < m_tmpSolverBodyPool.size() );
+ btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() );
return solverBodyId;
#else // BT_THREADSAFE
@@ -1258,6 +1266,256 @@ void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold**
}
}
+
+void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow,
+ btTypedConstraint* constraint,
+ const btTypedConstraint::btConstraintInfo1& info1,
+ int solverBodyIdA,
+ int solverBodyIdB,
+ const btContactSolverInfo& infoGlobal
+ )
+{
+ const btRigidBody& rbA = constraint->getRigidBodyA();
+ const btRigidBody& rbB = constraint->getRigidBodyB();
+
+ const btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
+ const btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
+
+ int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations;
+ if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations)
+ m_maxOverrideNumSolverIterations = overrideNumSolverIterations;
+
+ for (int j=0;j<info1.m_numConstraintRows;j++)
+ {
+ memset(&currentConstraintRow[j],0,sizeof(btSolverConstraint));
+ currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY;
+ currentConstraintRow[j].m_upperLimit = SIMD_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;
+ }
+
+ // these vectors are already cleared in initSolverBody, no need to redundantly clear again
+ btAssert(bodyAPtr->getDeltaLinearVelocity().isZero());
+ btAssert(bodyAPtr->getDeltaAngularVelocity().isZero());
+ btAssert(bodyAPtr->getPushVelocity().isZero());
+ btAssert(bodyAPtr->getTurnVelocity().isZero());
+ btAssert(bodyBPtr->getDeltaLinearVelocity().isZero());
+ btAssert(bodyBPtr->getDeltaAngularVelocity().isZero());
+ btAssert(bodyBPtr->getPushVelocity().isZero());
+ btAssert(bodyBPtr->getTurnVelocity().isZero());
+ //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);
+
+
+ btTypedConstraint::btConstraintInfo2 info2;
+ info2.fps = 1.f/infoGlobal.m_timeStep;
+ info2.erp = infoGlobal.m_erp;
+ info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1;
+ info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
+ info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2;
+ info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
+ info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
+ ///the size of btSolverConstraint needs be a multiple of btScalar
+ btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
+ info2.m_constraintError = &currentConstraintRow->m_rhs;
+ currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
+ info2.m_damping = infoGlobal.m_damping;
+ info2.cfm = &currentConstraintRow->m_cfm;
+ info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
+ info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
+ info2.m_numIterations = infoGlobal.m_numIterations;
+ constraint->getInfo2(&info2);
+
+ ///finalize the constraint setup
+ for (int j=0;j<info1.m_numConstraintRows;j++)
+ {
+ btSolverConstraint& solverConstraint = currentConstraintRow[j];
+
+ if (solverConstraint.m_upperLimit>=constraint->getBreakingImpulseThreshold())
+ {
+ solverConstraint.m_upperLimit = constraint->getBreakingImpulseThreshold();
+ }
+
+ if (solverConstraint.m_lowerLimit<=-constraint->getBreakingImpulseThreshold())
+ {
+ solverConstraint.m_lowerLimit = -constraint->getBreakingImpulseThreshold();
+ }
+
+ solverConstraint.m_originalContactPoint = constraint;
+
+ {
+ const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
+ solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor();
+ }
+ {
+ const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
+ solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor();
+ }
+
+ {
+ btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass();
+ btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal;
+ btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal?
+ btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal;
+
+ btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1);
+ sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
+ sum += iMJlB.dot(solverConstraint.m_contactNormal2);
+ sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
+ btScalar fsum = btFabs(sum);
+ btAssert(fsum > SIMD_EPSILON);
+ btScalar sorRelaxation = 1.f;//todo: get from globalInfo?
+ solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?sorRelaxation/sum : 0.f;
+ }
+
+ {
+ btScalar rel_vel;
+ btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0);
+ btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0);
+
+ btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0);
+ btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0);
+
+ btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA)
+ + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA);
+
+ btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB)
+ + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB);
+
+ rel_vel = vel1Dotn+vel2Dotn;
+ btScalar restitution = 0.f;
+ btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
+ btScalar velocityError = restitution - rel_vel * info2.m_damping;
+ btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
+ btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
+ solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
+ solverConstraint.m_appliedImpulse = 0.f;
+ }
+ }
+}
+
+
+void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal)
+{
+ BT_PROFILE("convertJoints");
+ for (int j=0;j<numConstraints;j++)
+ {
+ btTypedConstraint* constraint = constraints[j];
+ constraint->buildJacobian();
+ constraint->internalSetAppliedImpulse(0.0f);
+ }
+
+ int totalNumRows = 0;
+
+ m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
+ //calculate the total number of contraint rows
+ for (int i=0;i<numConstraints;i++)
+ {
+ btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+ btJointFeedback* 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())
+ {
+ constraints[i]->getInfo1(&info1);
+ } else
+ {
+ info1.m_numConstraintRows = 0;
+ info1.nub = 0;
+ }
+ totalNumRows += info1.m_numConstraintRows;
+ }
+ m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
+
+
+ ///setup the btSolverConstraints
+ int currentRow = 0;
+
+ for (int i=0;i<numConstraints;i++)
+ {
+ const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+
+ if (info1.m_numConstraintRows)
+ {
+ btAssert(currentRow<totalNumRows);
+
+ btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
+ btTypedConstraint* constraint = constraints[i];
+ btRigidBody& rbA = constraint->getRigidBodyA();
+ btRigidBody& rbB = constraint->getRigidBodyB();
+
+ int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep);
+ int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep);
+
+ convertJoint(currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal);
+ }
+ currentRow+=info1.m_numConstraintRows;
+ }
+}
+
+
+void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
+{
+ BT_PROFILE("convertBodies");
+ for (int i = 0; i < numBodies; i++)
+ {
+ bodies[i]->setCompanionId(-1);
+ }
+#if BT_THREADSAFE
+ m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 );
+#endif // BT_THREADSAFE
+
+ m_tmpSolverBodyPool.reserve(numBodies+1);
+ m_tmpSolverBodyPool.resize(0);
+
+ //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
+ //initSolverBody(&fixedBody,0);
+
+ for (int i=0;i<numBodies;i++)
+ {
+ int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep);
+
+ btRigidBody* body = btRigidBody::upcast(bodies[i]);
+ if (body && body->getInvMass())
+ {
+ btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
+ btVector3 gyroForce (0,0,0);
+ if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT)
+ {
+ gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce);
+ solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
+ }
+ if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD)
+ {
+ gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep);
+ solverBody.m_externalTorqueImpulse += gyroForce;
+ }
+ if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY)
+ {
+ gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep);
+ solverBody.m_externalTorqueImpulse += gyroForce;
+
+ }
+ }
+ }
+}
+
+
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
m_fixedBodyId = -1;
@@ -1344,254 +1602,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
#endif //BT_ADDITIONAL_DEBUG
- for (int i = 0; i < numBodies; i++)
- {
- bodies[i]->setCompanionId(-1);
- }
-#if BT_THREADSAFE
- m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 );
-#endif // BT_THREADSAFE
-
- m_tmpSolverBodyPool.reserve(numBodies+1);
- m_tmpSolverBodyPool.resize(0);
-
- //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
- //initSolverBody(&fixedBody,0);
-
//convert all bodies
+ convertBodies(bodies, numBodies, infoGlobal);
+ convertJoints(constraints, numConstraints, infoGlobal);
- for (int i=0;i<numBodies;i++)
- {
- int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep);
-
- btRigidBody* body = btRigidBody::upcast(bodies[i]);
- if (body && body->getInvMass())
- {
- btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId];
- btVector3 gyroForce (0,0,0);
- if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT)
- {
- gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce);
- solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
- }
- if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD)
- {
- gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep);
- solverBody.m_externalTorqueImpulse += gyroForce;
- }
- if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY)
- {
- gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep);
- solverBody.m_externalTorqueImpulse += gyroForce;
-
- }
-
-
- }
- }
-
- if (1)
- {
- int j;
- for (j=0;j<numConstraints;j++)
- {
- btTypedConstraint* constraint = constraints[j];
- constraint->buildJacobian();
- constraint->internalSetAppliedImpulse(0.0f);
- }
- }
-
- //btRigidBody* 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++)
- {
- btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
- btJointFeedback* 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);
- } else
- {
- info1.m_numConstraintRows = 0;
- info1.nub = 0;
- }
- totalNumRows += info1.m_numConstraintRows;
- }
- m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
-
-
- ///setup the btSolverConstraints
- int currentRow = 0;
-
- for (i=0;i<numConstraints;i++)
- {
- const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
-
- if (info1.m_numConstraintRows)
- {
- btAssert(currentRow<totalNumRows);
-
- btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow];
- btTypedConstraint* constraint = constraints[i];
- btRigidBody& rbA = constraint->getRigidBodyA();
- btRigidBody& rbB = constraint->getRigidBodyB();
-
- int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep);
- int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep);
-
- btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
- btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
+ convertContacts(manifoldPtr,numManifolds,infoGlobal);
-
-
- 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(&currentConstraintRow[j],0,sizeof(btSolverConstraint));
- currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY;
- currentConstraintRow[j].m_upperLimit = SIMD_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);
-
-
- btTypedConstraint::btConstraintInfo2 info2;
- info2.fps = 1.f/infoGlobal.m_timeStep;
- info2.erp = infoGlobal.m_erp;
- info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1;
- info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal;
- info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2;
- info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal;
- info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this
- ///the size of btSolverConstraint needs be a multiple of btScalar
- btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint));
- info2.m_constraintError = &currentConstraintRow->m_rhs;
- currentConstraintRow->m_cfm = infoGlobal.m_globalCfm;
- info2.m_damping = infoGlobal.m_damping;
- info2.cfm = &currentConstraintRow->m_cfm;
- info2.m_lowerLimit = &currentConstraintRow->m_lowerLimit;
- info2.m_upperLimit = &currentConstraintRow->m_upperLimit;
- info2.m_numIterations = infoGlobal.m_numIterations;
- constraints[i]->getInfo2(&info2);
-
- ///finalize the constraint setup
- for ( j=0;j<info1.m_numConstraintRows;j++)
- {
- btSolverConstraint& solverConstraint = currentConstraintRow[j];
-
- 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;
-
- {
- const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal;
- solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor();
- }
- {
- const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal;
- solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor();
- }
-
- {
- btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass();
- btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal;
- btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal?
- btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal;
-
- btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1);
- sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal);
- sum += iMJlB.dot(solverConstraint.m_contactNormal2);
- sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal);
- btScalar fsum = btFabs(sum);
- btAssert(fsum > SIMD_EPSILON);
- btScalar sorRelaxation = 1.f;//todo: get from globalInfo?
- solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?sorRelaxation/sum : 0.f;
- }
-
-
-
- {
- btScalar rel_vel;
- btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0);
- btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0);
-
- btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0);
- btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0);
-
- btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA)
- + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA);
-
- btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB)
- + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB);
-
- rel_vel = vel1Dotn+vel2Dotn;
- btScalar restitution = 0.f;
- btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
- btScalar velocityError = restitution - rel_vel * info2.m_damping;
- btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
- btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
- solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
- solverConstraint.m_appliedImpulse = 0.f;
-
-
- }
- }
- }
- currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows;
- }
- }
-
- convertContacts(manifoldPtr,numManifolds,infoGlobal);
-
- }
-
// btContactSolverInfo info = infoGlobal;
@@ -1630,6 +1648,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
{
+ BT_PROFILE("solveSingleIteration");
btScalar leastSquaresResidual = 0.f;
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
@@ -1675,7 +1694,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
if (iteration < constraint.m_overrideNumSolverIterations)
{
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
- leastSquaresResidual += residual*residual;
+ leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
@@ -1706,7 +1725,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
- leastSquaresResidual += residual*residual;
+ leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
totalImpulse = solveManifold.m_appliedImpulse;
}
@@ -1723,7 +1742,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
- leastSquaresResidual += residual*residual;
+ leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
@@ -1738,7 +1757,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
- leastSquaresResidual += residual*residual;
+ leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
}
@@ -1755,7 +1774,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
- leastSquaresResidual += residual*residual;
+ leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
@@ -1774,7 +1793,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
- leastSquaresResidual += residual*residual;
+ leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
}
@@ -1796,7 +1815,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
- leastSquaresResidual += residual*residual;
+ leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
@@ -1808,6 +1827,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
+ BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
int iteration;
if (infoGlobal.m_splitImpulse)
{
@@ -1823,7 +1843,7 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
- leastSquaresResidual += residual*residual;
+ leastSquaresResidual = btMax(leastSquaresResidual, residual*residual);
}
}
if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration>=(infoGlobal.m_numIterations-1))
@@ -1866,14 +1886,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(
return 0.f;
}
-btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
+void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
{
- int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
- int i,j;
-
- if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
- {
- for (j=0;j<numPoolConstraints;j++)
+ for (int j=iBegin; j<iEnd; j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j];
btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint;
@@ -1889,10 +1904,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
}
//do a callback here?
}
- }
+}
- numPoolConstraints = m_tmpSolverNonContactConstraintPool.size();
- for (j=0;j<numPoolConstraints;j++)
+void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
+{
+ for (int j=iBegin; j<iEnd; j++)
{
const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j];
btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint;
@@ -1912,10 +1928,12 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
constr->setEnabled(false);
}
}
+}
-
- for ( i=0;i<m_tmpSolverBodyPool.size();i++)
+void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
+{
+ for (int i=iBegin; i<iEnd; i++)
{
btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody;
if (body)
@@ -1939,6 +1957,19 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1);
}
}
+}
+
+btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
+{
+ BT_PROFILE("solveGroupCacheFriendlyFinish");
+
+ if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+ {
+ writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal);
+ }
+
+ writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal);
+ writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal);
m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index 16c7eb74c1..b834c3dac3 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose,
-including commercial applications, and to alter it and redistribute it freely,
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -27,7 +27,7 @@ class btCollisionObject;
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
-typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
+typedef btScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
@@ -64,44 +64,48 @@ protected:
void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
- btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
+ btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
const btContactSolverInfo& infoGlobal,
btScalar desiredVelocity=0., btScalar cfmSlip=0.);
void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,
- btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
+ btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
btScalar desiredVelocity=0., btScalar cfmSlip=0.);
btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
-
- void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
+
+ void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
- void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
+ void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
unsigned long m_btSeed2;
-
+
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
+ virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal);
+ void convertJoint(btSolverConstraint* currentConstraintRow, btTypedConstraint* constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal);
+
+ virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
- btSimdScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
+ btScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
{
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
}
- btSimdScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
+ btScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
{
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
}
@@ -110,18 +114,20 @@ protected:
int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
- btSimdScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
- btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
- btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
- btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
- btSimdScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
+ btScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
+ btScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
+ btScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
+ btScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
+ btScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
{
return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
}
-
+
protected:
-
-
+
+ void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+ void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+ void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
@@ -133,15 +139,15 @@ protected:
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
-
+
btSequentialImpulseConstraintSolver();
virtual ~btSequentialImpulseConstraintSolver();
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
-
+
///clear internal cached data and reset random seed
virtual void reset();
-
+
unsigned long btRand2();
int btRandInt2 (int n);
@@ -155,7 +161,7 @@ public:
return m_btSeed2;
}
-
+
virtual btConstraintSolverType getSolverType() const
{
return BT_SEQUENTIAL_IMPULSE_SOLVER;
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
new file mode 100644
index 0000000000..4306c37e49
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp
@@ -0,0 +1,1621 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "btSequentialImpulseConstraintSolverMt.h"
+
+#include "LinearMath/btQuickprof.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+
+
+bool btSequentialImpulseConstraintSolverMt::s_allowNestedParallelForLoops = false; // some task schedulers don't like nested loops
+int btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching = 250;
+int btSequentialImpulseConstraintSolverMt::s_minBatchSize = 50;
+int btSequentialImpulseConstraintSolverMt::s_maxBatchSize = 100;
+btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_contactBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D;
+btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_jointBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D;
+
+
+btSequentialImpulseConstraintSolverMt::btSequentialImpulseConstraintSolverMt()
+{
+ m_numFrictionDirections = 1;
+ m_useBatching = false;
+ m_useObsoleteJointConstraints = false;
+}
+
+
+btSequentialImpulseConstraintSolverMt::~btSequentialImpulseConstraintSolverMt()
+{
+}
+
+
+void btSequentialImpulseConstraintSolverMt::setupBatchedContactConstraints()
+{
+ BT_PROFILE("setupBatchedContactConstraints");
+ m_batchedContactConstraints.setup( &m_tmpSolverContactConstraintPool,
+ m_tmpSolverBodyPool,
+ s_contactBatchingMethod,
+ s_minBatchSize,
+ s_maxBatchSize,
+ &m_scratchMemory
+ );
+}
+
+
+void btSequentialImpulseConstraintSolverMt::setupBatchedJointConstraints()
+{
+ BT_PROFILE("setupBatchedJointConstraints");
+ m_batchedJointConstraints.setup( &m_tmpSolverNonContactConstraintPool,
+ m_tmpSolverBodyPool,
+ s_jointBatchingMethod,
+ s_minBatchSize,
+ s_maxBatchSize,
+ &m_scratchMemory
+ );
+}
+
+
+void btSequentialImpulseConstraintSolverMt::internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal)
+{
+ btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[iContactConstraint];
+
+ btVector3 rel_pos1;
+ btVector3 rel_pos2;
+ btScalar relaxation;
+
+ int solverBodyIdA = contactConstraint.m_solverBodyIdA;
+ int solverBodyIdB = contactConstraint.m_solverBodyIdB;
+
+ btSolverBody* solverBodyA = &m_tmpSolverBodyPool[ solverBodyIdA ];
+ btSolverBody* solverBodyB = &m_tmpSolverBodyPool[ solverBodyIdB ];
+
+ btRigidBody* colObj0 = solverBodyA->m_originalBody;
+ btRigidBody* colObj1 = solverBodyB->m_originalBody;
+
+ btManifoldPoint& cp = *static_cast<btManifoldPoint*>( contactConstraint.m_originalContactPoint );
+
+ const btVector3& pos1 = cp.getPositionWorldOnA();
+ const btVector3& pos2 = cp.getPositionWorldOnB();
+
+ rel_pos1 = pos1 - solverBodyA->getWorldTransform().getOrigin();
+ rel_pos2 = pos2 - solverBodyB->getWorldTransform().getOrigin();
+
+ btVector3 vel1;
+ btVector3 vel2;
+
+ solverBodyA->getVelocityInLocalPointNoDelta( rel_pos1, vel1 );
+ solverBodyB->getVelocityInLocalPointNoDelta( rel_pos2, vel2 );
+
+ btVector3 vel = vel1 - vel2;
+ btScalar rel_vel = cp.m_normalWorldOnB.dot( vel );
+
+ setupContactConstraint( contactConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2 );
+
+ // setup rolling friction constraints
+ int rollingFrictionIndex = m_rollingFrictionIndexTable[iContactConstraint];
+ if (rollingFrictionIndex >= 0)
+ {
+ btSolverConstraint& spinningFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ rollingFrictionIndex ];
+ btAssert( spinningFrictionConstraint.m_frictionIndex == iContactConstraint );
+ setupTorsionalFrictionConstraint( spinningFrictionConstraint,
+ cp.m_normalWorldOnB,
+ solverBodyIdA,
+ solverBodyIdB,
+ cp,
+ cp.m_combinedSpinningFriction,
+ rel_pos1,
+ rel_pos2,
+ colObj0,
+ colObj1,
+ relaxation,
+ 0.0f,
+ 0.0f
+ );
+ btVector3 axis[2];
+ btPlaneSpace1( cp.m_normalWorldOnB, axis[0], axis[1] );
+ axis[0].normalize();
+ axis[1].normalize();
+
+ applyAnisotropicFriction( colObj0, axis[0], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION );
+ applyAnisotropicFriction( colObj1, axis[0], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION );
+ applyAnisotropicFriction( colObj0, axis[1], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION );
+ applyAnisotropicFriction( colObj1, axis[1], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION );
+ // put the largest axis first
+ if (axis[1].length2() > axis[0].length2())
+ {
+ btSwap(axis[0], axis[1]);
+ }
+ const btScalar kRollingFrictionThreshold = 0.001f;
+ for (int i = 0; i < 2; ++i)
+ {
+ int iRollingFric = rollingFrictionIndex + 1 + i;
+ btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ iRollingFric ];
+ btAssert(rollingFrictionConstraint.m_frictionIndex == iContactConstraint);
+ btVector3 dir = axis[i];
+ if ( dir.length() > kRollingFrictionThreshold )
+ {
+ setupTorsionalFrictionConstraint( rollingFrictionConstraint,
+ dir,
+ solverBodyIdA,
+ solverBodyIdB,
+ cp,
+ cp.m_combinedRollingFriction,
+ rel_pos1,
+ rel_pos2,
+ colObj0,
+ colObj1,
+ relaxation,
+ 0.0f,
+ 0.0f
+ );
+ }
+ else
+ {
+ rollingFrictionConstraint.m_frictionIndex = -1; // disable constraint
+ }
+ }
+ }
+
+ // setup friction constraints
+ // setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip);
+ {
+ ///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 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 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
+ ///
+ btSolverConstraint* frictionConstraint1 = &m_tmpSolverContactFrictionConstraintPool[contactConstraint.m_frictionIndex];
+ btAssert(frictionConstraint1->m_frictionIndex == iContactConstraint);
+
+ btSolverConstraint* frictionConstraint2 = NULL;
+ if ( infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS )
+ {
+ frictionConstraint2 = &m_tmpSolverContactFrictionConstraintPool[contactConstraint.m_frictionIndex + 1];
+ btAssert( frictionConstraint2->m_frictionIndex == iContactConstraint );
+ }
+
+ if ( !( infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING ) || !( cp.m_contactPointFlags&BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED ) )
+ {
+ cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
+ btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
+ if ( !( infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION ) && lat_rel_vel > SIMD_EPSILON )
+ {
+ cp.m_lateralFrictionDir1 *= 1.f / btSqrt( lat_rel_vel );
+ applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION );
+ applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION );
+ setupFrictionConstraint( *frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal );
+
+ if ( frictionConstraint2 )
+ {
+ cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross( cp.m_normalWorldOnB );
+ cp.m_lateralFrictionDir2.normalize();//??
+ applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION );
+ applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION );
+ setupFrictionConstraint( *frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal );
+ }
+ }
+ else
+ {
+ btPlaneSpace1( cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2 );
+
+ applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION );
+ applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION );
+ setupFrictionConstraint( *frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal );
+
+ if ( frictionConstraint2 )
+ {
+ applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION );
+ applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION );
+ setupFrictionConstraint( *frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal );
+ }
+
+ if ( ( infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS ) && ( infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION ) )
+ {
+ cp.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
+ }
+ }
+ }
+ else
+ {
+ setupFrictionConstraint( *frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM );
+ if ( frictionConstraint2 )
+ {
+ setupFrictionConstraint( *frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM );
+ }
+ }
+ }
+
+ setFrictionConstraintImpulse( contactConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal );
+}
+
+
+struct SetupContactConstraintsLoop : public btIParallelForBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btBatchedConstraints* m_bc;
+ const btContactSolverInfo* m_infoGlobal;
+
+ SetupContactConstraintsLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc, const btContactSolverInfo& infoGlobal )
+ {
+ m_solver = solver;
+ m_bc = bc;
+ m_infoGlobal = &infoGlobal;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ BT_PROFILE( "SetupContactConstraintsLoop" );
+ for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch )
+ {
+ const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ];
+ for (int i = batch.begin; i < batch.end; ++i)
+ {
+ int iContact = m_bc->m_constraintIndices[i];
+ m_solver->internalSetupContactConstraints( iContact, *m_infoGlobal );
+ }
+ }
+ }
+};
+
+
+void btSequentialImpulseConstraintSolverMt::setupAllContactConstraints(const btContactSolverInfo& infoGlobal)
+{
+ BT_PROFILE( "setupAllContactConstraints" );
+ if ( m_useBatching )
+ {
+ const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+ SetupContactConstraintsLoop loop( this, &batchedCons, infoGlobal );
+ for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase )
+ {
+ int iPhase = batchedCons.m_phaseOrder[ iiPhase ];
+ const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ];
+ int grainSize = 1;
+ btParallelFor( phase.begin, phase.end, grainSize, loop );
+ }
+ }
+ else
+ {
+ for ( int i = 0; i < m_tmpSolverContactConstraintPool.size(); ++i )
+ {
+ internalSetupContactConstraints( i, infoGlobal );
+ }
+ }
+}
+
+
+int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btCollisionObject& body,btScalar timeStep)
+{
+ //
+ // getOrInitSolverBody is threadsafe only for a single thread per solver (with potentially multiple solvers)
+ //
+ // getOrInitSolverBodyThreadsafe -- attempts to be fully threadsafe (however may affect determinism)
+ //
+ int solverBodyId = -1;
+ bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL;
+ if ( isRigidBodyType && !body.isStaticOrKinematicObject() )
+ {
+ // dynamic body
+ // Dynamic bodies can only be in one island, so it's safe to write to the companionId
+ solverBodyId = body.getCompanionId();
+ if ( solverBodyId < 0 )
+ {
+ m_bodySolverArrayMutex.lock();
+ // now that we have the lock, check again
+ solverBodyId = body.getCompanionId();
+ if ( solverBodyId < 0 )
+ {
+ solverBodyId = m_tmpSolverBodyPool.size();
+ btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
+ initSolverBody( &solverBody, &body, timeStep );
+ body.setCompanionId( solverBodyId );
+ }
+ m_bodySolverArrayMutex.unlock();
+ }
+ }
+ else if (isRigidBodyType && body.isKinematicObject())
+ {
+ //
+ // NOTE: must test for kinematic before static because some kinematic objects also
+ // identify as "static"
+ //
+ // Kinematic bodies can be in multiple islands at once, so it is a
+ // race condition to write to them, so we use an alternate method
+ // to record the solverBodyId
+ int uniqueId = body.getWorldArrayIndex();
+ const int INVALID_SOLVER_BODY_ID = -1;
+ if (m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId )
+ {
+ m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock();
+ // now that we have the lock, check again
+ if ( m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId )
+ {
+ m_kinematicBodyUniqueIdToSolverBodyTable.resize( uniqueId + 1, INVALID_SOLVER_BODY_ID );
+ }
+ m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock();
+ }
+ solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ];
+ // if no table entry yet,
+ if ( INVALID_SOLVER_BODY_ID == solverBodyId )
+ {
+ // need to acquire both locks
+ m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock();
+ m_bodySolverArrayMutex.lock();
+ // now that we have the lock, check again
+ solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ];
+ if ( INVALID_SOLVER_BODY_ID == solverBodyId )
+ {
+ // create a table entry for this body
+ solverBodyId = m_tmpSolverBodyPool.size();
+ btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
+ initSolverBody( &solverBody, &body, timeStep );
+ m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ] = solverBodyId;
+ }
+ m_bodySolverArrayMutex.unlock();
+ m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock();
+ }
+ }
+ else
+ {
+ // all fixed bodies (inf mass) get mapped to a single solver id
+ if ( m_fixedBodyId < 0 )
+ {
+ m_bodySolverArrayMutex.lock();
+ // now that we have the lock, check again
+ if ( m_fixedBodyId < 0 )
+ {
+ m_fixedBodyId = m_tmpSolverBodyPool.size();
+ btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
+ initSolverBody( &fixedBody, 0, timeStep );
+ }
+ m_bodySolverArrayMutex.unlock();
+ }
+ solverBodyId = m_fixedBodyId;
+ }
+ btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() );
+ return solverBodyId;
+}
+
+
+void btSequentialImpulseConstraintSolverMt::internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
+{
+ BT_PROFILE("internalCollectContactManifoldCachedInfo");
+ for (int i = 0; i < numManifolds; ++i)
+ {
+ btContactManifoldCachedInfo* cachedInfo = &cachedInfoArray[i];
+ btPersistentManifold* manifold = manifoldPtr[i];
+ btCollisionObject* colObj0 = (btCollisionObject*) manifold->getBody0();
+ btCollisionObject* colObj1 = (btCollisionObject*) manifold->getBody1();
+
+ int solverBodyIdA = getOrInitSolverBodyThreadsafe( *colObj0, infoGlobal.m_timeStep );
+ int solverBodyIdB = getOrInitSolverBodyThreadsafe( *colObj1, infoGlobal.m_timeStep );
+
+ cachedInfo->solverBodyIds[ 0 ] = solverBodyIdA;
+ cachedInfo->solverBodyIds[ 1 ] = solverBodyIdB;
+ cachedInfo->numTouchingContacts = 0;
+
+ btSolverBody* solverBodyA = &m_tmpSolverBodyPool[ solverBodyIdA ];
+ btSolverBody* solverBodyB = &m_tmpSolverBodyPool[ solverBodyIdB ];
+
+ // A contact manifold between 2 static object should not exist!
+ // check the collision flags of your objects if this assert fires.
+ // Incorrectly set collision object flags can degrade performance in various ways.
+ btAssert( !m_tmpSolverBodyPool[ solverBodyIdA ].m_invMass.isZero() || !m_tmpSolverBodyPool[ solverBodyIdB ].m_invMass.isZero() );
+
+ int iContact = 0;
+ for ( int j = 0; j < manifold->getNumContacts(); j++ )
+ {
+ btManifoldPoint& cp = manifold->getContactPoint( j );
+
+ if ( cp.getDistance() <= manifold->getContactProcessingThreshold() )
+ {
+ cachedInfo->contactPoints[ iContact ] = &cp;
+ cachedInfo->contactHasRollingFriction[ iContact ] = ( cp.m_combinedRollingFriction > 0.f );
+ iContact++;
+ }
+ }
+ cachedInfo->numTouchingContacts = iContact;
+ }
+}
+
+
+struct CollectContactManifoldCachedInfoLoop : public btIParallelForBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* m_cachedInfoArray;
+ btPersistentManifold** m_manifoldPtr;
+ const btContactSolverInfo* m_infoGlobal;
+
+ CollectContactManifoldCachedInfoLoop( btSequentialImpulseConstraintSolverMt* solver, btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, const btContactSolverInfo& infoGlobal )
+ {
+ m_solver = solver;
+ m_cachedInfoArray = cachedInfoArray;
+ m_manifoldPtr = manifoldPtr;
+ m_infoGlobal = &infoGlobal;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ m_solver->internalCollectContactManifoldCachedInfo( m_cachedInfoArray + iBegin, m_manifoldPtr + iBegin, iEnd - iBegin, *m_infoGlobal );
+ }
+};
+
+
+void btSequentialImpulseConstraintSolverMt::internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds)
+{
+ BT_PROFILE("internalAllocContactConstraints");
+ // possibly parallel part
+ for ( int iManifold = 0; iManifold < numManifolds; ++iManifold )
+ {
+ const btContactManifoldCachedInfo& cachedInfo = cachedInfoArray[ iManifold ];
+ int contactIndex = cachedInfo.contactIndex;
+ int frictionIndex = contactIndex * m_numFrictionDirections;
+ int rollingFrictionIndex = cachedInfo.rollingFrictionIndex;
+ for ( int i = 0; i < cachedInfo.numTouchingContacts; i++ )
+ {
+ btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[contactIndex];
+ contactConstraint.m_solverBodyIdA = cachedInfo.solverBodyIds[ 0 ];
+ contactConstraint.m_solverBodyIdB = cachedInfo.solverBodyIds[ 1 ];
+ contactConstraint.m_originalContactPoint = cachedInfo.contactPoints[ i ];
+
+ // allocate the friction constraints
+ contactConstraint.m_frictionIndex = frictionIndex;
+ for ( int iDir = 0; iDir < m_numFrictionDirections; ++iDir )
+ {
+ btSolverConstraint& frictionConstraint = m_tmpSolverContactFrictionConstraintPool[frictionIndex];
+ frictionConstraint.m_frictionIndex = contactIndex;
+ frictionIndex++;
+ }
+
+ // allocate rolling friction constraints
+ if ( cachedInfo.contactHasRollingFriction[ i ] )
+ {
+ m_rollingFrictionIndexTable[ contactIndex ] = rollingFrictionIndex;
+ // allocate 3 (although we may use only 2 sometimes)
+ for ( int i = 0; i < 3; i++ )
+ {
+ m_tmpSolverContactRollingFrictionConstraintPool[ rollingFrictionIndex ].m_frictionIndex = contactIndex;
+ rollingFrictionIndex++;
+ }
+ }
+ else
+ {
+ // indicate there is no rolling friction for this contact point
+ m_rollingFrictionIndexTable[ contactIndex ] = -1;
+ }
+ contactIndex++;
+ }
+ }
+}
+
+
+struct AllocContactConstraintsLoop : public btIParallelForBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* m_cachedInfoArray;
+
+ AllocContactConstraintsLoop( btSequentialImpulseConstraintSolverMt* solver, btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* cachedInfoArray )
+ {
+ m_solver = solver;
+ m_cachedInfoArray = cachedInfoArray;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ m_solver->internalAllocContactConstraints( m_cachedInfoArray + iBegin, iEnd - iBegin );
+ }
+};
+
+
+void btSequentialImpulseConstraintSolverMt::allocAllContactConstraints(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
+{
+ BT_PROFILE( "allocAllContactConstraints" );
+ btAlignedObjectArray<btContactManifoldCachedInfo> cachedInfoArray; // = m_manifoldCachedInfoArray;
+ cachedInfoArray.resizeNoInitialize( numManifolds );
+ if (/* DISABLES CODE */ (false))
+ {
+ // sequential
+ internalCollectContactManifoldCachedInfo(&cachedInfoArray[ 0 ], manifoldPtr, numManifolds, infoGlobal);
+ }
+ else
+ {
+ // may alter ordering of bodies which affects determinism
+ CollectContactManifoldCachedInfoLoop loop( this, &cachedInfoArray[ 0 ], manifoldPtr, infoGlobal );
+ int grainSize = 200;
+ btParallelFor( 0, numManifolds, grainSize, loop );
+ }
+
+ {
+ // serial part
+ int numContacts = 0;
+ int numRollingFrictionConstraints = 0;
+ for ( int iManifold = 0; iManifold < numManifolds; ++iManifold )
+ {
+ btContactManifoldCachedInfo& cachedInfo = cachedInfoArray[ iManifold ];
+ cachedInfo.contactIndex = numContacts;
+ cachedInfo.rollingFrictionIndex = numRollingFrictionConstraints;
+ numContacts += cachedInfo.numTouchingContacts;
+ for (int i = 0; i < cachedInfo.numTouchingContacts; ++i)
+ {
+ if (cachedInfo.contactHasRollingFriction[i])
+ {
+ numRollingFrictionConstraints += 3;
+ }
+ }
+ }
+ {
+ BT_PROFILE( "allocPools" );
+ if ( m_tmpSolverContactConstraintPool.capacity() < numContacts )
+ {
+ // if we need to reallocate, reserve some extra so we don't have to reallocate again next frame
+ int extraReserve = numContacts / 16;
+ m_tmpSolverContactConstraintPool.reserve( numContacts + extraReserve );
+ m_rollingFrictionIndexTable.reserve( numContacts + extraReserve );
+ m_tmpSolverContactFrictionConstraintPool.reserve( ( numContacts + extraReserve )*m_numFrictionDirections );
+ m_tmpSolverContactRollingFrictionConstraintPool.reserve( numRollingFrictionConstraints + extraReserve );
+ }
+ m_tmpSolverContactConstraintPool.resizeNoInitialize( numContacts );
+ m_rollingFrictionIndexTable.resizeNoInitialize( numContacts );
+ m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize( numContacts*m_numFrictionDirections );
+ m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize( numRollingFrictionConstraints );
+ }
+ }
+ {
+ AllocContactConstraintsLoop loop(this, &cachedInfoArray[0]);
+ int grainSize = 200;
+ btParallelFor( 0, numManifolds, grainSize, loop );
+ }
+}
+
+
+void btSequentialImpulseConstraintSolverMt::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal)
+{
+ if (!m_useBatching)
+ {
+ btSequentialImpulseConstraintSolver::convertContacts(manifoldPtr, numManifolds, infoGlobal);
+ return;
+ }
+ BT_PROFILE( "convertContacts" );
+ if (numManifolds > 0)
+ {
+ if ( m_fixedBodyId < 0 )
+ {
+ m_fixedBodyId = m_tmpSolverBodyPool.size();
+ btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
+ initSolverBody( &fixedBody, 0, infoGlobal.m_timeStep );
+ }
+ allocAllContactConstraints( manifoldPtr, numManifolds, infoGlobal );
+ if ( m_useBatching )
+ {
+ setupBatchedContactConstraints();
+ }
+ setupAllContactConstraints( infoGlobal );
+ }
+}
+
+
+void btSequentialImpulseConstraintSolverMt::internalInitMultipleJoints( btTypedConstraint** constraints, int iBegin, int iEnd )
+{
+ BT_PROFILE("internalInitMultipleJoints");
+ for ( int i = iBegin; i < iEnd; i++ )
+ {
+ btTypedConstraint* constraint = constraints[i];
+ btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+ if (constraint->isEnabled())
+ {
+ constraint->buildJacobian();
+ constraint->internalSetAppliedImpulse( 0.0f );
+ btJointFeedback* fb = constraint->getJointFeedback();
+ if ( fb )
+ {
+ fb->m_appliedForceBodyA.setZero();
+ fb->m_appliedTorqueBodyA.setZero();
+ fb->m_appliedForceBodyB.setZero();
+ fb->m_appliedTorqueBodyB.setZero();
+ }
+ constraint->getInfo1( &info1 );
+ }
+ else
+ {
+ info1.m_numConstraintRows = 0;
+ info1.nub = 0;
+ }
+ }
+}
+
+
+struct InitJointsLoop : public btIParallelForBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ btTypedConstraint** m_constraints;
+
+ InitJointsLoop( btSequentialImpulseConstraintSolverMt* solver, btTypedConstraint** constraints )
+ {
+ m_solver = solver;
+ m_constraints = constraints;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ m_solver->internalInitMultipleJoints( m_constraints, iBegin, iEnd );
+ }
+};
+
+
+void btSequentialImpulseConstraintSolverMt::internalConvertMultipleJoints( const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal )
+{
+ BT_PROFILE("internalConvertMultipleJoints");
+ for ( int i = iBegin; i < iEnd; ++i )
+ {
+ const JointParams& jointParams = jointParamsArray[ i ];
+ int currentRow = jointParams.m_solverConstraint;
+ if ( currentRow != -1 )
+ {
+ const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[ i ];
+ btAssert( currentRow < m_tmpSolverNonContactConstraintPool.size() );
+ btAssert( info1.m_numConstraintRows > 0 );
+
+ btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[ currentRow ];
+ btTypedConstraint* constraint = constraints[ i ];
+
+ convertJoint( currentConstraintRow, constraint, info1, jointParams.m_solverBodyA, jointParams.m_solverBodyB, infoGlobal );
+ }
+ }
+}
+
+
+struct ConvertJointsLoop : public btIParallelForBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btAlignedObjectArray<btSequentialImpulseConstraintSolverMt::JointParams>& m_jointParamsArray;
+ btTypedConstraint** m_srcConstraints;
+ const btContactSolverInfo& m_infoGlobal;
+
+ ConvertJointsLoop( btSequentialImpulseConstraintSolverMt* solver,
+ const btAlignedObjectArray<btSequentialImpulseConstraintSolverMt::JointParams>& jointParamsArray,
+ btTypedConstraint** srcConstraints,
+ const btContactSolverInfo& infoGlobal
+ ) :
+ m_jointParamsArray(jointParamsArray),
+ m_infoGlobal(infoGlobal)
+ {
+ m_solver = solver;
+ m_srcConstraints = srcConstraints;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ m_solver->internalConvertMultipleJoints( m_jointParamsArray, m_srcConstraints, iBegin, iEnd, m_infoGlobal );
+ }
+};
+
+
+void btSequentialImpulseConstraintSolverMt::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal)
+{
+ if ( !m_useBatching )
+ {
+ btSequentialImpulseConstraintSolver::convertJoints(constraints, numConstraints, infoGlobal);
+ return;
+ }
+ BT_PROFILE("convertJoints");
+ bool parallelJointSetup = true;
+ m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints);
+ if (parallelJointSetup)
+ {
+ InitJointsLoop loop(this, constraints);
+ int grainSize = 40;
+ btParallelFor(0, numConstraints, grainSize, loop);
+ }
+ else
+ {
+ internalInitMultipleJoints( constraints, 0, numConstraints );
+ }
+
+ int totalNumRows = 0;
+ btAlignedObjectArray<JointParams> jointParamsArray;
+ jointParamsArray.resizeNoInitialize(numConstraints);
+
+ //calculate the total number of contraint rows
+ for (int i=0;i<numConstraints;i++)
+ {
+ btTypedConstraint* constraint = constraints[ i ];
+
+ JointParams& params = jointParamsArray[ i ];
+ const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i];
+
+ if (info1.m_numConstraintRows)
+ {
+ params.m_solverConstraint = totalNumRows;
+ params.m_solverBodyA = getOrInitSolverBody( constraint->getRigidBodyA(), infoGlobal.m_timeStep );
+ params.m_solverBodyB = getOrInitSolverBody( constraint->getRigidBodyB(), infoGlobal.m_timeStep );
+ }
+ else
+ {
+ params.m_solverConstraint = -1;
+ }
+ totalNumRows += info1.m_numConstraintRows;
+ }
+ m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows);
+
+ ///setup the btSolverConstraints
+ if ( parallelJointSetup )
+ {
+ ConvertJointsLoop loop(this, jointParamsArray, constraints, infoGlobal);
+ int grainSize = 20;
+ btParallelFor(0, numConstraints, grainSize, loop);
+ }
+ else
+ {
+ internalConvertMultipleJoints( jointParamsArray, constraints, 0, numConstraints, infoGlobal );
+ }
+ setupBatchedJointConstraints();
+}
+
+
+void btSequentialImpulseConstraintSolverMt::internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal)
+{
+ BT_PROFILE("internalConvertBodies");
+ for (int i=iBegin; i < iEnd; i++)
+ {
+ btCollisionObject* obj = bodies[i];
+ obj->setCompanionId(i);
+ btSolverBody& solverBody = m_tmpSolverBodyPool[i];
+ initSolverBody(&solverBody, obj, infoGlobal.m_timeStep);
+
+ btRigidBody* body = btRigidBody::upcast(obj);
+ if (body && body->getInvMass())
+ {
+ btVector3 gyroForce (0,0,0);
+ if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT)
+ {
+ gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce);
+ solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
+ }
+ if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD)
+ {
+ gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep);
+ solverBody.m_externalTorqueImpulse += gyroForce;
+ }
+ if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY)
+ {
+ gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep);
+ solverBody.m_externalTorqueImpulse += gyroForce;
+ }
+ }
+ }
+}
+
+
+struct ConvertBodiesLoop : public btIParallelForBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ btCollisionObject** m_bodies;
+ int m_numBodies;
+ const btContactSolverInfo& m_infoGlobal;
+
+ ConvertBodiesLoop( btSequentialImpulseConstraintSolverMt* solver,
+ btCollisionObject** bodies,
+ int numBodies,
+ const btContactSolverInfo& infoGlobal
+ ) :
+ m_infoGlobal(infoGlobal)
+ {
+ m_solver = solver;
+ m_bodies = bodies;
+ m_numBodies = numBodies;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ m_solver->internalConvertBodies( m_bodies, iBegin, iEnd, m_infoGlobal );
+ }
+};
+
+
+void btSequentialImpulseConstraintSolverMt::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
+{
+ BT_PROFILE("convertBodies");
+ m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 );
+
+ m_tmpSolverBodyPool.resizeNoInitialize(numBodies+1);
+
+ m_fixedBodyId = numBodies;
+ {
+ btSolverBody& fixedBody = m_tmpSolverBodyPool[ m_fixedBodyId ];
+ initSolverBody( &fixedBody, NULL, infoGlobal.m_timeStep );
+ }
+
+ bool parallelBodySetup = true;
+ if (parallelBodySetup)
+ {
+ ConvertBodiesLoop loop(this, bodies, numBodies, infoGlobal);
+ int grainSize = 40;
+ btParallelFor(0, numBodies, grainSize, loop);
+ }
+ else
+ {
+ internalConvertBodies( bodies, 0, numBodies, infoGlobal );
+ }
+}
+
+
+btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySetup(
+ btCollisionObject** bodies,
+ int numBodies,
+ btPersistentManifold** manifoldPtr,
+ int numManifolds,
+ btTypedConstraint** constraints,
+ int numConstraints,
+ const btContactSolverInfo& infoGlobal,
+ btIDebugDraw* debugDrawer
+ )
+{
+ m_numFrictionDirections = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
+ m_useBatching = false;
+ if ( numManifolds >= s_minimumContactManifoldsForBatching &&
+ (s_allowNestedParallelForLoops || !btThreadsAreRunning())
+ )
+ {
+ m_useBatching = true;
+ m_batchedContactConstraints.m_debugDrawer = debugDrawer;
+ m_batchedJointConstraints.m_debugDrawer = debugDrawer;
+ }
+ btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies,
+ numBodies,
+ manifoldPtr,
+ numManifolds,
+ constraints,
+ numConstraints,
+ infoGlobal,
+ debugDrawer
+ );
+ return 0.0f;
+}
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd )
+{
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons )
+ {
+ int iCons = consIndices[ iiCons ];
+ const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[ iCons ];
+ btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ];
+ btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ];
+ btScalar residual = resolveSplitPenetrationImpulse( bodyA, bodyB, solveManifold );
+ leastSquaresResidual += residual*residual;
+ }
+ return leastSquaresResidual;
+}
+
+
+struct ContactSplitPenetrationImpulseSolverLoop : public btIParallelSumBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btBatchedConstraints* m_bc;
+
+ ContactSplitPenetrationImpulseSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc )
+ {
+ m_solver = solver;
+ m_bc = bc;
+ }
+ btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ BT_PROFILE( "ContactSplitPenetrationImpulseSolverLoop" );
+ btScalar sum = 0;
+ for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch )
+ {
+ const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ];
+ sum += m_solver->resolveMultipleContactSplitPenetrationImpulseConstraints( m_bc->m_constraintIndices, batch.begin, batch.end );
+ }
+ return sum;
+ }
+};
+
+
+void btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+{
+ BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations");
+ if (infoGlobal.m_splitImpulse)
+ {
+ for ( int iteration = 0; iteration < infoGlobal.m_numIterations; iteration++ )
+ {
+ btScalar leastSquaresResidual = 0.f;
+ if (m_useBatching)
+ {
+ const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+ ContactSplitPenetrationImpulseSolverLoop loop( this, &batchedCons );
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase )
+ {
+ int iPhase = batchedCons.m_phaseOrder[ iiPhase ];
+ const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ];
+ int grainSize = batchedCons.m_phaseGrainSize[iPhase];
+ leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop );
+ }
+ }
+ else
+ {
+ // non-batched
+ leastSquaresResidual = resolveMultipleContactSplitPenetrationImpulseConstraints(m_orderTmpConstraintPool, 0, m_tmpSolverContactConstraintPool.size());
+ }
+ if ( leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= ( infoGlobal.m_numIterations - 1 ) )
+ {
+#ifdef VERBOSE_RESIDUAL_PRINTF
+ printf( "residual = %f at iteration #%d\n", leastSquaresResidual, iteration );
+#endif
+ break;
+ }
+ }
+ }
+}
+
+
+btScalar btSequentialImpulseConstraintSolverMt::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+{
+ if ( !m_useBatching )
+ {
+ return btSequentialImpulseConstraintSolver::solveSingleIteration( iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer );
+ }
+ BT_PROFILE( "solveSingleIterationMt" );
+ btScalar leastSquaresResidual = 0.f;
+
+ if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
+ {
+ if (1) // uncomment this for a bit less random ((iteration & 7) == 0)
+ {
+ randomizeConstraintOrdering(iteration, infoGlobal.m_numIterations);
+ }
+ }
+
+ {
+ ///solve all joint constraints
+ leastSquaresResidual += resolveAllJointConstraints(iteration);
+
+ if (iteration< infoGlobal.m_numIterations)
+ {
+ // this loop is only used for cone-twist constraints,
+ // it would be nice to skip this loop if none of the constraints need it
+ if ( m_useObsoleteJointConstraints )
+ {
+ for ( int j = 0; j<numConstraints; j++ )
+ {
+ if ( constraints[ j ]->isEnabled() )
+ {
+ int bodyAid = getOrInitSolverBody( constraints[ j ]->getRigidBodyA(), infoGlobal.m_timeStep );
+ int bodyBid = getOrInitSolverBody( constraints[ j ]->getRigidBodyB(), infoGlobal.m_timeStep );
+ btSolverBody& bodyA = m_tmpSolverBodyPool[ bodyAid ];
+ btSolverBody& bodyB = m_tmpSolverBodyPool[ bodyBid ];
+ constraints[ j ]->solveConstraintObsolete( bodyA, bodyB, infoGlobal.m_timeStep );
+ }
+ }
+ }
+
+ if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
+ {
+ // solve all contact, contact-friction, and rolling friction constraints interleaved
+ leastSquaresResidual += resolveAllContactConstraintsInterleaved();
+ }
+ else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
+ {
+ // don't interleave them
+ // solve all contact constraints
+ leastSquaresResidual += resolveAllContactConstraints();
+
+ // solve all contact friction constraints
+ leastSquaresResidual += resolveAllContactFrictionConstraints();
+
+ // solve all rolling friction constraints
+ leastSquaresResidual += resolveAllRollingFrictionConstraints();
+ }
+ }
+ }
+ return leastSquaresResidual;
+}
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleJointConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration )
+{
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons )
+ {
+ int iCons = consIndices[ iiCons ];
+ const btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[ iCons ];
+ if ( iteration < constraint.m_overrideNumSolverIterations )
+ {
+ btSolverBody& bodyA = m_tmpSolverBodyPool[ constraint.m_solverBodyIdA ];
+ btSolverBody& bodyB = m_tmpSolverBodyPool[ constraint.m_solverBodyIdB ];
+ btScalar residual = resolveSingleConstraintRowGeneric( bodyA, bodyB, constraint );
+ leastSquaresResidual += residual*residual;
+ }
+ }
+ return leastSquaresResidual;
+}
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd )
+{
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons )
+ {
+ int iCons = consIndices[ iiCons ];
+ const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[ iCons ];
+ btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ];
+ btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ];
+ btScalar residual = resolveSingleConstraintRowLowerLimit( bodyA, bodyB, solveManifold );
+ leastSquaresResidual += residual*residual;
+ }
+ return leastSquaresResidual;
+}
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd )
+{
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons )
+ {
+ int iContact = consIndices[ iiCons ];
+ btScalar totalImpulse = m_tmpSolverContactConstraintPool[ iContact ].m_appliedImpulse;
+
+ // apply sliding friction
+ if ( totalImpulse > 0.0f )
+ {
+ int iBegin = iContact * m_numFrictionDirections;
+ int iEnd = iBegin + m_numFrictionDirections;
+ for ( int iFriction = iBegin; iFriction < iEnd; ++iFriction )
+ {
+ btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[ iFriction++ ];
+ btAssert( solveManifold.m_frictionIndex == iContact );
+
+ solveManifold.m_lowerLimit = -( solveManifold.m_friction*totalImpulse );
+ solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+
+ btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ];
+ btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ];
+ btScalar residual = resolveSingleConstraintRowGeneric( bodyA, bodyB, solveManifold );
+ leastSquaresResidual += residual*residual;
+ }
+ }
+ }
+ return leastSquaresResidual;
+}
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd )
+{
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons )
+ {
+ int iContact = consIndices[ iiCons ];
+ int iFirstRollingFriction = m_rollingFrictionIndexTable[ iContact ];
+ if ( iFirstRollingFriction >= 0 )
+ {
+ btScalar totalImpulse = m_tmpSolverContactConstraintPool[ iContact ].m_appliedImpulse;
+ // apply rolling friction
+ if ( totalImpulse > 0.0f )
+ {
+ int iBegin = iFirstRollingFriction;
+ int iEnd = iBegin + 3;
+ for ( int iRollingFric = iBegin; iRollingFric < iEnd; ++iRollingFric )
+ {
+ btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ iRollingFric ];
+ if ( rollingFrictionConstraint.m_frictionIndex != iContact )
+ {
+ break;
+ }
+ btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
+ if ( rollingFrictionMagnitude > rollingFrictionConstraint.m_friction )
+ {
+ rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
+ }
+
+ rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
+ rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
+
+ btScalar residual = resolveSingleConstraintRowGeneric( m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdA ], m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdB ], rollingFrictionConstraint );
+ leastSquaresResidual += residual*residual;
+ }
+ }
+ }
+ }
+ return leastSquaresResidual;
+}
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& contactIndices,
+ int batchBegin,
+ int batchEnd
+ )
+{
+ btScalar leastSquaresResidual = 0.f;
+ int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
+
+ for ( int iiCons = batchBegin; iiCons < batchEnd; iiCons++ )
+ {
+ btScalar totalImpulse = 0;
+ int iContact = contactIndices[ iiCons ];
+ // apply penetration constraint
+ {
+ const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[ iContact ];
+ btScalar residual = resolveSingleConstraintRowLowerLimit( m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ], m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ], solveManifold );
+ leastSquaresResidual += residual*residual;
+ totalImpulse = solveManifold.m_appliedImpulse;
+ }
+
+ // apply sliding friction
+ if ( totalImpulse > 0.0f )
+ {
+ int iBegin = iContact * m_numFrictionDirections;
+ int iEnd = iBegin + m_numFrictionDirections;
+ for ( int iFriction = iBegin; iFriction < iEnd; ++iFriction )
+ {
+ btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[ iFriction ];
+ btAssert( solveManifold.m_frictionIndex == iContact );
+
+ solveManifold.m_lowerLimit = -( solveManifold.m_friction*totalImpulse );
+ solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+
+ btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ];
+ btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ];
+ btScalar residual = resolveSingleConstraintRowGeneric( bodyA, bodyB, solveManifold );
+ leastSquaresResidual += residual*residual;
+ }
+ }
+
+ // apply rolling friction
+ int iFirstRollingFriction = m_rollingFrictionIndexTable[ iContact ];
+ if ( totalImpulse > 0.0f && iFirstRollingFriction >= 0)
+ {
+ int iBegin = iFirstRollingFriction;
+ int iEnd = iBegin + 3;
+ for ( int iRollingFric = iBegin; iRollingFric < iEnd; ++iRollingFric )
+ {
+ btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ iRollingFric ];
+ if ( rollingFrictionConstraint.m_frictionIndex != iContact )
+ {
+ break;
+ }
+ btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
+ if ( rollingFrictionMagnitude > rollingFrictionConstraint.m_friction )
+ {
+ rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
+ }
+
+ rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
+ rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
+
+ btScalar residual = resolveSingleConstraintRowGeneric( m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdA ], m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdB ], rollingFrictionConstraint );
+ leastSquaresResidual += residual*residual;
+ }
+ }
+ }
+ return leastSquaresResidual;
+}
+
+
+void btSequentialImpulseConstraintSolverMt::randomizeBatchedConstraintOrdering( btBatchedConstraints* batchedConstraints )
+{
+ btBatchedConstraints& bc = *batchedConstraints;
+ // randomize ordering of phases
+ for ( int ii = 1; ii < bc.m_phaseOrder.size(); ++ii )
+ {
+ int iSwap = btRandInt2( ii + 1 );
+ bc.m_phaseOrder.swap( ii, iSwap );
+ }
+
+ // for each batch,
+ for ( int iBatch = 0; iBatch < bc.m_batches.size(); ++iBatch )
+ {
+ // randomize ordering of constraints within the batch
+ const btBatchedConstraints::Range& batch = bc.m_batches[ iBatch ];
+ for ( int iiCons = batch.begin; iiCons < batch.end; ++iiCons )
+ {
+ int iSwap = batch.begin + btRandInt2( iiCons - batch.begin + 1 );
+ btAssert(iSwap >= batch.begin && iSwap < batch.end);
+ bc.m_constraintIndices.swap( iiCons, iSwap );
+ }
+ }
+}
+
+
+void btSequentialImpulseConstraintSolverMt::randomizeConstraintOrdering(int iteration, int numIterations)
+{
+ // randomize ordering of joint constraints
+ randomizeBatchedConstraintOrdering( &m_batchedJointConstraints );
+
+ //contact/friction constraints are not solved more than numIterations
+ if ( iteration < numIterations )
+ {
+ randomizeBatchedConstraintOrdering( &m_batchedContactConstraints );
+ }
+}
+
+
+struct JointSolverLoop : public btIParallelSumBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btBatchedConstraints* m_bc;
+ int m_iteration;
+
+ JointSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc, int iteration )
+ {
+ m_solver = solver;
+ m_bc = bc;
+ m_iteration = iteration;
+ }
+ btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ BT_PROFILE( "JointSolverLoop" );
+ btScalar sum = 0;
+ for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch )
+ {
+ const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ];
+ sum += m_solver->resolveMultipleJointConstraints( m_bc->m_constraintIndices, batch.begin, batch.end, m_iteration );
+ }
+ return sum;
+ }
+};
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveAllJointConstraints(int iteration)
+{
+ BT_PROFILE( "resolveAllJointConstraints" );
+ const btBatchedConstraints& batchedCons = m_batchedJointConstraints;
+ JointSolverLoop loop( this, &batchedCons, iteration );
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase )
+ {
+ int iPhase = batchedCons.m_phaseOrder[ iiPhase ];
+ const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ];
+ int grainSize = 1;
+ leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop );
+ }
+ return leastSquaresResidual;
+}
+
+
+struct ContactSolverLoop : public btIParallelSumBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btBatchedConstraints* m_bc;
+
+ ContactSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc )
+ {
+ m_solver = solver;
+ m_bc = bc;
+ }
+ btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ BT_PROFILE( "ContactSolverLoop" );
+ btScalar sum = 0;
+ for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch )
+ {
+ const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ];
+ sum += m_solver->resolveMultipleContactConstraints( m_bc->m_constraintIndices, batch.begin, batch.end );
+ }
+ return sum;
+ }
+};
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraints()
+{
+ BT_PROFILE( "resolveAllContactConstraints" );
+ const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+ ContactSolverLoop loop( this, &batchedCons );
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase )
+ {
+ int iPhase = batchedCons.m_phaseOrder[ iiPhase ];
+ const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ];
+ int grainSize = batchedCons.m_phaseGrainSize[iPhase];
+ leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop );
+ }
+ return leastSquaresResidual;
+}
+
+
+struct ContactFrictionSolverLoop : public btIParallelSumBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btBatchedConstraints* m_bc;
+
+ ContactFrictionSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc )
+ {
+ m_solver = solver;
+ m_bc = bc;
+ }
+ btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ BT_PROFILE( "ContactFrictionSolverLoop" );
+ btScalar sum = 0;
+ for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch )
+ {
+ const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ];
+ sum += m_solver->resolveMultipleContactFrictionConstraints( m_bc->m_constraintIndices, batch.begin, batch.end );
+ }
+ return sum;
+ }
+};
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactFrictionConstraints()
+{
+ BT_PROFILE( "resolveAllContactFrictionConstraints" );
+ const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+ ContactFrictionSolverLoop loop( this, &batchedCons );
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase )
+ {
+ int iPhase = batchedCons.m_phaseOrder[ iiPhase ];
+ const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ];
+ int grainSize = batchedCons.m_phaseGrainSize[iPhase];
+ leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop );
+ }
+ return leastSquaresResidual;
+}
+
+
+struct InterleavedContactSolverLoop : public btIParallelSumBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btBatchedConstraints* m_bc;
+
+ InterleavedContactSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc )
+ {
+ m_solver = solver;
+ m_bc = bc;
+ }
+ btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ BT_PROFILE( "InterleavedContactSolverLoop" );
+ btScalar sum = 0;
+ for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch )
+ {
+ const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ];
+ sum += m_solver->resolveMultipleContactConstraintsInterleaved( m_bc->m_constraintIndices, batch.begin, batch.end );
+ }
+ return sum;
+ }
+};
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraintsInterleaved()
+{
+ BT_PROFILE( "resolveAllContactConstraintsInterleaved" );
+ const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+ InterleavedContactSolverLoop loop( this, &batchedCons );
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase )
+ {
+ int iPhase = batchedCons.m_phaseOrder[ iiPhase ];
+ const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ];
+ int grainSize = 1;
+ leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop );
+ }
+ return leastSquaresResidual;
+}
+
+
+struct ContactRollingFrictionSolverLoop : public btIParallelSumBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btBatchedConstraints* m_bc;
+
+ ContactRollingFrictionSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc )
+ {
+ m_solver = solver;
+ m_bc = bc;
+ }
+ btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ BT_PROFILE( "ContactFrictionSolverLoop" );
+ btScalar sum = 0;
+ for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch )
+ {
+ const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ];
+ sum += m_solver->resolveMultipleContactRollingFrictionConstraints( m_bc->m_constraintIndices, batch.begin, batch.end );
+ }
+ return sum;
+ }
+};
+
+
+btScalar btSequentialImpulseConstraintSolverMt::resolveAllRollingFrictionConstraints()
+{
+ BT_PROFILE( "resolveAllRollingFrictionConstraints" );
+ btScalar leastSquaresResidual = 0.f;
+ //
+ // We do not generate batches for rolling friction constraints. We assume that
+ // one of two cases is true:
+ //
+ // 1. either most bodies in the simulation have rolling friction, in which case we can use the
+ // batches for contacts and use a lookup table to translate contact indices to rolling friction
+ // (ignoring any contact indices that don't map to a rolling friction constraint). As long as
+ // most contacts have a corresponding rolling friction constraint, this should parallelize well.
+ //
+ // -OR-
+ //
+ // 2. few bodies in the simulation have rolling friction, so it is not worth trying to use the
+ // batches from contacts as most of the contacts won't have corresponding rolling friction
+ // constraints and most threads would end up doing very little work. Most of the time would
+ // go to threading overhead, so we don't bother with threading.
+ //
+ int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
+ if (numRollingFrictionPoolConstraints >= m_tmpSolverContactConstraintPool.size())
+ {
+ // use batching if there are many rolling friction constraints
+ const btBatchedConstraints& batchedCons = m_batchedContactConstraints;
+ ContactRollingFrictionSolverLoop loop( this, &batchedCons );
+ btScalar leastSquaresResidual = 0.f;
+ for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase )
+ {
+ int iPhase = batchedCons.m_phaseOrder[ iiPhase ];
+ const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ];
+ int grainSize = 1;
+ leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop );
+ }
+ }
+ else
+ {
+ // no batching, also ignores SOLVER_RANDMIZE_ORDER
+ for ( int j = 0; j < numRollingFrictionPoolConstraints; j++ )
+ {
+ btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ j ];
+ if ( rollingFrictionConstraint.m_frictionIndex >= 0 )
+ {
+ btScalar totalImpulse = m_tmpSolverContactConstraintPool[ rollingFrictionConstraint.m_frictionIndex ].m_appliedImpulse;
+ if ( totalImpulse > 0.0f )
+ {
+ btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
+ if ( rollingFrictionMagnitude > rollingFrictionConstraint.m_friction )
+ rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
+
+ rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
+ rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
+
+ btScalar residual = resolveSingleConstraintRowGeneric( m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdA ], m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdB ], rollingFrictionConstraint );
+ leastSquaresResidual += residual*residual;
+ }
+ }
+ }
+ }
+ return leastSquaresResidual;
+}
+
+
+void btSequentialImpulseConstraintSolverMt::internalWriteBackContacts( int iBegin, int iEnd, const btContactSolverInfo& infoGlobal )
+{
+ BT_PROFILE("internalWriteBackContacts");
+ writeBackContacts(iBegin, iEnd, infoGlobal);
+ //for ( int iContact = iBegin; iContact < iEnd; ++iContact)
+ //{
+ // const btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[ iContact ];
+ // btManifoldPoint* pt = (btManifoldPoint*) contactConstraint.m_originalContactPoint;
+ // btAssert( pt );
+ // pt->m_appliedImpulse = contactConstraint.m_appliedImpulse;
+ // pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[ contactConstraint.m_frictionIndex ].m_appliedImpulse;
+ // if ( m_numFrictionDirections == 2 )
+ // {
+ // pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[ contactConstraint.m_frictionIndex + 1 ].m_appliedImpulse;
+ // }
+ //}
+}
+
+
+void btSequentialImpulseConstraintSolverMt::internalWriteBackJoints( int iBegin, int iEnd, const btContactSolverInfo& infoGlobal )
+{
+ BT_PROFILE("internalWriteBackJoints");
+ writeBackJoints(iBegin, iEnd, infoGlobal);
+}
+
+
+void btSequentialImpulseConstraintSolverMt::internalWriteBackBodies( int iBegin, int iEnd, const btContactSolverInfo& infoGlobal )
+{
+ BT_PROFILE("internalWriteBackBodies");
+ writeBackBodies( iBegin, iEnd, infoGlobal );
+}
+
+
+struct WriteContactPointsLoop : public btIParallelForBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btContactSolverInfo* m_infoGlobal;
+
+ WriteContactPointsLoop( btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal )
+ {
+ m_solver = solver;
+ m_infoGlobal = &infoGlobal;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ m_solver->internalWriteBackContacts( iBegin, iEnd, *m_infoGlobal );
+ }
+};
+
+
+struct WriteJointsLoop : public btIParallelForBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btContactSolverInfo* m_infoGlobal;
+
+ WriteJointsLoop( btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal )
+ {
+ m_solver = solver;
+ m_infoGlobal = &infoGlobal;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ m_solver->internalWriteBackJoints( iBegin, iEnd, *m_infoGlobal );
+ }
+};
+
+
+struct WriteBodiesLoop : public btIParallelForBody
+{
+ btSequentialImpulseConstraintSolverMt* m_solver;
+ const btContactSolverInfo* m_infoGlobal;
+
+ WriteBodiesLoop( btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal )
+ {
+ m_solver = solver;
+ m_infoGlobal = &infoGlobal;
+ }
+ void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
+ {
+ m_solver->internalWriteBackBodies( iBegin, iEnd, *m_infoGlobal );
+ }
+};
+
+
+btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
+{
+ BT_PROFILE("solveGroupCacheFriendlyFinish");
+
+ if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+ {
+ WriteContactPointsLoop loop( this, infoGlobal );
+ int grainSize = 500;
+ btParallelFor( 0, m_tmpSolverContactConstraintPool.size(), grainSize, loop );
+ }
+
+ {
+ WriteJointsLoop loop( this, infoGlobal );
+ int grainSize = 400;
+ btParallelFor( 0, m_tmpSolverNonContactConstraintPool.size(), grainSize, loop );
+ }
+ {
+ WriteBodiesLoop loop( this, infoGlobal );
+ int grainSize = 100;
+ btParallelFor( 0, m_tmpSolverBodyPool.size(), grainSize, loop );
+ }
+
+ m_tmpSolverContactConstraintPool.resizeNoInitialize(0);
+ m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0);
+ m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0);
+ m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0);
+
+ m_tmpSolverBodyPool.resizeNoInitialize(0);
+ return 0.f;
+}
+
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
new file mode 100644
index 0000000000..55d53474c4
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h
@@ -0,0 +1,154 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
+#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
+
+#include "btSequentialImpulseConstraintSolver.h"
+#include "btBatchedConstraints.h"
+#include "LinearMath/btThreads.h"
+
+///
+/// btSequentialImpulseConstraintSolverMt
+///
+/// A multithreaded variant of the sequential impulse constraint solver. The constraints to be solved are grouped into
+/// batches and phases where each batch of constraints within a given phase can be solved in parallel with the rest.
+/// Ideally we want as few phases as possible, and each phase should have many batches, and all of the batches should
+/// have about the same number of constraints.
+/// This method works best on a large island of many constraints.
+///
+/// Supports all of the features of the normal sequential impulse solver such as:
+/// - split penetration impulse
+/// - rolling friction
+/// - interleaving constraints
+/// - warmstarting
+/// - 2 friction directions
+/// - randomized constraint ordering
+/// - early termination when leastSquaresResidualThreshold is satisfied
+///
+/// When the SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS flag is enabled, unlike the normal SequentialImpulse solver,
+/// the rolling friction is interleaved as well.
+/// Interleaving the contact penetration constraints with friction reduces the number of parallel loops that need to be done,
+/// which reduces threading overhead so it can be a performance win, however, it does seem to produce a less stable simulation,
+/// at least on stacks of blocks.
+///
+/// When the SOLVER_RANDMIZE_ORDER flag is enabled, the ordering of phases, and the ordering of constraints within each batch
+/// is randomized, however it does not swap constraints between batches.
+/// This is to avoid regenerating the batches for each solver iteration which would be quite costly in performance.
+///
+/// Note that a non-zero leastSquaresResidualThreshold could possibly affect the determinism of the simulation
+/// if the task scheduler's parallelSum operation is non-deterministic. The parallelSum operation can be non-deterministic
+/// because floating point addition is not associative due to rounding errors.
+/// The task scheduler can and should ensure that the result of any parallelSum operation is deterministic.
+///
+ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolverMt : public btSequentialImpulseConstraintSolver
+{
+public:
+ virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE;
+ virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE;
+ virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE;
+ virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+
+ // temp struct used to collect info from persistent manifolds into a cache-friendly struct using multiple threads
+ struct btContactManifoldCachedInfo
+ {
+ static const int MAX_NUM_CONTACT_POINTS = 4;
+
+ int numTouchingContacts;
+ int solverBodyIds[ 2 ];
+ int contactIndex;
+ int rollingFrictionIndex;
+ bool contactHasRollingFriction[ MAX_NUM_CONTACT_POINTS ];
+ btManifoldPoint* contactPoints[ MAX_NUM_CONTACT_POINTS ];
+ };
+ // temp struct used for setting up joint constraints in parallel
+ struct JointParams
+ {
+ int m_solverConstraint;
+ int m_solverBodyA;
+ int m_solverBodyB;
+ };
+ void internalInitMultipleJoints(btTypedConstraint** constraints, int iBegin, int iEnd);
+ void internalConvertMultipleJoints( const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal );
+
+ // parameters to control batching
+ static bool s_allowNestedParallelForLoops; // whether to allow nested parallel operations
+ static int s_minimumContactManifoldsForBatching; // don't even try to batch if fewer manifolds than this
+ static btBatchedConstraints::BatchingMethod s_contactBatchingMethod;
+ static btBatchedConstraints::BatchingMethod s_jointBatchingMethod;
+ static int s_minBatchSize; // desired number of constraints per batch
+ static int s_maxBatchSize;
+
+protected:
+ static const int CACHE_LINE_SIZE = 64;
+
+ btBatchedConstraints m_batchedContactConstraints;
+ btBatchedConstraints m_batchedJointConstraints;
+ int m_numFrictionDirections;
+ bool m_useBatching;
+ bool m_useObsoleteJointConstraints;
+ btAlignedObjectArray<btContactManifoldCachedInfo> m_manifoldCachedInfoArray;
+ btAlignedObjectArray<int> m_rollingFrictionIndexTable; // lookup table mapping contact index to rolling friction index
+ btSpinMutex m_bodySolverArrayMutex;
+ char m_antiFalseSharingPadding[CACHE_LINE_SIZE]; // padding to keep mutexes in separate cachelines
+ btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex;
+ btAlignedObjectArray<char> m_scratchMemory;
+
+ virtual void randomizeConstraintOrdering( int iteration, int numIterations );
+ virtual btScalar resolveAllJointConstraints( int iteration );
+ virtual btScalar resolveAllContactConstraints();
+ virtual btScalar resolveAllContactFrictionConstraints();
+ virtual btScalar resolveAllContactConstraintsInterleaved();
+ virtual btScalar resolveAllRollingFrictionConstraints();
+
+ virtual void setupBatchedContactConstraints();
+ virtual void setupBatchedJointConstraints();
+ virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+ virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+ virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
+
+ int getOrInitSolverBodyThreadsafe(btCollisionObject& body, btScalar timeStep);
+ void allocAllContactConstraints(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
+ void setupAllContactConstraints(const btContactSolverInfo& infoGlobal);
+ void randomizeBatchedConstraintOrdering( btBatchedConstraints* batchedConstraints );
+
+public:
+
+ BT_DECLARE_ALIGNED_ALLOCATOR();
+
+ btSequentialImpulseConstraintSolverMt();
+ virtual ~btSequentialImpulseConstraintSolverMt();
+
+ btScalar resolveMultipleJointConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration );
+ btScalar resolveMultipleContactConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
+ btScalar resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
+ btScalar resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
+ btScalar resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd );
+ btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd );
+
+ void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
+ void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds);
+ void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal);
+ void internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+ void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+ void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+ void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+};
+
+
+
+
+#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
+
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
index d63cef0316..d63cef0316 100644..100755
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h
index 1957f08a96..1957f08a96 100644..100755
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index a196d4522e..b9944c138b 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -842,6 +842,9 @@ public:
btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject;
+ if(!m_dispatcher->needsCollision(m_me, otherObj))
+ return false;
+
//call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179
if (m_dispatcher->needsResponse(m_me,otherObj))
{
@@ -1342,9 +1345,12 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint)
btVector3 axis = tr.getBasis().getColumn(0);
btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit;
btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit;
- btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
- btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
- getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
+ if (minTh <= maxTh)
+ {
+ btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit;
+ btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit;
+ getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0));
+ }
axis = tr.getBasis().getColumn(1);
btScalar ay = p6DOF->getAngle(1);
btScalar az = p6DOF->getAngle(2);
@@ -1533,6 +1539,8 @@ void btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
serializeRigidBodies(serializer);
+ serializeContactManifolds(serializer);
+
serializer->finishSerialization();
}
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
index 1d10bad922..d705bf2381 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp
@@ -50,63 +50,6 @@ subject to the following restrictions:
#include "LinearMath/btSerializer.h"
-struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::IslandCallback
-{
- btContactSolverInfo* m_solverInfo;
- btConstraintSolver* m_solver;
- btIDebugDraw* m_debugDrawer;
- btDispatcher* m_dispatcher;
-
- InplaceSolverIslandCallbackMt(
- btConstraintSolver* solver,
- btStackAlloc* stackAlloc,
- btDispatcher* dispatcher)
- :m_solverInfo(NULL),
- m_solver(solver),
- m_debugDrawer(NULL),
- m_dispatcher(dispatcher)
- {
-
- }
-
- InplaceSolverIslandCallbackMt& operator=(InplaceSolverIslandCallbackMt& other)
- {
- btAssert(0);
- (void)other;
- return *this;
- }
-
- SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btIDebugDraw* debugDrawer)
- {
- btAssert(solverInfo);
- m_solverInfo = solverInfo;
- m_debugDrawer = debugDrawer;
- }
-
-
- virtual void processIsland( btCollisionObject** bodies,
- int numBodies,
- btPersistentManifold** manifolds,
- int numManifolds,
- btTypedConstraint** constraints,
- int numConstraints,
- int islandId
- )
- {
- m_solver->solveGroup( bodies,
- numBodies,
- manifolds,
- numManifolds,
- constraints,
- numConstraints,
- *m_solverInfo,
- m_debugDrawer,
- m_dispatcher
- );
- }
-
-};
-
///
/// btConstraintSolverPoolMt
@@ -209,7 +152,12 @@ void btConstraintSolverPoolMt::reset()
/// btDiscreteDynamicsWorldMt
///
-btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolverPoolMt* constraintSolver, btCollisionConfiguration* collisionConfiguration)
+btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
+ btBroadphaseInterface* pairCache,
+ btConstraintSolverPoolMt* constraintSolver,
+ btConstraintSolver* constraintSolverMt,
+ btCollisionConfiguration* collisionConfiguration
+)
: btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration)
{
if (m_ownsIslandManager)
@@ -217,31 +165,18 @@ btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, b
m_islandManager->~btSimulationIslandManager();
btAlignedFree( m_islandManager);
}
- {
- void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallbackMt),16);
- m_solverIslandCallbackMt = new (mem) InplaceSolverIslandCallbackMt (m_constraintSolver, 0, dispatcher);
- }
{
void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16);
btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt();
im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize );
m_islandManager = im;
}
+ m_constraintSolverMt = constraintSolverMt;
}
btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt()
{
- if (m_solverIslandCallbackMt)
- {
- m_solverIslandCallbackMt->~InplaceSolverIslandCallbackMt();
- btAlignedFree(m_solverIslandCallbackMt);
- }
- if (m_ownsConstraintSolver)
- {
- m_constraintSolver->~btConstraintSolver();
- btAlignedFree(m_constraintSolver);
- }
}
@@ -249,12 +184,17 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo
{
BT_PROFILE("solveConstraints");
- m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
/// solve all the constraints for this island
btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager);
- im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, m_solverIslandCallbackMt );
+ btSimulationIslandManagerMt::SolverParams solverParams;
+ solverParams.m_solverPool = m_constraintSolver;
+ solverParams.m_solverMt = m_constraintSolverMt;
+ solverParams.m_solverInfo = &solverInfo;
+ solverParams.m_debugDrawer = m_debugDrawer;
+ solverParams.m_dispatcher = getCollisionWorld()->getDispatcher();
+ im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, solverParams );
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
}
@@ -325,3 +265,14 @@ void btDiscreteDynamicsWorldMt::integrateTransforms( btScalar timeStep )
}
}
+
+int btDiscreteDynamicsWorldMt::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep )
+{
+ int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep);
+ if (btITaskScheduler* scheduler = btGetTaskScheduler())
+ {
+ // tell Bullet's threads to sleep, so other threads can run
+ scheduler->sleepWorkerThreadsHint();
+ }
+ return numSubSteps;
+}
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
index 2f144cdda4..667fe5800e 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h
@@ -21,7 +21,6 @@ subject to the following restrictions:
#include "btSimulationIslandManagerMt.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
-struct InplaceSolverIslandCallbackMt;
///
/// btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of them.
@@ -88,7 +87,7 @@ private:
ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld
{
protected:
- InplaceSolverIslandCallbackMt* m_solverIslandCallbackMt;
+ btConstraintSolver* m_constraintSolverMt;
virtual void solveConstraints(btContactSolverInfo& solverInfo) BT_OVERRIDE;
@@ -126,9 +125,12 @@ public:
btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,
btBroadphaseInterface* pairCache,
btConstraintSolverPoolMt* constraintSolver, // Note this should be a solver-pool for multi-threading
+ btConstraintSolver* constraintSolverMt, // single multi-threaded solver for large islands (or NULL)
btCollisionConfiguration* collisionConfiguration
);
virtual ~btDiscreteDynamicsWorldMt();
+
+ virtual int stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep ) BT_OVERRIDE;
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
index 99b34353c7..fc54f0ba6e 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp
@@ -22,6 +22,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h" // for s_minimumContactManifoldsForBatching
//#include <stdio.h>
#include "LinearMath/btQuickprof.h"
@@ -275,7 +276,7 @@ btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::allocateIsland
void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld )
{
- BT_PROFILE("islandUnionFindAndQuickSort");
+ BT_PROFILE("buildIslands");
btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
@@ -314,13 +315,11 @@ void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btColl
btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1));
if (colObj0->getIslandTag() == islandId)
{
- if (colObj0->getActivationState()== ACTIVE_TAG)
- {
- allSleeping = false;
- }
- if (colObj0->getActivationState()== DISABLE_DEACTIVATION)
+ if (colObj0->getActivationState()== ACTIVE_TAG ||
+ colObj0->getActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
+ break;
}
}
}
@@ -546,59 +545,103 @@ void btSimulationIslandManagerMt::mergeIslands()
}
-void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
+void btSimulationIslandManagerMt::solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams)
+{
+ btPersistentManifold** manifolds = island.manifoldArray.size() ? &island.manifoldArray[ 0 ] : NULL;
+ btTypedConstraint** constraintsPtr = island.constraintArray.size() ? &island.constraintArray[ 0 ] : NULL;
+ solver->solveGroup( &island.bodyArray[ 0 ],
+ island.bodyArray.size(),
+ manifolds,
+ island.manifoldArray.size(),
+ constraintsPtr,
+ island.constraintArray.size(),
+ *solverParams.m_solverInfo,
+ solverParams.m_debugDrawer,
+ solverParams.m_dispatcher
+ );
+}
+
+
+void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams )
{
BT_PROFILE( "serialIslandDispatch" );
// serial dispatch
btAlignedObjectArray<Island*>& islands = *islandsPtr;
+ btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool;
for ( int i = 0; i < islands.size(); ++i )
{
- Island* island = islands[ i ];
- btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL;
- btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL;
- callback->processIsland( &island->bodyArray[ 0 ],
- island->bodyArray.size(),
- manifolds,
- island->manifoldArray.size(),
- constraintsPtr,
- island->constraintArray.size(),
- island->id
- );
+ solveIsland(solver, *islands[ i ], solverParams);
}
}
+
struct UpdateIslandDispatcher : public btIParallelForBody
{
- btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr;
- btSimulationIslandManagerMt::IslandCallback* callback;
+ btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& m_islandsPtr;
+ const btSimulationIslandManagerMt::SolverParams& m_solverParams;
+
+ UpdateIslandDispatcher(btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& islandsPtr, const btSimulationIslandManagerMt::SolverParams& solverParams)
+ : m_islandsPtr(islandsPtr), m_solverParams(solverParams)
+ {}
void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE
{
+ btConstraintSolver* solver = m_solverParams.m_solverPool;
for ( int i = iBegin; i < iEnd; ++i )
{
- btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ];
- btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL;
- btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL;
- callback->processIsland( &island->bodyArray[ 0 ],
- island->bodyArray.size(),
- manifolds,
- island->manifoldArray.size(),
- constraintsPtr,
- island->constraintArray.size(),
- island->id
- );
+ btSimulationIslandManagerMt::Island* island = m_islandsPtr[ i ];
+ btSimulationIslandManagerMt::solveIsland( solver, *island, m_solverParams );
}
}
};
-void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback )
+
+void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams )
{
BT_PROFILE( "parallelIslandDispatch" );
- int grainSize = 1; // iterations per task
- UpdateIslandDispatcher dispatcher;
- dispatcher.islandsPtr = islandsPtr;
- dispatcher.callback = callback;
- btParallelFor( 0, islandsPtr->size(), grainSize, dispatcher );
+ //
+ // if there are islands with many contacts, it may be faster to submit these
+ // large islands *serially* to a single parallel constraint solver, and then later
+ // submit the remaining smaller islands in parallel to multiple sequential solvers.
+ //
+ // Some task schedulers do not deal well with nested parallelFor loops. One implementation
+ // of OpenMP was actually slower than doing everything single-threaded. Intel TBB
+ // on the other hand, seems to do a pretty respectable job with it.
+ //
+ // When solving islands in parallel, the worst case performance happens when there
+ // is one very large island and then perhaps a smattering of very small
+ // islands -- one worker thread takes the large island and the remaining workers
+ // tear through the smaller islands and then sit idle waiting for the first worker
+ // to finish. Solving islands in parallel works best when there are numerous small
+ // islands, roughly equal in size.
+ //
+ // By contrast, the other approach -- the parallel constraint solver -- is only
+ // able to deliver a worthwhile speedup when the island is large. For smaller islands,
+ // it is difficult to extract a useful amount of parallelism -- the overhead of grouping
+ // the constraints into batches and sending the batches to worker threads can nullify
+ // any gains from parallelism.
+ //
+
+ UpdateIslandDispatcher dispatcher(*islandsPtr, solverParams);
+ // We take advantage of the fact the islands are sorted in order of decreasing size
+ int iBegin = 0;
+ if (solverParams.m_solverMt)
+ {
+ while ( iBegin < islandsPtr->size() )
+ {
+ btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ iBegin ];
+ if ( island->manifoldArray.size() < btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching )
+ {
+ // OK to submit the rest of the array in parallel
+ break;
+ }
+ // serial dispatch to parallel solver for large islands (if any)
+ solveIsland(solverParams.m_solverMt, *island, solverParams);
+ ++iBegin;
+ }
+ }
+ // parallel dispatch to sequential solvers for rest
+ btParallelFor( iBegin, islandsPtr->size(), 1, dispatcher );
}
@@ -606,15 +649,14 @@ void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<I
void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatcher,
btCollisionWorld* collisionWorld,
btAlignedObjectArray<btTypedConstraint*>& constraints,
- IslandCallback* callback
+ const SolverParams& solverParams
)
{
+ BT_PROFILE("buildAndProcessIslands");
btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray();
buildIslands(dispatcher,collisionWorld);
- BT_PROFILE("processIslands");
-
if(!getSplitIslands())
{
btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer();
@@ -646,14 +688,17 @@ void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatch
}
}
btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[ 0 ] : NULL;
- callback->processIsland(&collisionObjects[0],
- collisionObjects.size(),
- manifolds,
- maxNumManifolds,
- constraintsPtr,
- constraints.size(),
- -1
- );
+ btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool;
+ solver->solveGroup(&collisionObjects[0],
+ collisionObjects.size(),
+ manifolds,
+ maxNumManifolds,
+ constraintsPtr,
+ constraints.size(),
+ *solverParams.m_solverInfo,
+ solverParams.m_debugDrawer,
+ solverParams.m_dispatcher
+ );
}
else
{
@@ -673,6 +718,6 @@ void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatch
mergeIslands();
}
// dispatch islands to solver
- m_islandDispatch( &m_activeIslands, callback );
+ m_islandDispatch( &m_activeIslands, solverParams );
}
}
diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
index 9a781aaef1..563577a6f4 100644
--- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
+++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h
@@ -19,7 +19,9 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
class btTypedConstraint;
-
+class btConstraintSolver;
+struct btContactSolverInfo;
+class btIDebugDraw;
///
/// SimulationIslandManagerMt -- Multithread capable version of SimulationIslandManager
@@ -45,22 +47,19 @@ public:
void append( const Island& other ); // add bodies, manifolds, constraints to my own
};
- struct IslandCallback
+ struct SolverParams
{
- virtual ~IslandCallback() {};
-
- virtual void processIsland( btCollisionObject** bodies,
- int numBodies,
- btPersistentManifold** manifolds,
- int numManifolds,
- btTypedConstraint** constraints,
- int numConstraints,
- int islandId
- ) = 0;
+ btConstraintSolver* m_solverPool;
+ btConstraintSolver* m_solverMt;
+ btContactSolverInfo* m_solverInfo;
+ btIDebugDraw* m_debugDrawer;
+ btDispatcher* m_dispatcher;
};
- typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, IslandCallback* callback );
- static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
- static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback );
+ static void solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams);
+
+ typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, const SolverParams& solverParams );
+ static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams );
+ static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams );
protected:
btAlignedObjectArray<Island*> m_allocatedIslands; // owner of all Islands
btAlignedObjectArray<Island*> m_activeIslands; // islands actively in use
@@ -83,7 +82,11 @@ public:
btSimulationIslandManagerMt();
virtual ~btSimulationIslandManagerMt();
- virtual void buildAndProcessIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld, btAlignedObjectArray<btTypedConstraint*>& constraints, IslandCallback* callback );
+ virtual void buildAndProcessIslands( btDispatcher* dispatcher,
+ btCollisionWorld* collisionWorld,
+ btAlignedObjectArray<btTypedConstraint*>& constraints,
+ const SolverParams& solverParams
+ );
virtual void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld);
@@ -106,5 +109,6 @@ public:
}
};
+
#endif //BT_SIMULATION_ISLAND_MANAGER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp
index 62865e0c78..0e85b55728 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -112,14 +112,15 @@ btMultiBody::btMultiBody(int n_links,
m_userObjectPointer(0),
m_userIndex2(-1),
m_userIndex(-1),
+ m_companionId(-1),
m_linearDamping(0.04f),
m_angularDamping(0.04f),
m_useGyroTerm(true),
- m_maxAppliedImpulse(1000.f),
+ m_maxAppliedImpulse(1000.f),
m_maxCoordinateVelocity(100.f),
- m_hasSelfCollision(true),
+ m_hasSelfCollision(true),
__posUpdated(false),
- m_dofCount(0),
+ m_dofCount(0),
m_posVarCnt(0),
m_useRK4(false),
m_useGlobalVelocities(false),
@@ -136,6 +137,9 @@ btMultiBody::btMultiBody(int n_links,
m_baseForce.setValue(0, 0, 0);
m_baseTorque.setValue(0, 0, 0);
+
+ clearConstraintForces();
+ clearForcesAndTorques();
}
btMultiBody::~btMultiBody()
@@ -740,13 +744,13 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
const btScalar DAMPING_K1_ANGULAR = m_angularDamping;
const btScalar DAMPING_K2_ANGULAR= m_angularDamping;
- btVector3 base_vel = getBaseVel();
- btVector3 base_omega = getBaseOmega();
+ const btVector3 base_vel = getBaseVel();
+ const btVector3 base_omega = getBaseOmega();
// Temporary matrices/vectors -- use scratch space from caller
// so that we don't have to keep reallocating every frame
- scratch_r.resize(2*m_dofCount + 6); //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount
+ scratch_r.resize(2*m_dofCount + 7); //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount
scratch_v.resize(8*num_links + 6);
scratch_m.resize(4*num_links + 4);
@@ -777,7 +781,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
// hhat is NOT stored for the base (but ahat is)
btSpatialForceVector * h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0);
btSpatialMotionVector * spatAcc = (btSpatialMotionVector *)v_ptr;
- v_ptr += num_links * 2 + 2;
+ v_ptr += num_links * 2 + 2;
//
// Y_i, invD_i
btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0;
@@ -815,13 +819,13 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
}
else
{
- btVector3 baseForce = isConstraintPass? m_baseConstraintForce : m_baseForce;
- btVector3 baseTorque = isConstraintPass? m_baseConstraintTorque : m_baseTorque;
+ const btVector3& baseForce = isConstraintPass? m_baseConstraintForce : m_baseForce;
+ const btVector3& baseTorque = isConstraintPass? m_baseConstraintTorque : m_baseTorque;
//external forces
zeroAccSpatFrc[0].setVector(-(rot_from_parent[0] * baseTorque), -(rot_from_parent[0] * baseForce));
//adding damping terms (only)
- btScalar linDampMult = 1., angDampMult = 1.;
+ const btScalar linDampMult = 1., angDampMult = 1.;
zeroAccSpatFrc[0].addVector(angDampMult * m_baseInertia * spatVel[0].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[0].getAngular().safeNorm()),
linDampMult * m_baseMass * spatVel[0].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[0].getLinear().safeNorm()));
@@ -963,16 +967,15 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
//
Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof]
- m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1])
- - spatCoriolisAcc[i].dot(hDof)
- ;
- }
+ - spatCoriolisAcc[i].dot(hDof);
- for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
- {
- btScalar *D_row = &D[dof * m_links[i].m_dofCount];
+ }
+ for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
+ {
+ btScalar *D_row = &D[dof * m_links[i].m_dofCount];
for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
{
- btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2];
+ const btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2];
D_row[dof2] = m_links[i].m_axes[dof].dot(hDof2);
}
}
@@ -983,14 +986,20 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
case btMultibodyLink::ePrismatic:
case btMultibodyLink::eRevolute:
{
- invDi[0] = 1.0f / D[0];
+ if (D[0]>=SIMD_EPSILON)
+ {
+ invDi[0] = 1.0f / D[0];
+ } else
+ {
+ invDi[0] = 0;
+ }
break;
}
case btMultibodyLink::eSpherical:
case btMultibodyLink::ePlanar:
{
- btMatrix3x3 D3x3; D3x3.setValue(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]);
- btMatrix3x3 invD3x3; invD3x3 = D3x3.inverse();
+ const btMatrix3x3 D3x3(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]);
+ const btMatrix3x3 invD3x3(D3x3.inverse());
//unroll the loop?
for(int row = 0; row < 3; ++row)
@@ -1016,7 +1025,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
{
- btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2];
+ const btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2];
//
spatForceVecTemps[dof] += hDof2 * invDi[dof2 * m_links[i].m_dofCount + dof];
}
@@ -1027,7 +1036,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
//determine (h*D^{-1}) * h^{T}
for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
{
- btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
+ const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
//
dyadTemp -= symmetricSpatialOuterProduct(hDof, spatForceVecTemps[dof]);
}
@@ -1048,7 +1057,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
{
- btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
+ const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
//
spatForceVecTemps[0] += hDof * invD_times_Y[dof];
}
@@ -1099,7 +1108,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
{
- btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
+ const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof];
//
Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i+1].dot(hDof);
}
@@ -1159,12 +1168,12 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
}
// transform base accelerations back to the world frame.
- btVector3 omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular();
+ const btVector3 omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular();
output[0] = omegadot_out[0];
output[1] = omegadot_out[1];
output[2] = omegadot_out[2];
- btVector3 vdot_out = rot_from_parent[0].transpose() * (spatAcc[0].getLinear() + spatVel[0].getAngular().cross(spatVel[0].getLinear()));
+ const btVector3 vdot_out = rot_from_parent[0].transpose() * (spatAcc[0].getLinear() + spatVel[0].getAngular().cross(spatVel[0].getLinear()));
output[3] = vdot_out[0];
output[4] = vdot_out[1];
output[5] = vdot_out[2];
@@ -1266,12 +1275,29 @@ void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bo
if (num_links == 0)
{
// in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier
- result[0] = rhs_bot[0] / m_baseInertia[0];
- result[1] = rhs_bot[1] / m_baseInertia[1];
+
+ if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON))
+ {
+ result[0] = rhs_bot[0] / m_baseInertia[0];
+ result[1] = rhs_bot[1] / m_baseInertia[1];
result[2] = rhs_bot[2] / m_baseInertia[2];
- result[3] = rhs_top[0] / m_baseMass;
- result[4] = rhs_top[1] / m_baseMass;
- result[5] = rhs_top[2] / m_baseMass;
+ } else
+ {
+ result[0] = 0;
+ result[1] = 0;
+ result[2] = 0;
+ }
+ if (m_baseMass>=SIMD_EPSILON)
+ {
+ result[3] = rhs_top[0] / m_baseMass;
+ result[4] = rhs_top[1] / m_baseMass;
+ result[5] = rhs_top[2] / m_baseMass;
+ } else
+ {
+ result[3] = 0;
+ result[4] = 0;
+ result[5] = 0;
+ }
} else
{
if (!m_cachedInertiaValid)
@@ -1322,9 +1348,21 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV
if (num_links == 0)
{
// in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier
- result.setAngular(rhs.getAngular() / m_baseInertia);
- result.setLinear(rhs.getLinear() / m_baseMass);
- } else
+ if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON))
+ {
+ result.setAngular(rhs.getAngular() / m_baseInertia);
+ } else
+ {
+ result.setAngular(btVector3(0,0,0));
+ }
+ if (m_baseMass>=SIMD_EPSILON)
+ {
+ result.setLinear(rhs.getLinear() / m_baseMass);
+ } else
+ {
+ result.setLinear(btVector3(0,0,0));
+ }
+ } else
{
/// Special routine for calculating the inverse of a spatial inertia matrix
///the 6x6 matrix is stored as 4 blocks of 3x3 matrices
@@ -1808,6 +1846,7 @@ void btMultiBody::fillConstraintJacobianMultiDof(int link,
void btMultiBody::wakeUp()
{
+ m_sleepTimer = 0;
m_awake = true;
}
@@ -1956,7 +1995,11 @@ int btMultiBody::calculateSerializeBufferSize() const
const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* serializer) const
{
btMultiBodyData* mbd = (btMultiBodyData*) dataBuffer;
- getBaseWorldTransform().serialize(mbd->m_baseWorldTransform);
+ getBasePos().serialize(mbd->m_baseWorldPosition);
+ getWorldToBaseRot().inverse().serialize(mbd->m_baseWorldOrientation);
+ getBaseVel().serialize(mbd->m_baseLinearVelocity);
+ getBaseOmega().serialize(mbd->m_baseAngularVelocity);
+
mbd->m_baseMass = this->getBaseMass();
getBaseInertia().serialize(mbd->m_baseInertia);
{
@@ -1982,6 +2025,12 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
memPtr->m_posVarCount = getLink(i).m_posVarCount;
getLink(i).m_inertiaLocal.serialize(memPtr->m_linkInertia);
+
+ getLink(i).m_absFrameTotVelocity.m_topVec.serialize(memPtr->m_absFrameTotVelocityTop);
+ getLink(i).m_absFrameTotVelocity.m_bottomVec.serialize(memPtr->m_absFrameTotVelocityBottom);
+ getLink(i).m_absFrameLocVelocity.m_topVec.serialize(memPtr->m_absFrameLocVelocityTop);
+ getLink(i).m_absFrameLocVelocity.m_bottomVec.serialize(memPtr->m_absFrameLocVelocityBottom);
+
memPtr->m_linkMass = getLink(i).m_mass;
memPtr->m_parentIndex = getLink(i).m_parent;
memPtr->m_jointDamping = getLink(i).m_jointDamping;
@@ -1991,7 +2040,7 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce;
memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity;
- getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset);
+ getLink(i).m_eVector.serialize(memPtr->m_parentComToThisPivotOffset);
getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset);
getLink(i).m_zeroRotParentToThis.serialize(memPtr->m_zeroRotParentToThis);
btAssert(memPtr->m_dofCount<=3);
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
index 655165ac18..5cd00e5173 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h
@@ -702,15 +702,18 @@ private:
int m_companionId;
btScalar m_linearDamping;
btScalar m_angularDamping;
- bool m_useGyroTerm;
+ bool m_useGyroTerm;
btScalar m_maxAppliedImpulse;
btScalar m_maxCoordinateVelocity;
bool m_hasSelfCollision;
- bool __posUpdated;
- int m_dofCount, m_posVarCnt;
+ bool __posUpdated;
+ int m_dofCount, m_posVarCnt;
+
bool m_useRK4, m_useGlobalVelocities;
-
+ //for global velocities, see 8.3.2B Proposed resolution in Jakub Stepien PhD Thesis
+ //https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
+
///the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only
bool m_internalNeedsJointFeedback;
};
@@ -718,12 +721,17 @@ private:
struct btMultiBodyLinkDoubleData
{
btQuaternionDoubleData m_zeroRotParentToThis;
- btVector3DoubleData m_parentComToThisComOffset;
+ btVector3DoubleData m_parentComToThisPivotOffset;
btVector3DoubleData m_thisPivotToThisComOffset;
btVector3DoubleData m_jointAxisTop[6];
btVector3DoubleData m_jointAxisBottom[6];
btVector3DoubleData m_linkInertia; // inertia of the base (in local frame; diagonal)
+ btVector3DoubleData m_absFrameTotVelocityTop;
+ btVector3DoubleData m_absFrameTotVelocityBottom;
+ btVector3DoubleData m_absFrameLocVelocityTop;
+ btVector3DoubleData m_absFrameLocVelocityBottom;
+
double m_linkMass;
int m_parentIndex;
int m_jointType;
@@ -751,11 +759,16 @@ struct btMultiBodyLinkDoubleData
struct btMultiBodyLinkFloatData
{
btQuaternionFloatData m_zeroRotParentToThis;
- btVector3FloatData m_parentComToThisComOffset;
+ btVector3FloatData m_parentComToThisPivotOffset;
btVector3FloatData m_thisPivotToThisComOffset;
btVector3FloatData m_jointAxisTop[6];
btVector3FloatData m_jointAxisBottom[6];
- btVector3FloatData m_linkInertia; // inertia of the base (in local frame; diagonal)
+ btVector3FloatData m_linkInertia; // inertia of the base (in local frame; diagonal)
+ btVector3FloatData m_absFrameTotVelocityTop;
+ btVector3FloatData m_absFrameTotVelocityBottom;
+ btVector3FloatData m_absFrameLocVelocityTop;
+ btVector3FloatData m_absFrameLocVelocityBottom;
+
int m_dofCount;
float m_linkMass;
int m_parentIndex;
@@ -784,29 +797,38 @@ struct btMultiBodyLinkFloatData
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btMultiBodyDoubleData
{
- btTransformDoubleData m_baseWorldTransform;
+ btVector3DoubleData m_baseWorldPosition;
+ btQuaternionDoubleData m_baseWorldOrientation;
+ btVector3DoubleData m_baseLinearVelocity;
+ btVector3DoubleData m_baseAngularVelocity;
btVector3DoubleData m_baseInertia; // inertia of the base (in local frame; diagonal)
double m_baseMass;
+ int m_numLinks;
+ char m_padding[4];
char *m_baseName;
btMultiBodyLinkDoubleData *m_links;
btCollisionObjectDoubleData *m_baseCollider;
- char *m_paddingPtr;
- int m_numLinks;
- char m_padding[4];
+
+
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btMultiBodyFloatData
{
- char *m_baseName;
- btMultiBodyLinkFloatData *m_links;
- btCollisionObjectFloatData *m_baseCollider;
- btTransformFloatData m_baseWorldTransform;
+ btVector3FloatData m_baseWorldPosition;
+ btQuaternionFloatData m_baseWorldOrientation;
+ btVector3FloatData m_baseLinearVelocity;
+ btVector3FloatData m_baseAngularVelocity;
+
btVector3FloatData m_baseInertia; // inertia of the base (in local frame; diagonal)
-
float m_baseMass;
int m_numLinks;
+
+ char *m_baseName;
+ btMultiBodyLinkFloatData *m_links;
+ btCollisionObjectFloatData *m_baseCollider;
+
};
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
index d52852dd8e..9f61874b83 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
@@ -253,7 +253,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
{
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
if (angConstraint) {
- denom0 = rb0->getInvMass() + constraintNormalAng.dot(vec);
+ denom0 = constraintNormalAng.dot(solverConstraint.m_angularComponentA);
}
else {
denom0 = rb0->getInvMass() + constraintNormalLin.dot(vec);
@@ -277,7 +277,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
{
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
if (angConstraint) {
- denom1 = rb1->getInvMass() + constraintNormalAng.dot(vec);
+ denom1 = constraintNormalAng.dot(-solverConstraint.m_angularComponentB);
}
else {
denom1 = rb1->getInvMass() + constraintNormalLin.dot(vec);
@@ -315,7 +315,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
}
else if(rb0)
{
- rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
+ rel_vel += rb0->getLinearVelocity().dot(solverConstraint.m_contactNormal1);
+ rel_vel += rb0->getAngularVelocity().dot(solverConstraint.m_relpos1CrossNormal);
}
if (multiBodyB)
{
@@ -327,7 +328,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
}
else if(rb1)
{
- rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
+ rel_vel += rb1->getLinearVelocity().dot(solverConstraint.m_contactNormal2);
+ rel_vel += rb1->getAngularVelocity().dot(solverConstraint.m_relpos2CrossNormal);
}
solverConstraint.m_friction = 0.f;//cp.m_combinedFriction;
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h
index 83521b9501..a2ae571273 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h
@@ -119,6 +119,14 @@ public:
return m_bodyB;
}
+ int getLinkA() const
+ {
+ return m_linkA;
+ }
+ int getLinkB() const
+ {
+ return m_linkB;
+ }
void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
{
btAssert(dof>=0);
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
index 1e2d074096..cd84826e1a 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
@@ -39,7 +39,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index];
btScalar residual = resolveSingleConstraintRowGeneric(constraint);
- leastSquaredResidual += residual*residual;
+ leastSquaredResidual = btMax(leastSquaredResidual,residual*residual);
if(constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false);
@@ -60,36 +60,101 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl
residual = resolveSingleConstraintRowGeneric(constraint);
}
- leastSquaredResidual += residual*residual;
+ leastSquaredResidual = btMax(leastSquaredResidual,residual*residual);
if(constraint.m_multiBodyA)
constraint.m_multiBodyA->setPosUpdated(false);
if(constraint.m_multiBodyB)
constraint.m_multiBodyB->setPosUpdated(false);
}
-
- //solve featherstone frictional contact
- for (int j1=0;j1<this->m_multiBodyFrictionContactConstraints.size();j1++)
+ //solve featherstone frictional contact
+ if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode&SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0))
{
- if (iteration < infoGlobal.m_numIterations)
+ for (int j1 = 0; j1<this->m_multiBodyTorsionalFrictionContactConstraints.size(); j1++)
+ {
+ if (iteration < infoGlobal.m_numIterations)
+ {
+ int index = j1;//iteration&1? j1 : m_multiBodyTorsionalFrictionContactConstraints.size()-1-j1;
+
+ btMultiBodySolverConstraint& frictionConstraint = m_multiBodyTorsionalFrictionContactConstraints[index];
+ btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
+ //adjust friction limits here
+ if (totalImpulse>btScalar(0))
+ {
+ frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
+ frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
+ btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
+ leastSquaredResidual = btMax(leastSquaredResidual , residual*residual);
+
+ if (frictionConstraint.m_multiBodyA)
+ frictionConstraint.m_multiBodyA->setPosUpdated(false);
+ if (frictionConstraint.m_multiBodyB)
+ frictionConstraint.m_multiBodyB->setPosUpdated(false);
+ }
+ }
+ }
+
+ for (int j1 = 0; j1 < this->m_multiBodyFrictionContactConstraints.size(); j1++)
{
- int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
+ if (iteration < infoGlobal.m_numIterations)
+ {
+ int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
+ btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index];
+
+ btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
+ j1++;
+ int index2 = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
+ btMultiBodySolverConstraint& frictionConstraintB = m_multiBodyFrictionContactConstraints[index2];
+ btAssert(frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex);
+
+ if (frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex)
+ {
+ frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
+ frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
+ frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction*totalImpulse);
+ frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction*totalImpulse;
+ btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB);
+ leastSquaredResidual = btMax(leastSquaredResidual, residual*residual);
+
+ if (frictionConstraintB.m_multiBodyA)
+ frictionConstraintB.m_multiBodyA->setPosUpdated(false);
+ if (frictionConstraintB.m_multiBodyB)
+ frictionConstraintB.m_multiBodyB->setPosUpdated(false);
+
+ if (frictionConstraint.m_multiBodyA)
+ frictionConstraint.m_multiBodyA->setPosUpdated(false);
+ if (frictionConstraint.m_multiBodyB)
+ frictionConstraint.m_multiBodyB->setPosUpdated(false);
+ }
+ }
+ }
- btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index];
- btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
- //adjust friction limits here
- if (totalImpulse>btScalar(0))
+
+ }
+ else
+ {
+ for (int j1 = 0; j1<this->m_multiBodyFrictionContactConstraints.size(); j1++)
+ {
+ if (iteration < infoGlobal.m_numIterations)
{
- frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
- frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
- btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
- leastSquaredResidual += residual*residual;
-
- if(frictionConstraint.m_multiBodyA)
- frictionConstraint.m_multiBodyA->setPosUpdated(false);
- if(frictionConstraint.m_multiBodyB)
- frictionConstraint.m_multiBodyB->setPosUpdated(false);
+ int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1;
+
+ btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index];
+ btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
+ //adjust friction limits here
+ if (totalImpulse>btScalar(0))
+ {
+ frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
+ frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
+ btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint);
+ leastSquaredResidual = btMax(leastSquaredResidual, residual*residual);
+
+ if (frictionConstraint.m_multiBodyA)
+ frictionConstraint.m_multiBodyA->setPosUpdated(false);
+ if (frictionConstraint.m_multiBodyB)
+ frictionConstraint.m_multiBodyB->setPosUpdated(false);
+ }
}
}
}
@@ -101,6 +166,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionOb
m_multiBodyNonContactConstraints.resize(0);
m_multiBodyNormalContactConstraints.resize(0);
m_multiBodyFrictionContactConstraints.resize(0);
+ m_multiBodyTorsionalFrictionContactConstraints.resize(0);
+
m_data.m_jacobians.resize(0);
m_data.m_deltaVelocitiesUnitImpulse.resize(0);
m_data.m_deltaVelocities.resize(0);
@@ -128,82 +195,267 @@ void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar im
btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c)
{
- btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
- btScalar deltaVelADotn=0;
- btScalar deltaVelBDotn=0;
+ btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm;
+ btScalar deltaVelADotn = 0;
+ btScalar deltaVelBDotn = 0;
btSolverBody* bodyA = 0;
btSolverBody* bodyB = 0;
- int ndofA=0;
- int ndofB=0;
+ int ndofA = 0;
+ int ndofB = 0;
if (c.m_multiBodyA)
{
- ndofA = c.m_multiBodyA->getNumDofs() + 6;
- for (int i = 0; i < ndofA; ++i)
- deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i];
- } else if(c.m_solverBodyIdA >= 0)
+ ndofA = c.m_multiBodyA->getNumDofs() + 6;
+ for (int i = 0; i < ndofA; ++i)
+ deltaVelADotn += m_data.m_jacobians[c.m_jacAindex + i] * m_data.m_deltaVelocities[c.m_deltaVelAindex + i];
+ }
+ else if (c.m_solverBodyIdA >= 0)
{
bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA];
- deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
+ deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
}
if (c.m_multiBodyB)
{
- ndofB = c.m_multiBodyB->getNumDofs() + 6;
- for (int i = 0; i < ndofB; ++i)
- deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i];
- } else if(c.m_solverBodyIdB >= 0)
+ ndofB = c.m_multiBodyB->getNumDofs() + 6;
+ for (int i = 0; i < ndofB; ++i)
+ deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex + i] * m_data.m_deltaVelocities[c.m_deltaVelBindex + i];
+ }
+ else if (c.m_solverBodyIdB >= 0)
{
bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB];
- deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
+ deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
}
-
- deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
- deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv;
+
+ deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
+ deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
-
+
if (sum < c.m_lowerLimit)
{
- deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
+ deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse;
c.m_appliedImpulse = c.m_lowerLimit;
}
- else if (sum > c.m_upperLimit)
+ else if (sum > c.m_upperLimit)
{
- deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
+ deltaImpulse = c.m_upperLimit - c.m_appliedImpulse;
c.m_appliedImpulse = c.m_upperLimit;
}
else
{
c.m_appliedImpulse = sum;
}
-
+
if (c.m_multiBodyA)
{
- applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA);
+ applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA);
#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
- c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse);
+ c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse);
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
- } else if(c.m_solverBodyIdA >= 0)
+ }
+ else if (c.m_solverBodyIdA >= 0)
{
- bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
+ bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
}
if (c.m_multiBodyB)
{
- applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB);
+ applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB);
#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
//note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
//it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
- c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse);
+ c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse);
#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
- } else if(c.m_solverBodyIdB >= 0)
+ }
+ else if (c.m_solverBodyIdB >= 0)
{
- bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
+ bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
}
- return deltaImpulse;
+ btScalar deltaVel =deltaImpulse/c.m_jacDiagABInv;
+ return deltaVel;
+}
+
+
+btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1,const btMultiBodySolverConstraint& cB)
+{
+ int ndofA=0;
+ int ndofB=0;
+ btSolverBody* bodyA = 0;
+ btSolverBody* bodyB = 0;
+ btScalar deltaImpulseB = 0.f;
+ btScalar sumB = 0.f;
+ {
+ deltaImpulseB = cB.m_rhs-btScalar(cB.m_appliedImpulse)*cB.m_cfm;
+ btScalar deltaVelADotn=0;
+ btScalar deltaVelBDotn=0;
+ if (cB.m_multiBodyA)
+ {
+ ndofA = cB.m_multiBodyA->getNumDofs() + 6;
+ for (int i = 0; i < ndofA; ++i)
+ deltaVelADotn += m_data.m_jacobians[cB.m_jacAindex+i] * m_data.m_deltaVelocities[cB.m_deltaVelAindex+i];
+ } else if(cB.m_solverBodyIdA >= 0)
+ {
+ bodyA = &m_tmpSolverBodyPool[cB.m_solverBodyIdA];
+ deltaVelADotn += cB.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cB.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
+ }
+
+ if (cB.m_multiBodyB)
+ {
+ ndofB = cB.m_multiBodyB->getNumDofs() + 6;
+ for (int i = 0; i < ndofB; ++i)
+ deltaVelBDotn += m_data.m_jacobians[cB.m_jacBindex+i] * m_data.m_deltaVelocities[cB.m_deltaVelBindex+i];
+ } else if(cB.m_solverBodyIdB >= 0)
+ {
+ bodyB = &m_tmpSolverBodyPool[cB.m_solverBodyIdB];
+ deltaVelBDotn += cB.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cB.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
+ }
+
+
+ deltaImpulseB -= deltaVelADotn*cB.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
+ deltaImpulseB -= deltaVelBDotn*cB.m_jacDiagABInv;
+ sumB = btScalar(cB.m_appliedImpulse) + deltaImpulseB;
+ }
+
+ btScalar deltaImpulseA = 0.f;
+ btScalar sumA = 0.f;
+ const btMultiBodySolverConstraint& cA = cA1;
+ {
+ {
+ deltaImpulseA = cA.m_rhs-btScalar(cA.m_appliedImpulse)*cA.m_cfm;
+ btScalar deltaVelADotn=0;
+ btScalar deltaVelBDotn=0;
+ if (cA.m_multiBodyA)
+ {
+ ndofA = cA.m_multiBodyA->getNumDofs() + 6;
+ for (int i = 0; i < ndofA; ++i)
+ deltaVelADotn += m_data.m_jacobians[cA.m_jacAindex+i] * m_data.m_deltaVelocities[cA.m_deltaVelAindex+i];
+ } else if(cA.m_solverBodyIdA >= 0)
+ {
+ bodyA = &m_tmpSolverBodyPool[cA.m_solverBodyIdA];
+ deltaVelADotn += cA.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cA.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
+ }
+
+ if (cA.m_multiBodyB)
+ {
+ ndofB = cA.m_multiBodyB->getNumDofs() + 6;
+ for (int i = 0; i < ndofB; ++i)
+ deltaVelBDotn += m_data.m_jacobians[cA.m_jacBindex+i] * m_data.m_deltaVelocities[cA.m_deltaVelBindex+i];
+ } else if(cA.m_solverBodyIdB >= 0)
+ {
+ bodyB = &m_tmpSolverBodyPool[cA.m_solverBodyIdB];
+ deltaVelBDotn += cA.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cA.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
+ }
+
+
+ deltaImpulseA -= deltaVelADotn*cA.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
+ deltaImpulseA -= deltaVelBDotn*cA.m_jacDiagABInv;
+ sumA = btScalar(cA.m_appliedImpulse) + deltaImpulseA;
+ }
+ }
+
+ if (sumA*sumA+sumB*sumB>=cA.m_lowerLimit*cB.m_lowerLimit)
+ {
+ btScalar angle = btAtan2(sumA,sumB);
+ btScalar sumAclipped = btFabs(cA.m_lowerLimit*btSin(angle));
+ btScalar sumBclipped = btFabs(cB.m_lowerLimit*btCos(angle));
+
+
+ if (sumA < -sumAclipped)
+ {
+ deltaImpulseA = -sumAclipped - cA.m_appliedImpulse;
+ cA.m_appliedImpulse = -sumAclipped;
+ }
+ else if (sumA > sumAclipped)
+ {
+ deltaImpulseA = sumAclipped - cA.m_appliedImpulse;
+ cA.m_appliedImpulse = sumAclipped;
+ }
+ else
+ {
+ cA.m_appliedImpulse = sumA;
+ }
+
+ if (sumB < -sumBclipped)
+ {
+ deltaImpulseB = -sumBclipped - cB.m_appliedImpulse;
+ cB.m_appliedImpulse = -sumBclipped;
+ }
+ else if (sumB > sumBclipped)
+ {
+ deltaImpulseB = sumBclipped - cB.m_appliedImpulse;
+ cB.m_appliedImpulse = sumBclipped;
+ }
+ else
+ {
+ cB.m_appliedImpulse = sumB;
+ }
+ //deltaImpulseA = sumAclipped-cA.m_appliedImpulse;
+ //cA.m_appliedImpulse = sumAclipped;
+ //deltaImpulseB = sumBclipped-cB.m_appliedImpulse;
+ //cB.m_appliedImpulse = sumBclipped;
+ }
+ else
+ {
+ cA.m_appliedImpulse = sumA;
+ cB.m_appliedImpulse = sumB;
+ }
+
+ if (cA.m_multiBodyA)
+ {
+ applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex],deltaImpulseA,cA.m_deltaVelAindex,ndofA);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+ //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+ cA.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex],deltaImpulseA);
+#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ } else if(cA.m_solverBodyIdA >= 0)
+ {
+ bodyA->internalApplyImpulse(cA.m_contactNormal1*bodyA->internalGetInvMass(),cA.m_angularComponentA,deltaImpulseA);
+
+ }
+ if (cA.m_multiBodyB)
+ {
+ applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex],deltaImpulseA,cA.m_deltaVelBindex,ndofB);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+ //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+ cA.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex],deltaImpulseA);
+#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ } else if(cA.m_solverBodyIdB >= 0)
+ {
+ bodyB->internalApplyImpulse(cA.m_contactNormal2*bodyB->internalGetInvMass(),cA.m_angularComponentB,deltaImpulseA);
+ }
+
+ if (cB.m_multiBodyA)
+ {
+ applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex],deltaImpulseB,cB.m_deltaVelAindex,ndofA);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+ //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+ cB.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex],deltaImpulseB);
+#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ } else if(cB.m_solverBodyIdA >= 0)
+ {
+ bodyA->internalApplyImpulse(cB.m_contactNormal1*bodyA->internalGetInvMass(),cB.m_angularComponentA,deltaImpulseB);
+ }
+ if (cB.m_multiBodyB)
+ {
+ applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex],deltaImpulseB,cB.m_deltaVelBindex,ndofB);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+ //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+ cB.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex],deltaImpulseB);
+#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ } else if(cB.m_solverBodyIdB >= 0)
+ {
+ bodyB->internalApplyImpulse(cB.m_contactNormal2*bodyB->internalGetInvMass(),cB.m_angularComponentB,deltaImpulseB);
+ }
+
+ btScalar deltaVel =deltaImpulseA/cA.m_jacDiagABInv+deltaImpulseB/cB.m_jacDiagABInv;
+ return deltaVel;
}
@@ -908,7 +1160,10 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyTorsionalF
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
{
BT_PROFILE("addMultiBodyRollingFrictionConstraint");
- btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
+
+ bool useTorsionalAndConeFriction = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode&SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0));
+
+ btMultiBodySolverConstraint& solverConstraint = useTorsionalAndConeFriction? m_multiBodyTorsionalFrictionContactConstraints.expandNonInitializing() : m_multiBodyFrictionContactConstraints.expandNonInitializing();
solverConstraint.m_orgConstraint = 0;
solverConstraint.m_orgDofIndex = -1;
@@ -1151,6 +1406,7 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol
btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
{
+ //printf("btMultiBodyConstraintSolver::solveGroup: numBodies=%d, numConstraints=%d\n", numBodies, numConstraints);
return btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher);
}
@@ -1234,27 +1490,12 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv
if (c.m_multiBodyA)
{
-
- if(c.m_multiBodyA->isMultiDof())
- {
- c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
- }
- else
- {
- c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
- }
+ c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
}
if (c.m_multiBodyB)
{
- if(c.m_multiBodyB->isMultiDof())
- {
- c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
- }
- else
- {
- c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
- }
+ c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
}
#endif
@@ -1416,6 +1657,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
{
+ //printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints);
+
//printf("solveMultiBodyGroup start\n");
m_tmpMultiBodyConstraints = multiBodyConstraints;
m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
index 489347d874..29f484e1d8 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
@@ -36,6 +36,7 @@ protected:
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
+ btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints;
btMultiBodyJacobianData m_data;
@@ -45,6 +46,9 @@ protected:
btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
+ //solve 2 friction directions and clamp against the implicit friction cone
+ btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB);
+
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index 9eacc22647..9c5f3ad8a9 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -277,7 +277,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
m_multiBodyConstraints.resize(0);
}
-
+ void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
+ {
+ m_solver = solver;
+ }
+
virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId)
{
if (islandId<0)
@@ -348,7 +352,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
for (i=0;i<numCurMultiBodyConstraints;i++)
m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
- if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize)
+ if ((m_multiBodyConstraints.size()+m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize)
{
processConstraints();
} else
@@ -394,6 +398,22 @@ btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld ()
delete m_solverMultiBodyIslandCallback;
}
+void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
+{
+ m_multiBodyConstraintSolver = solver;
+ m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver);
+ btDiscreteDynamicsWorld::setConstraintSolver(solver);
+}
+
+void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
+{
+ if (solver->getSolverType()==BT_MULTIBODY_SOLVER)
+ {
+ m_multiBodyConstraintSolver = (btMultiBodyConstraintSolver*)solver;
+ }
+ btDiscreteDynamicsWorld::setConstraintSolver(solver);
+}
+
void btMultiBodyDynamicsWorld::forwardKinematics()
{
@@ -411,6 +431,8 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
BT_PROFILE("solveConstraints");
+ clearMultiBodyConstraintForces();
+
m_sortedConstraints.resize( m_constraints.size());
int i;
for (i=0;i<getNumConstraints();i++)
@@ -433,8 +455,6 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
m_solverMultiBodyIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
- /// solve all the constraints for this island
- m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverMultiBodyIslandCallback);
#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
{
@@ -669,7 +689,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
}
}
- clearMultiBodyConstraintForces();
+ /// solve all the constraints for this island
+ m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
+
m_solverMultiBodyIslandCallback->processConstraints();
@@ -824,21 +846,24 @@ void btMultiBodyDynamicsWorld::debugDrawWorld()
{
btMultiBody* bod = m_multiBodies[b];
bod->forwardKinematics(m_scratch_world_to_local1,m_scratch_local_origin1);
-
- getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1);
-
+
+ if (mode & btIDebugDraw::DBG_DrawFrames)
+ {
+ getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1);
+ }
for (int m = 0; m<bod->getNumLinks(); m++)
{
const btTransform& tr = bod->getLink(m).m_cachedWorldTransform;
-
- getDebugDrawer()->drawTransform(tr, 0.1);
-
+ if (mode & btIDebugDraw::DBG_DrawFrames)
+ {
+ getDebugDrawer()->drawTransform(tr, 0.1);
+ }
//draw the joint axis
if (bod->getLink(m).m_jointType==btMultibodyLink::eRevolute)
{
- btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec);
+ btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec)*0.1;
btVector4 color(0,0,0,1);//1,1,1);
btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
@@ -847,7 +872,7 @@ void btMultiBodyDynamicsWorld::debugDrawWorld()
}
if (bod->getLink(m).m_jointType==btMultibodyLink::eFixed)
{
- btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec);
+ btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec)*0.1;
btVector4 color(0,0,0,1);//1,1,1);
btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
@@ -856,7 +881,7 @@ void btMultiBodyDynamicsWorld::debugDrawWorld()
}
if (bod->getLink(m).m_jointType==btMultibodyLink::ePrismatic)
{
- btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec);
+ btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec)*0.1;
btVector4 color(0,0,0,1);//1,1,1);
btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector);
@@ -970,6 +995,8 @@ void btMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
serializeCollisionObjects(serializer);
+ serializeContactManifolds(serializer);
+
serializer->finishSerialization();
}
@@ -988,4 +1015,17 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
}
}
-} \ No newline at end of file
+ //serialize all multibody links (collision objects)
+ for (i=0;i<m_collisionObjects.size();i++)
+ {
+ btCollisionObject* colObj = m_collisionObjects[i];
+ if (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
+ {
+ int len = colObj->calculateSerializeBufferSize();
+ btChunk* chunk = serializer->allocate(len,1);
+ const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
+ serializer->finalizeChunk(chunk,structType,BT_MB_LINKCOLLIDER_CODE,colObj);
+ }
+ }
+
+}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
index c0c132bbba..2fbf089d81 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
@@ -109,6 +109,8 @@ public:
virtual void applyGravity();
virtual void serialize(btSerializer* serializer);
+ virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver);
+ virtual void setConstraintSolver(btConstraintSolver* solver);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
index 1f94117aa9..af48e94a83 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp
@@ -65,13 +65,16 @@ int btMultiBodyFixedConstraint::getIslandIdA() const
if (m_bodyA)
{
- btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
- if (col)
- return col->getIslandTag();
- for (int i=0;i<m_bodyA->getNumLinks();i++)
+ if (m_linkA < 0)
{
- if (m_bodyA->getLink(i).m_collider)
- return m_bodyA->getLink(i).m_collider->getIslandTag();
+ btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+ if (col)
+ return col->getIslandTag();
+ }
+ else
+ {
+ if (m_bodyA->getLink(m_linkA).m_collider)
+ return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
}
}
return -1;
@@ -83,16 +86,17 @@ int btMultiBodyFixedConstraint::getIslandIdB() const
return m_rigidBodyB->getIslandTag();
if (m_bodyB)
{
- btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
- if (col)
- return col->getIslandTag();
-
- for (int i=0;i<m_bodyB->getNumLinks();i++)
+ if (m_linkB < 0)
{
- col = m_bodyB->getLink(i).m_collider;
+ btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)
return col->getIslandTag();
}
+ else
+ {
+ if (m_bodyB->getLink(m_linkB).m_collider)
+ return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+ }
}
return -1;
}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
index 5fdb7007d8..09ddd65cd8 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
@@ -45,16 +45,18 @@ btMultiBodyGearConstraint::~btMultiBodyGearConstraint()
int btMultiBodyGearConstraint::getIslandIdA() const
{
-
if (m_bodyA)
{
- btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
- if (col)
- return col->getIslandTag();
- for (int i=0;i<m_bodyA->getNumLinks();i++)
+ if (m_linkA < 0)
+ {
+ btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+ if (col)
+ return col->getIslandTag();
+ }
+ else
{
- if (m_bodyA->getLink(i).m_collider)
- return m_bodyA->getLink(i).m_collider->getIslandTag();
+ if (m_bodyA->getLink(m_linkA).m_collider)
+ return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
}
}
return -1;
@@ -64,16 +66,17 @@ int btMultiBodyGearConstraint::getIslandIdB() const
{
if (m_bodyB)
{
- btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
- if (col)
- return col->getIslandTag();
-
- for (int i=0;i<m_bodyB->getNumLinks();i++)
+ if (m_linkB < 0)
{
- col = m_bodyB->getLink(i).m_collider;
+ btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)
return col->getIslandTag();
}
+ else
+ {
+ if (m_bodyB->getLink(m_linkB).m_collider)
+ return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+ }
}
return -1;
}
@@ -134,6 +137,10 @@ void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray&
if (m_erp!=0)
{
btScalar currentPositionA = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
+ if (m_gearAuxLink >= 0)
+ {
+ currentPositionA -= m_bodyA->getJointPosMultiDof(m_gearAuxLink)[dof];
+ }
btScalar currentPositionB = m_gearRatio*m_bodyA->getJointPosMultiDof(m_linkB)[dof];
btScalar diff = currentPositionB+currentPositionA;
btScalar desiredPositionDiff = this->m_relativePositionTarget;
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
index 6d173b66a1..35c929f7ce 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
@@ -53,17 +53,22 @@ btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint()
{
}
+
int btMultiBodyJointLimitConstraint::getIslandIdA() const
{
- if(m_bodyA)
+
+ if (m_bodyA)
{
- btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
- if (col)
- return col->getIslandTag();
- for (int i=0;i<m_bodyA->getNumLinks();i++)
+ if (m_linkA < 0)
{
- if (m_bodyA->getLink(i).m_collider)
- return m_bodyA->getLink(i).m_collider->getIslandTag();
+ btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+ if (col)
+ return col->getIslandTag();
+ }
+ else
+ {
+ if (m_bodyA->getLink(m_linkA).m_collider)
+ return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
}
}
return -1;
@@ -71,18 +76,19 @@ int btMultiBodyJointLimitConstraint::getIslandIdA() const
int btMultiBodyJointLimitConstraint::getIslandIdB() const
{
- if(m_bodyB)
+ if (m_bodyB)
{
- btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
- if (col)
- return col->getIslandTag();
-
- for (int i=0;i<m_bodyB->getNumLinks();i++)
+ if (m_linkB < 0)
{
- col = m_bodyB->getLink(i).m_collider;
+ btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)
return col->getIslandTag();
}
+ else
+ {
+ if (m_bodyB->getLink(m_linkB).m_collider)
+ return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+ }
}
return -1;
}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
index e0921178e9..2a70ea97e5 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
@@ -74,29 +74,37 @@ btMultiBodyJointMotor::~btMultiBodyJointMotor()
int btMultiBodyJointMotor::getIslandIdA() const
{
- btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
- if (col)
- return col->getIslandTag();
- for (int i=0;i<m_bodyA->getNumLinks();i++)
+ if (this->m_linkA < 0)
{
- if (m_bodyA->getLink(i).m_collider)
- return m_bodyA->getLink(i).m_collider->getIslandTag();
+ btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+ if (col)
+ return col->getIslandTag();
+ }
+ else
+ {
+ if (m_bodyA->getLink(m_linkA).m_collider)
+ {
+ return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
+ }
}
return -1;
}
int btMultiBodyJointMotor::getIslandIdB() const
{
- btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
- if (col)
- return col->getIslandTag();
-
- for (int i=0;i<m_bodyB->getNumLinks();i++)
+ if (m_linkB < 0)
{
- col = m_bodyB->getLink(i).m_collider;
+ btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)
return col->getIslandTag();
}
+ else
+ {
+ if (m_bodyB->getLink(m_linkB).m_collider)
+ {
+ return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+ }
+ }
return -1;
}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h
index 01828e5843..21c9e7a557 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h
@@ -182,6 +182,8 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
m_cachedRVector.setValue(0, 0, 0);
m_appliedForce.setValue( 0, 0, 0);
m_appliedTorque.setValue(0, 0, 0);
+ m_appliedConstraintForce.setValue(0,0,0);
+ m_appliedConstraintTorque.setValue(0,0,0);
//
m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f;
m_jointPos[3] = 1.f; //"quat.w"
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
index 671e15d314..7092e62b5a 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
@@ -19,6 +19,16 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "btMultiBody.h"
+#include "LinearMath/btSerializer.h"
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData
+#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData"
+#else
+#define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData
+#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData"
+#endif
+
class btMultiBodyLinkCollider : public btCollisionObject
{
@@ -119,7 +129,49 @@ public:
}
return true;
}
+
+ virtual int calculateSerializeBufferSize() const;
+
+ ///fills the dataBuffer and returns the struct name (and 0 on failure)
+ virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
+
+};
+
+
+struct btMultiBodyLinkColliderFloatData
+{
+ btCollisionObjectFloatData m_colObjData;
+ btMultiBodyFloatData *m_multiBody;
+ int m_link;
+ char m_padding[4];
};
+struct btMultiBodyLinkColliderDoubleData
+{
+ btCollisionObjectDoubleData m_colObjData;
+ btMultiBodyDoubleData *m_multiBody;
+ int m_link;
+ char m_padding[4];
+};
+
+SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const
+{
+ return sizeof(btMultiBodyLinkColliderData);
+}
+
+SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const
+{
+ btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer;
+ btCollisionObject::serialize(&dataOut->m_colObjData,serializer);
+
+ dataOut->m_link = this->m_link;
+ dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody);
+
+ // Fill padding with zeros to appease msan.
+ memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
+
+ return btMultiBodyLinkColliderDataName;
+}
+
#endif //BT_FEATHERSTONE_LINK_COLLIDER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp
new file mode 100644
index 0000000000..338e8af0ab
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp
@@ -0,0 +1,966 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2018 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
+
+#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
+#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
+#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"
+
+#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+
+static bool interleaveContactAndFriction = false;
+
+struct btJointNode
+{
+ int jointIndex; // pointer to enclosing dxJoint object
+ int otherBodyIndex; // *other* body this joint is connected to
+ int nextJointNodeIndex; //-1 for null
+ int constraintRowIndex;
+};
+
+// Helper function to compute a delta velocity in the constraint space.
+static btScalar computeDeltaVelocityInConstraintSpace(
+ const btVector3& angularDeltaVelocity,
+ const btVector3& contactNormal,
+ btScalar invMass,
+ const btVector3& angularJacobian,
+ const btVector3& linearJacobian)
+{
+ return angularDeltaVelocity.dot(angularJacobian) + contactNormal.dot(linearJacobian) * invMass;
+}
+
+// Faster version of computeDeltaVelocityInConstraintSpace that can be used when contactNormal and linearJacobian are
+// identical.
+static btScalar computeDeltaVelocityInConstraintSpace(
+ const btVector3& angularDeltaVelocity,
+ btScalar invMass,
+ const btVector3& angularJacobian)
+{
+ return angularDeltaVelocity.dot(angularJacobian) + invMass;
+}
+
+// Helper function to compute a delta velocity in the constraint space.
+static btScalar computeDeltaVelocityInConstraintSpace(const btScalar* deltaVelocity, const btScalar* jacobian, int size)
+{
+ btScalar result = 0;
+ for (int i = 0; i < size; ++i)
+ result += deltaVelocity[i] * jacobian[i];
+
+ return result;
+}
+
+static btScalar computeConstraintMatrixDiagElementMultiBody(
+ const btAlignedObjectArray<btSolverBody>& solverBodyPool,
+ const btMultiBodyJacobianData& data,
+ const btMultiBodySolverConstraint& constraint)
+{
+ btScalar ret = 0;
+
+ const btMultiBody* multiBodyA = constraint.m_multiBodyA;
+ const btMultiBody* multiBodyB = constraint.m_multiBodyB;
+
+ if (multiBodyA)
+ {
+ const btScalar* jacA = &data.m_jacobians[constraint.m_jacAindex];
+ const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex];
+ const int ndofA = multiBodyA->getNumDofs() + 6;
+ ret += computeDeltaVelocityInConstraintSpace(deltaA, jacA, ndofA);
+ }
+ else
+ {
+ const int solverBodyIdA = constraint.m_solverBodyIdA;
+ btAssert(solverBodyIdA != -1);
+ const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
+ const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
+ ret += computeDeltaVelocityInConstraintSpace(
+ constraint.m_relpos1CrossNormal,
+ invMassA,
+ constraint.m_angularComponentA);
+ }
+
+ if (multiBodyB)
+ {
+ const btScalar* jacB = &data.m_jacobians[constraint.m_jacBindex];
+ const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex];
+ const int ndofB = multiBodyB->getNumDofs() + 6;
+ ret += computeDeltaVelocityInConstraintSpace(deltaB, jacB, ndofB);
+ }
+ else
+ {
+ const int solverBodyIdB = constraint.m_solverBodyIdB;
+ btAssert(solverBodyIdB != -1);
+ const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
+ const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
+ ret += computeDeltaVelocityInConstraintSpace(
+ constraint.m_relpos2CrossNormal,
+ invMassB,
+ constraint.m_angularComponentB);
+ }
+
+ return ret;
+}
+
+static btScalar computeConstraintMatrixOffDiagElementMultiBody(
+ const btAlignedObjectArray<btSolverBody>& solverBodyPool,
+ const btMultiBodyJacobianData& data,
+ const btMultiBodySolverConstraint& constraint,
+ const btMultiBodySolverConstraint& offDiagConstraint)
+{
+ btScalar offDiagA = btScalar(0);
+
+ const btMultiBody* multiBodyA = constraint.m_multiBodyA;
+ const btMultiBody* multiBodyB = constraint.m_multiBodyB;
+ const btMultiBody* offDiagMultiBodyA = offDiagConstraint.m_multiBodyA;
+ const btMultiBody* offDiagMultiBodyB = offDiagConstraint.m_multiBodyB;
+
+ // Assumed at least one system is multibody
+ btAssert(multiBodyA || multiBodyB);
+ btAssert(offDiagMultiBodyA || offDiagMultiBodyB);
+
+ if (offDiagMultiBodyA)
+ {
+ const btScalar* offDiagJacA = &data.m_jacobians[offDiagConstraint.m_jacAindex];
+
+ if (offDiagMultiBodyA == multiBodyA)
+ {
+ const int ndofA = multiBodyA->getNumDofs() + 6;
+ const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex];
+ offDiagA += computeDeltaVelocityInConstraintSpace(deltaA, offDiagJacA, ndofA);
+ }
+ else if (offDiagMultiBodyA == multiBodyB)
+ {
+ const int ndofB = multiBodyB->getNumDofs() + 6;
+ const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex];
+ offDiagA += computeDeltaVelocityInConstraintSpace(deltaB, offDiagJacA, ndofB);
+ }
+ }
+ else
+ {
+ const int solverBodyIdA = constraint.m_solverBodyIdA;
+ const int solverBodyIdB = constraint.m_solverBodyIdB;
+
+ const int offDiagSolverBodyIdA = offDiagConstraint.m_solverBodyIdA;
+ btAssert(offDiagSolverBodyIdA != -1);
+
+ if (offDiagSolverBodyIdA == solverBodyIdA)
+ {
+ btAssert(solverBodyIdA != -1);
+ const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
+ const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
+ offDiagA += computeDeltaVelocityInConstraintSpace(
+ offDiagConstraint.m_relpos1CrossNormal,
+ offDiagConstraint.m_contactNormal1,
+ invMassA, constraint.m_angularComponentA,
+ constraint.m_contactNormal1);
+ }
+ else if (offDiagSolverBodyIdA == solverBodyIdB)
+ {
+ btAssert(solverBodyIdB != -1);
+ const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
+ const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
+ offDiagA += computeDeltaVelocityInConstraintSpace(
+ offDiagConstraint.m_relpos1CrossNormal,
+ offDiagConstraint.m_contactNormal1,
+ invMassB,
+ constraint.m_angularComponentB,
+ constraint.m_contactNormal2);
+ }
+ }
+
+ if (offDiagMultiBodyB)
+ {
+ const btScalar* offDiagJacB = &data.m_jacobians[offDiagConstraint.m_jacBindex];
+
+ if (offDiagMultiBodyB == multiBodyA)
+ {
+ const int ndofA = multiBodyA->getNumDofs() + 6;
+ const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex];
+ offDiagA += computeDeltaVelocityInConstraintSpace(deltaA, offDiagJacB, ndofA);
+ }
+ else if (offDiagMultiBodyB == multiBodyB)
+ {
+ const int ndofB = multiBodyB->getNumDofs() + 6;
+ const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex];
+ offDiagA += computeDeltaVelocityInConstraintSpace(deltaB, offDiagJacB, ndofB);
+ }
+ }
+ else
+ {
+ const int solverBodyIdA = constraint.m_solverBodyIdA;
+ const int solverBodyIdB = constraint.m_solverBodyIdB;
+
+ const int offDiagSolverBodyIdB = offDiagConstraint.m_solverBodyIdB;
+ btAssert(offDiagSolverBodyIdB != -1);
+
+ if (offDiagSolverBodyIdB == solverBodyIdA)
+ {
+ btAssert(solverBodyIdA != -1);
+ const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA];
+ const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0;
+ offDiagA += computeDeltaVelocityInConstraintSpace(
+ offDiagConstraint.m_relpos2CrossNormal,
+ offDiagConstraint.m_contactNormal2,
+ invMassA, constraint.m_angularComponentA,
+ constraint.m_contactNormal1);
+ }
+ else if (offDiagSolverBodyIdB == solverBodyIdB)
+ {
+ btAssert(solverBodyIdB != -1);
+ const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB];
+ const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0;
+ offDiagA += computeDeltaVelocityInConstraintSpace(
+ offDiagConstraint.m_relpos2CrossNormal,
+ offDiagConstraint.m_contactNormal2,
+ invMassB, constraint.m_angularComponentB,
+ constraint.m_contactNormal2);
+ }
+ }
+
+ return offDiagA;
+}
+
+void btMultiBodyMLCPConstraintSolver::createMLCPFast(const btContactSolverInfo& infoGlobal)
+{
+ createMLCPFastRigidBody(infoGlobal);
+ createMLCPFastMultiBody(infoGlobal);
+}
+
+void btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal)
+{
+ int numContactRows = interleaveContactAndFriction ? 3 : 1;
+
+ int numConstraintRows = m_allConstraintPtrArray.size();
+
+ if (numConstraintRows == 0)
+ return;
+
+ int n = numConstraintRows;
+ {
+ BT_PROFILE("init b (rhs)");
+ m_b.resize(numConstraintRows);
+ m_bSplit.resize(numConstraintRows);
+ m_b.setZero();
+ m_bSplit.setZero();
+ for (int i = 0; i < numConstraintRows; i++)
+ {
+ btScalar jacDiag = m_allConstraintPtrArray[i]->m_jacDiagABInv;
+ if (!btFuzzyZero(jacDiag))
+ {
+ btScalar rhs = m_allConstraintPtrArray[i]->m_rhs;
+ btScalar rhsPenetration = m_allConstraintPtrArray[i]->m_rhsPenetration;
+ m_b[i] = rhs / jacDiag;
+ m_bSplit[i] = rhsPenetration / jacDiag;
+ }
+ }
+ }
+
+ // btScalar* w = 0;
+ // int nub = 0;
+
+ m_lo.resize(numConstraintRows);
+ m_hi.resize(numConstraintRows);
+
+ {
+ BT_PROFILE("init lo/ho");
+
+ for (int i = 0; i < numConstraintRows; i++)
+ {
+ if (0) //m_limitDependencies[i]>=0)
+ {
+ m_lo[i] = -BT_INFINITY;
+ m_hi[i] = BT_INFINITY;
+ }
+ else
+ {
+ m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit;
+ m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit;
+ }
+ }
+ }
+
+ //
+ int m = m_allConstraintPtrArray.size();
+
+ int numBodies = m_tmpSolverBodyPool.size();
+ btAlignedObjectArray<int> bodyJointNodeArray;
+ {
+ BT_PROFILE("bodyJointNodeArray.resize");
+ bodyJointNodeArray.resize(numBodies, -1);
+ }
+ btAlignedObjectArray<btJointNode> jointNodeArray;
+ {
+ BT_PROFILE("jointNodeArray.reserve");
+ jointNodeArray.reserve(2 * m_allConstraintPtrArray.size());
+ }
+
+ btMatrixXu& J3 = m_scratchJ3;
+ {
+ BT_PROFILE("J3.resize");
+ J3.resize(2 * m, 8);
+ }
+ btMatrixXu& JinvM3 = m_scratchJInvM3;
+ {
+ BT_PROFILE("JinvM3.resize/setZero");
+
+ JinvM3.resize(2 * m, 8);
+ JinvM3.setZero();
+ J3.setZero();
+ }
+ int cur = 0;
+ int rowOffset = 0;
+ btAlignedObjectArray<int>& ofs = m_scratchOfs;
+ {
+ BT_PROFILE("ofs resize");
+ ofs.resize(0);
+ ofs.resizeNoInitialize(m_allConstraintPtrArray.size());
+ }
+ {
+ BT_PROFILE("Compute J and JinvM");
+ int c = 0;
+
+ int numRows = 0;
+
+ for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++)
+ {
+ ofs[c] = rowOffset;
+ int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
+ int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
+ btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+ btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+
+ numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows;
+ if (orgBodyA)
+ {
+ {
+ int slotA = -1;
+ //find free jointNode slot for sbA
+ slotA = jointNodeArray.size();
+ jointNodeArray.expand(); //NonInitializing();
+ int prevSlot = bodyJointNodeArray[sbA];
+ bodyJointNodeArray[sbA] = slotA;
+ jointNodeArray[slotA].nextJointNodeIndex = prevSlot;
+ jointNodeArray[slotA].jointIndex = c;
+ jointNodeArray[slotA].constraintRowIndex = i;
+ jointNodeArray[slotA].otherBodyIndex = orgBodyB ? sbB : -1;
+ }
+ for (int row = 0; row < numRows; row++, cur++)
+ {
+ btVector3 normalInvMass = m_allConstraintPtrArray[i + row]->m_contactNormal1 * orgBodyA->getInvMass();
+ btVector3 relPosCrossNormalInvInertia = m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal * orgBodyA->getInvInertiaTensorWorld();
+
+ for (int r = 0; r < 3; r++)
+ {
+ J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal1[r]);
+ J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos1CrossNormal[r]);
+ JinvM3.setElem(cur, r, normalInvMass[r]);
+ JinvM3.setElem(cur, r + 4, relPosCrossNormalInvInertia[r]);
+ }
+ J3.setElem(cur, 3, 0);
+ JinvM3.setElem(cur, 3, 0);
+ J3.setElem(cur, 7, 0);
+ JinvM3.setElem(cur, 7, 0);
+ }
+ }
+ else
+ {
+ cur += numRows;
+ }
+ if (orgBodyB)
+ {
+ {
+ int slotB = -1;
+ //find free jointNode slot for sbA
+ slotB = jointNodeArray.size();
+ jointNodeArray.expand(); //NonInitializing();
+ int prevSlot = bodyJointNodeArray[sbB];
+ bodyJointNodeArray[sbB] = slotB;
+ jointNodeArray[slotB].nextJointNodeIndex = prevSlot;
+ jointNodeArray[slotB].jointIndex = c;
+ jointNodeArray[slotB].otherBodyIndex = orgBodyA ? sbA : -1;
+ jointNodeArray[slotB].constraintRowIndex = i;
+ }
+
+ for (int row = 0; row < numRows; row++, cur++)
+ {
+ btVector3 normalInvMassB = m_allConstraintPtrArray[i + row]->m_contactNormal2 * orgBodyB->getInvMass();
+ btVector3 relPosInvInertiaB = m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal * orgBodyB->getInvInertiaTensorWorld();
+
+ for (int r = 0; r < 3; r++)
+ {
+ J3.setElem(cur, r, m_allConstraintPtrArray[i + row]->m_contactNormal2[r]);
+ J3.setElem(cur, r + 4, m_allConstraintPtrArray[i + row]->m_relpos2CrossNormal[r]);
+ JinvM3.setElem(cur, r, normalInvMassB[r]);
+ JinvM3.setElem(cur, r + 4, relPosInvInertiaB[r]);
+ }
+ J3.setElem(cur, 3, 0);
+ JinvM3.setElem(cur, 3, 0);
+ J3.setElem(cur, 7, 0);
+ JinvM3.setElem(cur, 7, 0);
+ }
+ }
+ else
+ {
+ cur += numRows;
+ }
+ rowOffset += numRows;
+ }
+ }
+
+ //compute JinvM = J*invM.
+ const btScalar* JinvM = JinvM3.getBufferPointer();
+
+ const btScalar* Jptr = J3.getBufferPointer();
+ {
+ BT_PROFILE("m_A.resize");
+ m_A.resize(n, n);
+ }
+
+ {
+ BT_PROFILE("m_A.setZero");
+ m_A.setZero();
+ }
+ int c = 0;
+ {
+ int numRows = 0;
+ BT_PROFILE("Compute A");
+ for (int i = 0; i < m_allConstraintPtrArray.size(); i += numRows, c++)
+ {
+ int row__ = ofs[c];
+ int sbA = m_allConstraintPtrArray[i]->m_solverBodyIdA;
+ int sbB = m_allConstraintPtrArray[i]->m_solverBodyIdB;
+ // btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+ // btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+
+ numRows = i < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[c].m_numConstraintRows : numContactRows;
+
+ const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__;
+
+ {
+ int startJointNodeA = bodyJointNodeArray[sbA];
+ while (startJointNodeA >= 0)
+ {
+ int j0 = jointNodeArray[startJointNodeA].jointIndex;
+ int cr0 = jointNodeArray[startJointNodeA].constraintRowIndex;
+ if (j0 < c)
+ {
+ int numRowsOther = cr0 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j0].m_numConstraintRows : numContactRows;
+ size_t ofsother = (m_allConstraintPtrArray[cr0]->m_solverBodyIdB == sbA) ? 8 * numRowsOther : 0;
+ //printf("%d joint i %d and j0: %d: ",count++,i,j0);
+ m_A.multiplyAdd2_p8r(JinvMrow,
+ Jptr + 2 * 8 * (size_t)ofs[j0] + ofsother, numRows, numRowsOther, row__, ofs[j0]);
+ }
+ startJointNodeA = jointNodeArray[startJointNodeA].nextJointNodeIndex;
+ }
+ }
+
+ {
+ int startJointNodeB = bodyJointNodeArray[sbB];
+ while (startJointNodeB >= 0)
+ {
+ int j1 = jointNodeArray[startJointNodeB].jointIndex;
+ int cj1 = jointNodeArray[startJointNodeB].constraintRowIndex;
+
+ if (j1 < c)
+ {
+ int numRowsOther = cj1 < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[j1].m_numConstraintRows : numContactRows;
+ size_t ofsother = (m_allConstraintPtrArray[cj1]->m_solverBodyIdB == sbB) ? 8 * numRowsOther : 0;
+ m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)numRows,
+ Jptr + 2 * 8 * (size_t)ofs[j1] + ofsother, numRows, numRowsOther, row__, ofs[j1]);
+ }
+ startJointNodeB = jointNodeArray[startJointNodeB].nextJointNodeIndex;
+ }
+ }
+ }
+
+ {
+ BT_PROFILE("compute diagonal");
+ // compute diagonal blocks of m_A
+
+ int row__ = 0;
+ int numJointRows = m_allConstraintPtrArray.size();
+
+ int jj = 0;
+ for (; row__ < numJointRows;)
+ {
+ //int sbA = m_allConstraintPtrArray[row__]->m_solverBodyIdA;
+ int sbB = m_allConstraintPtrArray[row__]->m_solverBodyIdB;
+ // btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody;
+ btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody;
+
+ const unsigned int infom = row__ < m_tmpSolverNonContactConstraintPool.size() ? m_tmpConstraintSizesPool[jj].m_numConstraintRows : numContactRows;
+
+ const btScalar* JinvMrow = JinvM + 2 * 8 * (size_t)row__;
+ const btScalar* Jrow = Jptr + 2 * 8 * (size_t)row__;
+ m_A.multiply2_p8r(JinvMrow, Jrow, infom, infom, row__, row__);
+ if (orgBodyB)
+ {
+ m_A.multiplyAdd2_p8r(JinvMrow + 8 * (size_t)infom, Jrow + 8 * (size_t)infom, infom, infom, row__, row__);
+ }
+ row__ += infom;
+ jj++;
+ }
+ }
+ }
+
+ if (1)
+ {
+ // add cfm to the diagonal of m_A
+ for (int i = 0; i < m_A.rows(); ++i)
+ {
+ m_A.setElem(i, i, m_A(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
+ }
+ }
+
+ ///fill the upper triangle of the matrix, to make it symmetric
+ {
+ BT_PROFILE("fill the upper triangle ");
+ m_A.copyLowerToUpperTriangle();
+ }
+
+ {
+ BT_PROFILE("resize/init x");
+ m_x.resize(numConstraintRows);
+ m_xSplit.resize(numConstraintRows);
+
+ if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+ {
+ for (int i = 0; i < m_allConstraintPtrArray.size(); i++)
+ {
+ const btSolverConstraint& c = *m_allConstraintPtrArray[i];
+ m_x[i] = c.m_appliedImpulse;
+ m_xSplit[i] = c.m_appliedPushImpulse;
+ }
+ }
+ else
+ {
+ m_x.setZero();
+ m_xSplit.setZero();
+ }
+ }
+}
+
+void btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal)
+{
+ const int multiBodyNumConstraints = m_multiBodyAllConstraintPtrArray.size();
+
+ if (multiBodyNumConstraints == 0)
+ return;
+
+ // 1. Compute b
+ {
+ BT_PROFILE("init b (rhs)");
+
+ m_multiBodyB.resize(multiBodyNumConstraints);
+ m_multiBodyB.setZero();
+
+ for (int i = 0; i < multiBodyNumConstraints; ++i)
+ {
+ const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
+ const btScalar jacDiag = constraint.m_jacDiagABInv;
+
+ if (!btFuzzyZero(jacDiag))
+ {
+ // Note that rhsPenetration is currently always zero because the split impulse hasn't been implemented for multibody yet.
+ const btScalar rhs = constraint.m_rhs;
+ m_multiBodyB[i] = rhs / jacDiag;
+ }
+ }
+ }
+
+ // 2. Compute lo and hi
+ {
+ BT_PROFILE("init lo/ho");
+
+ m_multiBodyLo.resize(multiBodyNumConstraints);
+ m_multiBodyHi.resize(multiBodyNumConstraints);
+
+ for (int i = 0; i < multiBodyNumConstraints; ++i)
+ {
+ const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
+ m_multiBodyLo[i] = constraint.m_lowerLimit;
+ m_multiBodyHi[i] = constraint.m_upperLimit;
+ }
+ }
+
+ // 3. Construct A matrix by using the impulse testing
+ {
+ BT_PROFILE("Compute A");
+
+ {
+ BT_PROFILE("m_A.resize");
+ m_multiBodyA.resize(multiBodyNumConstraints, multiBodyNumConstraints);
+ }
+
+ for (int i = 0; i < multiBodyNumConstraints; ++i)
+ {
+ // Compute the diagonal of A, which is A(i, i)
+ const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
+ const btScalar diagA = computeConstraintMatrixDiagElementMultiBody(m_tmpSolverBodyPool, m_data, constraint);
+ m_multiBodyA.setElem(i, i, diagA);
+
+ // Computes the off-diagonals of A:
+ // a. The rest of i-th row of A, from A(i, i+1) to A(i, n)
+ // b. The rest of i-th column of A, from A(i+1, i) to A(n, i)
+ for (int j = i + 1; j < multiBodyNumConstraints; ++j)
+ {
+ const btMultiBodySolverConstraint& offDiagConstraint = *m_multiBodyAllConstraintPtrArray[j];
+ const btScalar offDiagA = computeConstraintMatrixOffDiagElementMultiBody(m_tmpSolverBodyPool, m_data, constraint, offDiagConstraint);
+
+ // Set the off-diagonal values of A. Note that A is symmetric.
+ m_multiBodyA.setElem(i, j, offDiagA);
+ m_multiBodyA.setElem(j, i, offDiagA);
+ }
+ }
+ }
+
+ // Add CFM to the diagonal of m_A
+ for (int i = 0; i < m_multiBodyA.rows(); ++i)
+ {
+ m_multiBodyA.setElem(i, i, m_multiBodyA(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep);
+ }
+
+ // 4. Initialize x
+ {
+ BT_PROFILE("resize/init x");
+
+ m_multiBodyX.resize(multiBodyNumConstraints);
+
+ if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
+ {
+ for (int i = 0; i < multiBodyNumConstraints; ++i)
+ {
+ const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i];
+ m_multiBodyX[i] = constraint.m_appliedImpulse;
+ }
+ }
+ else
+ {
+ m_multiBodyX.setZero();
+ }
+ }
+}
+
+bool btMultiBodyMLCPConstraintSolver::solveMLCP(const btContactSolverInfo& infoGlobal)
+{
+ bool result = true;
+
+ if (m_A.rows() != 0)
+ {
+ // If using split impulse, we solve 2 separate (M)LCPs
+ if (infoGlobal.m_splitImpulse)
+ {
+ const btMatrixXu Acopy = m_A;
+ const btAlignedObjectArray<int> limitDependenciesCopy = m_limitDependencies;
+ // TODO(JS): Do we really need these copies when solveMLCP takes them as const?
+
+ result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations);
+ if (result)
+ result = m_solver->solveMLCP(Acopy, m_bSplit, m_xSplit, m_lo, m_hi, limitDependenciesCopy, infoGlobal.m_numIterations);
+ }
+ else
+ {
+ result = m_solver->solveMLCP(m_A, m_b, m_x, m_lo, m_hi, m_limitDependencies, infoGlobal.m_numIterations);
+ }
+ }
+
+ if (!result)
+ return false;
+
+ if (m_multiBodyA.rows() != 0)
+ {
+ result = m_solver->solveMLCP(m_multiBodyA, m_multiBodyB, m_multiBodyX, m_multiBodyLo, m_multiBodyHi, m_multiBodyLimitDependencies, infoGlobal.m_numIterations);
+ }
+
+ return result;
+}
+
+btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup(
+ btCollisionObject** bodies,
+ int numBodies,
+ btPersistentManifold** manifoldPtr,
+ int numManifolds,
+ btTypedConstraint** constraints,
+ int numConstraints,
+ const btContactSolverInfo& infoGlobal,
+ btIDebugDraw* debugDrawer)
+{
+ // 1. Setup for rigid-bodies
+ btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(
+ bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
+
+ // 2. Setup for multi-bodies
+ // a. Collect all different kinds of constraint as pointers into one array, m_allConstraintPtrArray
+ // b. Set the index array for frictional contact constraints, m_limitDependencies
+ {
+ BT_PROFILE("gather constraint data");
+
+ int dindex = 0;
+
+ const int numRigidBodyConstraints = m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size();
+ const int numMultiBodyConstraints = m_multiBodyNonContactConstraints.size() + m_multiBodyNormalContactConstraints.size() + m_multiBodyFrictionContactConstraints.size();
+
+ m_allConstraintPtrArray.resize(0);
+ m_multiBodyAllConstraintPtrArray.resize(0);
+
+ // i. Setup for rigid bodies
+
+ m_limitDependencies.resize(numRigidBodyConstraints);
+
+ for (int i = 0; i < m_tmpSolverNonContactConstraintPool.size(); ++i)
+ {
+ m_allConstraintPtrArray.push_back(&m_tmpSolverNonContactConstraintPool[i]);
+ m_limitDependencies[dindex++] = -1;
+ }
+
+ int firstContactConstraintOffset = dindex;
+
+ // The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead
+ if (interleaveContactAndFriction)
+ {
+ for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++)
+ {
+ const int numFrictionPerContact = m_tmpSolverContactConstraintPool.size() == m_tmpSolverContactFrictionConstraintPool.size() ? 1 : 2;
+
+ m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
+ m_limitDependencies[dindex++] = -1;
+ m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact]);
+ int findex = (m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact].m_frictionIndex * (1 + numFrictionPerContact));
+ m_limitDependencies[dindex++] = findex + firstContactConstraintOffset;
+ if (numFrictionPerContact == 2)
+ {
+ m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i * numFrictionPerContact + 1]);
+ m_limitDependencies[dindex++] = findex + firstContactConstraintOffset;
+ }
+ }
+ }
+ else
+ {
+ for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++)
+ {
+ m_allConstraintPtrArray.push_back(&m_tmpSolverContactConstraintPool[i]);
+ m_limitDependencies[dindex++] = -1;
+ }
+ for (int i = 0; i < m_tmpSolverContactFrictionConstraintPool.size(); i++)
+ {
+ m_allConstraintPtrArray.push_back(&m_tmpSolverContactFrictionConstraintPool[i]);
+ m_limitDependencies[dindex++] = m_tmpSolverContactFrictionConstraintPool[i].m_frictionIndex + firstContactConstraintOffset;
+ }
+ }
+
+ if (!m_allConstraintPtrArray.size())
+ {
+ m_A.resize(0, 0);
+ m_b.resize(0);
+ m_x.resize(0);
+ m_lo.resize(0);
+ m_hi.resize(0);
+ }
+
+ // ii. Setup for multibodies
+
+ dindex = 0;
+
+ m_multiBodyLimitDependencies.resize(numMultiBodyConstraints);
+
+ for (int i = 0; i < m_multiBodyNonContactConstraints.size(); ++i)
+ {
+ m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNonContactConstraints[i]);
+ m_multiBodyLimitDependencies[dindex++] = -1;
+ }
+
+ firstContactConstraintOffset = dindex;
+
+ // The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead
+ if (interleaveContactAndFriction)
+ {
+ for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i)
+ {
+ const int numtiBodyNumFrictionPerContact = m_multiBodyNormalContactConstraints.size() == m_multiBodyFrictionContactConstraints.size() ? 1 : 2;
+
+ m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNormalContactConstraints[i]);
+ m_multiBodyLimitDependencies[dindex++] = -1;
+
+ btMultiBodySolverConstraint& frictionContactConstraint1 = m_multiBodyFrictionContactConstraints[i * numtiBodyNumFrictionPerContact];
+ m_multiBodyAllConstraintPtrArray.push_back(&frictionContactConstraint1);
+
+ const int findex = (frictionContactConstraint1.m_frictionIndex * (1 + numtiBodyNumFrictionPerContact)) + firstContactConstraintOffset;
+
+ m_multiBodyLimitDependencies[dindex++] = findex;
+
+ if (numtiBodyNumFrictionPerContact == 2)
+ {
+ btMultiBodySolverConstraint& frictionContactConstraint2 = m_multiBodyFrictionContactConstraints[i * numtiBodyNumFrictionPerContact + 1];
+ m_multiBodyAllConstraintPtrArray.push_back(&frictionContactConstraint2);
+
+ m_multiBodyLimitDependencies[dindex++] = findex;
+ }
+ }
+ }
+ else
+ {
+ for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i)
+ {
+ m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNormalContactConstraints[i]);
+ m_multiBodyLimitDependencies[dindex++] = -1;
+ }
+ for (int i = 0; i < m_multiBodyFrictionContactConstraints.size(); ++i)
+ {
+ m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyFrictionContactConstraints[i]);
+ m_multiBodyLimitDependencies[dindex++] = m_multiBodyFrictionContactConstraints[i].m_frictionIndex + firstContactConstraintOffset;
+ }
+ }
+
+ if (!m_multiBodyAllConstraintPtrArray.size())
+ {
+ m_multiBodyA.resize(0, 0);
+ m_multiBodyB.resize(0);
+ m_multiBodyX.resize(0);
+ m_multiBodyLo.resize(0);
+ m_multiBodyHi.resize(0);
+ }
+ }
+
+ // Construct MLCP terms
+ {
+ BT_PROFILE("createMLCPFast");
+ createMLCPFast(infoGlobal);
+ }
+
+ return btScalar(0);
+}
+
+btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
+{
+ bool result = true;
+ {
+ BT_PROFILE("solveMLCP");
+ result = solveMLCP(infoGlobal);
+ }
+
+ // Fallback to btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations if the solution isn't valid.
+ if (!result)
+ {
+ m_fallback++;
+ return btMultiBodyConstraintSolver::solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
+ }
+
+ {
+ BT_PROFILE("process MLCP results");
+
+ for (int i = 0; i < m_allConstraintPtrArray.size(); ++i)
+ {
+ const btSolverConstraint& c = *m_allConstraintPtrArray[i];
+
+ const btScalar deltaImpulse = m_x[i] - c.m_appliedImpulse;
+ c.m_appliedImpulse = m_x[i];
+
+ int sbA = c.m_solverBodyIdA;
+ int sbB = c.m_solverBodyIdB;
+
+ btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
+ btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];
+
+ solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+ solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
+
+ if (infoGlobal.m_splitImpulse)
+ {
+ const btScalar deltaPushImpulse = m_xSplit[i] - c.m_appliedPushImpulse;
+ solverBodyA.internalApplyPushImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaPushImpulse);
+ solverBodyB.internalApplyPushImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaPushImpulse);
+ c.m_appliedPushImpulse = m_xSplit[i];
+ }
+ }
+
+ for (int i = 0; i < m_multiBodyAllConstraintPtrArray.size(); ++i)
+ {
+ btMultiBodySolverConstraint& c = *m_multiBodyAllConstraintPtrArray[i];
+
+ const btScalar deltaImpulse = m_multiBodyX[i] - c.m_appliedImpulse;
+ c.m_appliedImpulse = m_multiBodyX[i];
+
+ btMultiBody* multiBodyA = c.m_multiBodyA;
+ if (multiBodyA)
+ {
+ const int ndofA = multiBodyA->getNumDofs() + 6;
+ applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+ //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+ multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse);
+#endif // DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ }
+ else
+ {
+ const int sbA = c.m_solverBodyIdA;
+ btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA];
+ solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse);
+ }
+
+ btMultiBody* multiBodyB = c.m_multiBodyB;
+ if (multiBodyB)
+ {
+ const int ndofB = multiBodyB->getNumDofs() + 6;
+ applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB);
+#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations
+ //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity
+ multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse);
+#endif // DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
+ }
+ else
+ {
+ const int sbB = c.m_solverBodyIdB;
+ btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB];
+ solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse);
+ }
+ }
+ }
+
+ return btScalar(0);
+}
+
+btMultiBodyMLCPConstraintSolver::btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver)
+ : m_solver(solver), m_fallback(0)
+{
+ // Do nothing
+}
+
+btMultiBodyMLCPConstraintSolver::~btMultiBodyMLCPConstraintSolver()
+{
+ // Do nothing
+}
+
+void btMultiBodyMLCPConstraintSolver::setMLCPSolver(btMLCPSolverInterface* solver)
+{
+ m_solver = solver;
+}
+
+int btMultiBodyMLCPConstraintSolver::getNumFallbacks() const
+{
+ return m_fallback;
+}
+
+void btMultiBodyMLCPConstraintSolver::setNumFallbacks(int num)
+{
+ m_fallback = num;
+}
+
+btConstraintSolverType btMultiBodyMLCPConstraintSolver::getSolverType() const
+{
+ return BT_MLCP_SOLVER;
+}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h
new file mode 100644
index 0000000000..6be36ba142
--- /dev/null
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h
@@ -0,0 +1,187 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2018 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
+#define BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
+
+#include "LinearMath/btMatrixX.h"
+#include "LinearMath/btThreads.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+
+class btMLCPSolverInterface;
+class btMultiBody;
+
+class btMultiBodyMLCPConstraintSolver : public btMultiBodyConstraintSolver
+{
+protected:
+ /// \name MLCP Formulation for Rigid Bodies
+ /// \{
+
+ /// A matrix in the MLCP formulation
+ btMatrixXu m_A;
+
+ /// b vector in the MLCP formulation.
+ btVectorXu m_b;
+
+ /// Constraint impulse, which is an output of MLCP solving.
+ btVectorXu m_x;
+
+ /// Lower bound of constraint impulse, \c m_x.
+ btVectorXu m_lo;
+
+ /// Upper bound of constraint impulse, \c m_x.
+ btVectorXu m_hi;
+
+ /// \}
+
+ /// \name Cache Variables for Split Impulse for Rigid Bodies
+ /// When using 'split impulse' we solve two separate (M)LCPs
+ /// \{
+
+ /// Split impulse Cache vector corresponding to \c m_b.
+ btVectorXu m_bSplit;
+
+ /// Split impulse cache vector corresponding to \c m_x.
+ btVectorXu m_xSplit;
+
+ /// \}
+
+ /// \name MLCP Formulation for Multibodies
+ /// \{
+
+ /// A matrix in the MLCP formulation
+ btMatrixXu m_multiBodyA;
+
+ /// b vector in the MLCP formulation.
+ btVectorXu m_multiBodyB;
+
+ /// Constraint impulse, which is an output of MLCP solving.
+ btVectorXu m_multiBodyX;
+
+ /// Lower bound of constraint impulse, \c m_x.
+ btVectorXu m_multiBodyLo;
+
+ /// Upper bound of constraint impulse, \c m_x.
+ btVectorXu m_multiBodyHi;
+
+ /// \}
+
+ /// Indices of normal contact constraint associated with frictional contact constraint for rigid bodies.
+ ///
+ /// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate
+ /// normal contact impulse. For example, i-th element represents the index of a normal constraint that is
+ /// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint.
+ /// Otherwise, -1.
+ btAlignedObjectArray<int> m_limitDependencies;
+
+ /// Indices of normal contact constraint associated with frictional contact constraint for multibodies.
+ ///
+ /// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate
+ /// normal contact impulse. For example, i-th element represents the index of a normal constraint that is
+ /// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint.
+ /// Otherwise, -1.
+ btAlignedObjectArray<int> m_multiBodyLimitDependencies;
+
+ /// Array of all the rigid body constraints
+ btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
+
+ /// Array of all the multibody constraints
+ btAlignedObjectArray<btMultiBodySolverConstraint*> m_multiBodyAllConstraintPtrArray;
+
+ /// MLCP solver
+ btMLCPSolverInterface* m_solver;
+
+ /// Count of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver fails.
+ int m_fallback;
+
+ /// \name MLCP Scratch Variables
+ /// The following scratch variables are not stateful -- contents are cleared prior to each use.
+ /// They are only cached here to avoid extra memory allocations and deallocations and to ensure
+ /// that multiple instances of the solver can be run in parallel.
+ ///
+ /// \{
+
+ /// Cache variable for constraint Jacobian matrix.
+ btMatrixXu m_scratchJ3;
+
+ /// Cache variable for constraint Jacobian times inverse mass matrix.
+ btMatrixXu m_scratchJInvM3;
+
+ /// Cache variable for offsets.
+ btAlignedObjectArray<int> m_scratchOfs;
+
+ /// \}
+
+ /// Constructs MLCP terms, which are \c m_A, \c m_b, \c m_lo, and \c m_hi.
+ virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
+
+ /// Constructs MLCP terms for constraints of two rigid bodies
+ void createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal);
+
+ /// Constructs MLCP terms for constraints of two multi-bodies or one rigid body and one multibody
+ void createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal);
+
+ /// Solves MLCP and returns the success
+ virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
+
+ // Documentation inherited
+ btScalar solveGroupCacheFriendlySetup(
+ btCollisionObject** bodies,
+ int numBodies,
+ btPersistentManifold** manifoldPtr,
+ int numManifolds,
+ btTypedConstraint** constraints,
+ int numConstraints,
+ const btContactSolverInfo& infoGlobal,
+ btIDebugDraw* debugDrawer) BT_OVERRIDE;
+
+ // Documentation inherited
+ btScalar solveGroupCacheFriendlyIterations(
+ btCollisionObject** bodies,
+ int numBodies,
+ btPersistentManifold** manifoldPtr,
+ int numManifolds,
+ btTypedConstraint** constraints,
+ int numConstraints,
+ const btContactSolverInfo& infoGlobal,
+ btIDebugDraw* debugDrawer) BT_OVERRIDE;
+
+public:
+ BT_DECLARE_ALIGNED_ALLOCATOR()
+
+ /// Constructor
+ ///
+ /// \param[in] solver MLCP solver. Assumed it's not null.
+ /// \param[in] maxLCPSize Maximum size of LCP to solve using MLCP solver. If the MLCP size exceeds this number, sequaltial impulse method will be used.
+ explicit btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver);
+
+ /// Destructor
+ virtual ~btMultiBodyMLCPConstraintSolver();
+
+ /// Sets MLCP solver. Assumed it's not null.
+ void setMLCPSolver(btMLCPSolverInterface* solver);
+
+ /// Returns the number of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP
+ /// solver fails.
+ int getNumFallbacks() const;
+
+ /// Sets the number of fallbacks. This function may be used to reset the number to zero.
+ void setNumFallbacks(int num);
+
+ /// Returns the constraint solver type.
+ virtual btConstraintSolverType getSolverType() const;
+};
+
+#endif // BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
index 125d52ad0b..2b59f0b7a6 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
@@ -64,13 +64,16 @@ int btMultiBodyPoint2Point::getIslandIdA() const
if (m_bodyA)
{
- btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
- if (col)
- return col->getIslandTag();
- for (int i=0;i<m_bodyA->getNumLinks();i++)
+ if (m_linkA < 0)
{
- if (m_bodyA->getLink(i).m_collider)
- return m_bodyA->getLink(i).m_collider->getIslandTag();
+ btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+ if (col)
+ return col->getIslandTag();
+ }
+ else
+ {
+ if (m_bodyA->getLink(m_linkA).m_collider)
+ return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
}
}
return -1;
@@ -82,16 +85,17 @@ int btMultiBodyPoint2Point::getIslandIdB() const
return m_rigidBodyB->getIslandTag();
if (m_bodyB)
{
- btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
- if (col)
- return col->getIslandTag();
-
- for (int i=0;i<m_bodyB->getNumLinks();i++)
+ if (m_linkB < 0)
{
- col = m_bodyB->getLink(i).m_collider;
+ btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)
return col->getIslandTag();
}
+ else
+ {
+ if (m_bodyB->getLink(m_linkB).m_collider)
+ return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+ }
}
return -1;
}
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
index 3b64b8183f..43f26f9833 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
@@ -68,13 +68,16 @@ int btMultiBodySliderConstraint::getIslandIdA() const
if (m_bodyA)
{
- btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
- if (col)
- return col->getIslandTag();
- for (int i=0;i<m_bodyA->getNumLinks();i++)
+ if (m_linkA < 0)
{
- if (m_bodyA->getLink(i).m_collider)
- return m_bodyA->getLink(i).m_collider->getIslandTag();
+ btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
+ if (col)
+ return col->getIslandTag();
+ }
+ else
+ {
+ if (m_bodyA->getLink(m_linkA).m_collider)
+ return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
}
}
return -1;
@@ -86,20 +89,20 @@ int btMultiBodySliderConstraint::getIslandIdB() const
return m_rigidBodyB->getIslandTag();
if (m_bodyB)
{
- btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
- if (col)
- return col->getIslandTag();
-
- for (int i=0;i<m_bodyB->getNumLinks();i++)
+ if (m_linkB < 0)
{
- col = m_bodyB->getLink(i).m_collider;
+ btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)
return col->getIslandTag();
}
+ else
+ {
+ if (m_bodyB->getLink(m_linkB).m_collider)
+ return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
+ }
}
return -1;
}
-
void btMultiBodySliderConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
{
// Convert local points back to world
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp
index a7b1688469..f299aa34e8 100644
--- a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp
+++ b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -121,12 +121,19 @@ void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT
btQuaternion rotatingOrn(right,-wheel.m_rotation);
btMatrix3x3 rotatingMat(rotatingOrn);
- btMatrix3x3 basis2(
- right[0],fwd[0],up[0],
- right[1],fwd[1],up[1],
- right[2],fwd[2],up[2]
- );
-
+ btMatrix3x3 basis2;
+ basis2[0][m_indexRightAxis] = -right[0];
+ basis2[1][m_indexRightAxis] = -right[1];
+ basis2[2][m_indexRightAxis] = -right[2];
+
+ basis2[0][m_indexUpAxis] = up[0];
+ basis2[1][m_indexUpAxis] = up[1];
+ basis2[2][m_indexUpAxis] = up[2];
+
+ basis2[0][m_indexForwardAxis] = fwd[0];
+ basis2[1][m_indexForwardAxis] = fwd[1];
+ basis2[2][m_indexForwardAxis] = fwd[2];
+
wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
wheel.m_worldTransform.setOrigin(
wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength
@@ -493,8 +500,8 @@ struct btWheelContactPoint
};
-btScalar calcRollingFriction(btWheelContactPoint& contactPoint);
-btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
+btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround);
+btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround)
{
btScalar j1=0.f;
@@ -513,7 +520,7 @@ btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel);
// calculate j that moves us to zero relative velocity
- j1 = -vrel * contactPoint.m_jacDiagABInv;
+ j1 = -vrel * contactPoint.m_jacDiagABInv/btScalar(numWheelsOnGround);
btSetMin(j1, maxImpulse);
btSetMax(j1, -maxImpulse);
@@ -567,7 +574,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
const btTransform& wheelTrans = getWheelTransformWS( i );
btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
- m_axle[i] = btVector3(
+ m_axle[i] = -btVector3(
wheelBasis0[0][m_indexRightAxis],
wheelBasis0[1][m_indexRightAxis],
wheelBasis0[2][m_indexRightAxis]);
@@ -615,7 +622,8 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
btScalar defaultRollingFrictionImpulse = 0.f;
btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse;
btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse);
- rollingFriction = calcRollingFriction(contactPt);
+ btAssert(numWheelsOnGround > 0);
+ rollingFriction = calcRollingFriction(contactPt, numWheelsOnGround);
}
}
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp b/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp
index 1dc22f860a..1b3fd268a0 100644
--- a/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp
@@ -7,19 +7,19 @@
#if !defined(BT_ID_WO_BULLET) && !defined(BT_USE_INVERSE_DYNAMICS_WITH_BULLET2)
#include "Bullet3Common/b3Logging.h"
-#define error_message(...) b3Error(__VA_ARGS__)
-#define warning_message(...) b3Warning(__VA_ARGS__)
+#define bt_id_error_message(...) b3Error(__VA_ARGS__)
+#define bt_id_warning_message(...) b3Warning(__VA_ARGS__)
#define id_printf(...) b3Printf(__VA_ARGS__)
#else // BT_ID_WO_BULLET
#include <cstdio>
/// print error message with file/line information
-#define error_message(...) \
+#define bt_id_error_message(...) \
do { \
fprintf(stderr, "[Error:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \
fprintf(stderr, __VA_ARGS__); \
} while (0)
/// print warning message with file/line information
-#define warning_message(...) \
+#define bt_id_warning_message(...) \
do { \
fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \
fprintf(stderr, __VA_ARGS__); \
diff --git a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp b/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp
index 99fe20e492..d279d3435c 100644
--- a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp
+++ b/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp
@@ -81,7 +81,7 @@ idScalar maxAbsMat3x(const mat3x &m) {
void mul(const mat33 &a, const mat3x &b, mat3x *result) {
if (b.cols() != result->cols()) {
- error_message("size missmatch. b.cols()= %d, result->cols()= %d\n",
+ bt_id_error_message("size missmatch. b.cols()= %d, result->cols()= %d\n",
static_cast<int>(b.cols()), static_cast<int>(result->cols()));
abort();
}
@@ -97,7 +97,7 @@ void mul(const mat33 &a, const mat3x &b, mat3x *result) {
}
void add(const mat3x &a, const mat3x &b, mat3x *result) {
if (a.cols() != b.cols()) {
- error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
+ bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
static_cast<int>(a.cols()), static_cast<int>(b.cols()));
abort();
}
@@ -109,7 +109,7 @@ void add(const mat3x &a, const mat3x &b, mat3x *result) {
}
void sub(const mat3x &a, const mat3x &b, mat3x *result) {
if (a.cols() != b.cols()) {
- error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
+ bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n",
static_cast<int>(a.cols()), static_cast<int>(b.cols()));
abort();
}
@@ -305,10 +305,10 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint)
// the determinant of the inertia tensor about the joint axis is almost
// zero and can have a very small negative value.
if (!isPositiveSemiDefiniteFuzzy(I)) {
- error_message("invalid inertia matrix for body %d, not positive definite "
+ bt_id_error_message("invalid inertia matrix for body %d, not positive definite "
"(fixed joint)\n",
index);
- error_message("matrix is:\n"
+ bt_id_error_message("matrix is:\n"
"[%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e]\n",
@@ -321,8 +321,8 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint)
// check triangle inequality, must have I(i,i)+I(j,j)>=I(k,k)
if (!has_fixed_joint) {
if (I(0, 0) + I(1, 1) < I(2, 2)) {
- error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
- error_message("matrix is:\n"
+ bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
+ bt_id_error_message("matrix is:\n"
"[%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e]\n",
@@ -331,8 +331,8 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint)
return false;
}
if (I(0, 0) + I(1, 1) < I(2, 2)) {
- error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
- error_message("matrix is:\n"
+ bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index);
+ bt_id_error_message("matrix is:\n"
"[%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e]\n",
@@ -341,8 +341,8 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint)
return false;
}
if (I(1, 1) + I(2, 2) < I(0, 0)) {
- error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index);
- error_message("matrix is:\n"
+ bt_id_error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index);
+ bt_id_error_message("matrix is:\n"
"[%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e;\n"
"%.20e %.20e %.20e]\n",
@@ -354,25 +354,25 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint)
// check positive/zero diagonal elements
for (int i = 0; i < 3; i++) {
if (I(i, i) < 0) { // accept zero
- error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i));
+ bt_id_error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i));
return false;
}
}
// check symmetry
if (BT_ID_FABS(I(1, 0) - I(0, 1)) > kIsZero) {
- error_message("invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= "
+ bt_id_error_message("invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= "
"%e\n",
index, I(1, 0) - I(0, 1));
return false;
}
if (BT_ID_FABS(I(2, 0) - I(0, 2)) > kIsZero) {
- error_message("invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= "
+ bt_id_error_message("invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= "
"%e\n",
index, I(2, 0) - I(0, 2));
return false;
}
if (BT_ID_FABS(I(1, 2) - I(2, 1)) > kIsZero) {
- error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index,
+ bt_id_error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index,
I(1, 2) - I(2, 1));
return false;
}
@@ -381,7 +381,7 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint)
bool isValidTransformMatrix(const mat33 &m) {
#define print_mat(x) \
- error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \
+ bt_id_error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \
x(1, 0), x(1, 1), x(1, 2), x(2, 0), x(2, 1), x(2, 2))
// check for unit length column vectors
@@ -389,7 +389,7 @@ bool isValidTransformMatrix(const mat33 &m) {
const idScalar length_minus_1 =
BT_ID_FABS(m(0, i) * m(0, i) + m(1, i) * m(1, i) + m(2, i) * m(2, i) - 1.0);
if (length_minus_1 > kAxisLengthEpsilon) {
- error_message("Not a valid rotation matrix (column %d not unit length)\n"
+ bt_id_error_message("Not a valid rotation matrix (column %d not unit length)\n"
"column = [%.18e %.18e %.18e]\n"
"length-1.0= %.18e\n",
i, m(0, i), m(1, i), m(2, i), length_minus_1);
@@ -399,23 +399,23 @@ bool isValidTransformMatrix(const mat33 &m) {
}
// check for orthogonal column vectors
if (BT_ID_FABS(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon) {
- error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n");
+ bt_id_error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n");
print_mat(m);
return false;
}
if (BT_ID_FABS(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon) {
- error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
+ bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
print_mat(m);
return false;
}
if (BT_ID_FABS(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon) {
- error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
+ bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n");
print_mat(m);
return false;
}
// check determinant (rotation not reflection)
if (determinant(m) <= 0) {
- error_message("Not a valid rotation matrix (determinant <=0)\n");
+ bt_id_error_message("Not a valid rotation matrix (determinant <=0)\n");
print_mat(m);
return false;
}
diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp
index c67588d49f..becfe0f4a2 100644
--- a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp
+++ b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp
@@ -83,11 +83,11 @@ int MultiBodyTree::numDoFs() const { return m_impl->m_num_dofs; }
int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const vecx &dot_u,
vecx *joint_forces) {
if (false == m_is_finalized) {
- error_message("system has not been initialized\n");
+ bt_id_error_message("system has not been initialized\n");
return -1;
}
if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces)) {
- error_message("error in inverse dynamics calculation\n");
+ bt_id_error_message("error in inverse dynamics calculation\n");
return -1;
}
return 0;
@@ -97,13 +97,13 @@ int MultiBodyTree::calculateMassMatrix(const vecx &q, const bool update_kinemati
const bool initialize_matrix,
const bool set_lower_triangular_matrix, matxx *mass_matrix) {
if (false == m_is_finalized) {
- error_message("system has not been initialized\n");
+ bt_id_error_message("system has not been initialized\n");
return -1;
}
if (-1 ==
m_impl->calculateMassMatrix(q, update_kinematics, initialize_matrix,
set_lower_triangular_matrix, mass_matrix)) {
- error_message("error in mass matrix calculation\n");
+ bt_id_error_message("error in mass matrix calculation\n");
return -1;
}
return 0;
@@ -121,12 +121,12 @@ int MultiBodyTree::calculateKinematics(const vecx& q, const vecx& u, const vecx&
setZero(m_impl->m_world_gravity);
if (false == m_is_finalized) {
- error_message("system has not been initialized\n");
+ bt_id_error_message("system has not been initialized\n");
return -1;
}
if (-1 == m_impl->calculateKinematics(q, u, dot_u,
MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY_ACCELERATION)) {
- error_message("error in kinematics calculation\n");
+ bt_id_error_message("error in kinematics calculation\n");
return -1;
}
@@ -137,12 +137,12 @@ int MultiBodyTree::calculateKinematics(const vecx& q, const vecx& u, const vecx&
int MultiBodyTree::calculatePositionKinematics(const vecx& q) {
if (false == m_is_finalized) {
- error_message("system has not been initialized\n");
+ bt_id_error_message("system has not been initialized\n");
return -1;
}
if (-1 == m_impl->calculateKinematics(q, q, q,
MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
- error_message("error in kinematics calculation\n");
+ bt_id_error_message("error in kinematics calculation\n");
return -1;
}
return 0;
@@ -150,12 +150,12 @@ int MultiBodyTree::calculatePositionKinematics(const vecx& q) {
int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u) {
if (false == m_is_finalized) {
- error_message("system has not been initialized\n");
+ bt_id_error_message("system has not been initialized\n");
return -1;
}
if (-1 == m_impl->calculateKinematics(q, u, u,
MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
- error_message("error in kinematics calculation\n");
+ bt_id_error_message("error in kinematics calculation\n");
return -1;
}
return 0;
@@ -165,12 +165,12 @@ int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx& q, const v
#if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS)
int MultiBodyTree::calculateJacobians(const vecx& q, const vecx& u) {
if (false == m_is_finalized) {
- error_message("system has not been initialized\n");
+ bt_id_error_message("system has not been initialized\n");
return -1;
}
if (-1 == m_impl->calculateJacobians(q, u,
MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) {
- error_message("error in jacobian calculation\n");
+ bt_id_error_message("error in jacobian calculation\n");
return -1;
}
return 0;
@@ -178,12 +178,12 @@ int MultiBodyTree::calculateJacobians(const vecx& q, const vecx& u) {
int MultiBodyTree::calculateJacobians(const vecx& q){
if (false == m_is_finalized) {
- error_message("system has not been initialized\n");
+ bt_id_error_message("system has not been initialized\n");
return -1;
}
if (-1 == m_impl->calculateJacobians(q, q,
MultiBodyTree::MultiBodyImpl::POSITION_ONLY)) {
- error_message("error in jacobian calculation\n");
+ bt_id_error_message("error in jacobian calculation\n");
return -1;
}
return 0;
@@ -214,7 +214,7 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ
const vec3 &body_r_body_com, const mat33 &body_I_body,
const int user_int, void *user_ptr) {
if (body_index < 0) {
- error_message("body index must be positive (got %d)\n", body_index);
+ bt_id_error_message("body index must be positive (got %d)\n", body_index);
return -1;
}
vec3 body_axis_of_motion(body_axis_of_motion_);
@@ -223,14 +223,14 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ
case PRISMATIC:
// check if axis is unit vector
if (!isUnitVector(body_axis_of_motion)) {
- warning_message(
+ bt_id_warning_message(
"axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n",
body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2));
idScalar length = BT_ID_SQRT(BT_ID_POW(body_axis_of_motion(0), 2) +
BT_ID_POW(body_axis_of_motion(1), 2) +
BT_ID_POW(body_axis_of_motion(2), 2));
if (length < BT_ID_SQRT(std::numeric_limits<idScalar>::min())) {
- error_message("axis of motion vector too short (%e)\n", length);
+ bt_id_error_message("axis of motion vector too short (%e)\n", length);
return -1;
}
body_axis_of_motion = (1.0 / length) * body_axis_of_motion;
@@ -241,14 +241,14 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ
case FLOATING:
break;
default:
- error_message("unknown joint type %d\n", joint_type);
+ bt_id_error_message("unknown joint type %d\n", joint_type);
return -1;
}
// sanity check for mass properties. Zero mass is OK.
if (mass < 0) {
m_mass_parameters_are_valid = false;
- error_message("Body %d has invalid mass %e\n", body_index, mass);
+ bt_id_error_message("Body %d has invalid mass %e\n", body_index, mass);
if (!m_accept_invalid_mass_parameters) {
return -1;
}
@@ -296,7 +296,7 @@ int MultiBodyTree::finalize() {
const int &num_dofs = m_init_cache->numDoFs();
if(num_dofs<=0) {
- error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs);
+ bt_id_error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs);
//return -1;
}
@@ -331,6 +331,22 @@ int MultiBodyTree::finalize() {
rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
rigid_body.m_joint_type = joint.m_type;
+ int user_int;
+ if (-1 == m_init_cache->getUserInt(index, &user_int)) {
+ return -1;
+ }
+ if (-1 == m_impl->setUserInt(index, user_int)) {
+ return -1;
+ }
+
+ void* user_ptr;
+ if (-1 == m_init_cache->getUserPtr(index, &user_ptr)) {
+ return -1;
+ }
+ if (-1 == m_impl->setUserPtr(index, user_ptr)) {
+ return -1;
+ }
+
// Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized
// matrices.
switch (rigid_body.m_joint_type) {
@@ -370,14 +386,14 @@ int MultiBodyTree::finalize() {
rigid_body.m_Jac_JT(2) = 0.0;
break;
default:
- error_message("unsupported joint type %d\n", rigid_body.m_joint_type);
+ bt_id_error_message("unsupported joint type %d\n", rigid_body.m_joint_type);
return -1;
}
}
// 4 assign degree of freedom indices & build per-joint-type index arrays
if (-1 == m_impl->generateIndexSets()) {
- error_message("generating index sets\n");
+ bt_id_error_message("generating index sets\n");
return -1;
}
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
index 5bb4a33bdd..c179daeec6 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp
@@ -49,9 +49,9 @@ inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; }
class vecx : public btVectorX<idScalar> {
public:
- vecx(int size) : btVectorX(size) {}
+ vecx(int size) : btVectorX<idScalar>(size) {}
const vecx& operator=(const btVectorX<idScalar>& rhs) {
- *static_cast<btVectorX*>(this) = rhs;
+ *static_cast<btVectorX<idScalar>*>(this) = rhs;
return *this;
}
@@ -78,7 +78,7 @@ inline vecx operator+(const vecx& a, const vecx& b) {
vecx result(a.size());
// TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) {
- error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
+ bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort();
}
for (int i = 0; i < a.size(); i++) {
@@ -92,7 +92,7 @@ inline vecx operator-(const vecx& a, const vecx& b) {
vecx result(a.size());
// TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) {
- error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
+ bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort();
}
for (int i = 0; i < a.size(); i++) {
@@ -121,7 +121,7 @@ public:
}
void operator=(const mat3x& rhs) {
if (m_cols != rhs.m_cols) {
- error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
+ bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
abort();
}
for(int i=0;i<rows();i++) {
@@ -139,7 +139,7 @@ public:
inline vec3 operator*(const mat3x& a, const vecx& b) {
vec3 result;
if (a.cols() != b.size()) {
- error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
+ bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
abort();
}
result(0)=0.0;
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp
index 4d3f6c87e9..c89db5e123 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp
@@ -123,7 +123,7 @@ public:
};
void operator=(const mat3x& rhs) {
if (m_cols != rhs.m_cols) {
- error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
+ bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols());
abort();
}
for(int i=0;i<3*m_cols;i++) {
@@ -336,7 +336,7 @@ inline vec3 operator/(const vec3& a, const idScalar& s) {
inline const vecx& vecx::operator=(const vecx& rhs) {
if (size() != rhs.size()) {
- error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size());
+ bt_id_error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size());
abort();
}
if (&rhs != this) {
@@ -356,7 +356,7 @@ inline vecx operator+(const vecx& a, const vecx& b) {
vecx result(a.size());
// TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) {
- error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
+ bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort();
}
for (int i = 0; i < a.size(); i++) {
@@ -369,7 +369,7 @@ inline vecx operator-(const vecx& a, const vecx& b) {
vecx result(a.size());
// TODO: error handling for a.size() != b.size()??
if (a.size() != b.size()) {
- error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
+ bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size());
abort();
}
for (int i = 0; i < a.size(); i++) {
@@ -389,7 +389,7 @@ inline vecx operator/(const vecx& a, const idScalar& s) {
inline vec3 operator*(const mat3x& a, const vecx& b) {
vec3 result;
if (a.cols() != b.size()) {
- error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
+ bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size());
abort();
}
result(0)=0.0;
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
index b35c55df61..e8563238c3 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
@@ -80,7 +80,7 @@ int MultiBodyTree::MultiBodyImpl::bodyNumDoFs(const JointType &type) const {
case FLOATING:
return 6;
}
- error_message("unknown joint type %d\n", type);
+ bt_id_error_message("unknown joint type %d\n", type);
return 0;
}
@@ -136,13 +136,13 @@ int MultiBodyTree::MultiBodyImpl::generateIndexSets() {
q_index += 6;
break;
default:
- error_message("unsupported joint type %d\n", body.m_joint_type);
+ bt_id_error_message("unsupported joint type %d\n", body.m_joint_type);
return -1;
}
}
// sanity check
if (q_index != m_num_dofs) {
- error_message("internal error, q_index= %d but num_dofs %d\n", q_index, m_num_dofs);
+ bt_id_error_message("internal error, q_index= %d but num_dofs %d\n", q_index, m_num_dofs);
return -1;
}
@@ -155,10 +155,10 @@ int MultiBodyTree::MultiBodyImpl::generateIndexSets() {
} else {
if (-1 == parent) {
// multiple bodies are directly linked to the environment, ie, not a single root
- error_message("building index sets parent(%zu)= -1 (multiple roots)\n", child);
+ bt_id_error_message("building index sets parent(%zu)= -1 (multiple roots)\n", child);
} else {
// should never happen
- error_message(
+ bt_id_error_message(
"building index sets. parent_index[%zu]= %d, but m_parent_index.size()= %d\n",
child, parent, static_cast<int>(m_parent_index.size()));
}
@@ -234,7 +234,7 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const
const vecx &dot_u, vecx *joint_forces) {
if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs ||
joint_forces->size() != m_num_dofs) {
- error_message("wrong vector dimension. system has %d DOFs,\n"
+ bt_id_error_message("wrong vector dimension. system has %d DOFs,\n"
"but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d, dim(joint_forces)= %d\n",
m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()),
static_cast<int>(dot_u.size()), static_cast<int>(joint_forces->size()));
@@ -242,7 +242,7 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const
}
// 1. relative kinematics
if(-1 == calculateKinematics(q,u,dot_u, POSITION_VELOCITY_ACCELERATION)) {
- error_message("error in calculateKinematics\n");
+ bt_id_error_message("error in calculateKinematics\n");
return -1;
}
// 2. update contributions to equations of motion for every body.
@@ -322,14 +322,14 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const
int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx &u, const vecx& dot_u,
const KinUpdateType type) {
if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs ) {
- error_message("wrong vector dimension. system has %d DOFs,\n"
+ bt_id_error_message("wrong vector dimension. system has %d DOFs,\n"
"but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d\n",
m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()),
static_cast<int>(dot_u.size()));
return -1;
}
if(type != POSITION_ONLY && type != POSITION_VELOCITY && type != POSITION_VELOCITY_ACCELERATION) {
- error_message("invalid type %d\n", type);
+ bt_id_error_message("invalid type %d\n", type);
return -1;
}
@@ -516,13 +516,13 @@ void MultiBodyTree::MultiBodyImpl::addRelativeJacobianComponent(RigidBody&body)
int MultiBodyTree::MultiBodyImpl::calculateJacobians(const vecx& q, const vecx& u, const KinUpdateType type) {
if (q.size() != m_num_dofs || u.size() != m_num_dofs) {
- error_message("wrong vector dimension. system has %d DOFs,\n"
+ bt_id_error_message("wrong vector dimension. system has %d DOFs,\n"
"but dim(q)= %d, dim(u)= %d\n",
m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()));
return -1;
}
if(type != POSITION_ONLY && type != POSITION_VELOCITY) {
- error_message("invalid type %d\n", type);
+ bt_id_error_message("invalid type %d\n", type);
return -1;
}
@@ -606,7 +606,7 @@ static inline int jointNumDoFs(const JointType &type) {
return 6;
}
// this should never happen
- error_message("invalid joint type\n");
+ bt_id_error_message("invalid joint type\n");
// TODO add configurable abort/crash function
abort();
return 0;
@@ -626,7 +626,7 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
if (q.size() != m_num_dofs || mass_matrix->rows() != m_num_dofs ||
mass_matrix->cols() != m_num_dofs) {
- error_message("Dimension error. System has %d DOFs,\n"
+ bt_id_error_message("Dimension error. System has %d DOFs,\n"
"but dim(q)= %d, dim(mass_matrix)= %d x %d\n",
m_num_dofs, static_cast<int>(q.size()), static_cast<int>(mass_matrix->rows()),
static_cast<int>(mass_matrix->cols()));
@@ -734,7 +734,7 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
// 1. for multi-dof joints, rest of the dofs of this body
for (int row = col - 1; row >= q_index_min; row--) {
if (FLOATING != body.m_joint_type) {
- error_message("??\n");
+ bt_id_error_message("??\n");
return -1;
}
setSixDoFJacobians(row - q_index_min, Jac_JR, Jac_JT);
@@ -788,7 +788,7 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
#define CHECK_IF_BODY_INDEX_IS_VALID(index) \
do { \
if (index < 0 || index >= m_num_bodies) { \
- error_message("invalid index %d (num_bodies= %d)\n", index, m_num_bodies); \
+ bt_id_error_message("invalid index %d (num_bodies= %d)\n", index, m_num_bodies); \
return -1; \
} \
} while (0)
diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
index 47b4ab3890..e9511b7076 100644
--- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
+++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp
@@ -29,13 +29,13 @@ int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_ind
m_num_dofs += 6;
break;
default:
- error_message("unknown joint type %d\n", joint_type);
+ bt_id_error_message("unknown joint type %d\n", joint_type);
return -1;
}
if(-1 == parent_index) {
if(m_root_index>=0) {
- error_message("trying to add body %d as root, but already added %d as root body\n",
+ bt_id_error_message("trying to add body %d as root, but already added %d as root body\n",
body_index, m_root_index);
return -1;
}
@@ -63,7 +63,7 @@ int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_ind
}
int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inertia) const {
if (index < 0 || index > static_cast<int>(m_inertias.size())) {
- error_message("index out of range\n");
+ bt_id_error_message("index out of range\n");
return -1;
}
@@ -73,7 +73,7 @@ int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inert
int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const {
if (index < 0 || index > static_cast<int>(m_user_int.size())) {
- error_message("index out of range\n");
+ bt_id_error_message("index out of range\n");
return -1;
}
*user_int = m_user_int[index];
@@ -82,7 +82,7 @@ int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const {
int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const {
if (index < 0 || index > static_cast<int>(m_user_ptr.size())) {
- error_message("index out of range\n");
+ bt_id_error_message("index out of range\n");
return -1;
}
*user_ptr = m_user_ptr[index];
@@ -91,7 +91,7 @@ int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const
int MultiBodyTree::InitCache::getJointData(const int index, JointData* joint) const {
if (index < 0 || index > static_cast<int>(m_joints.size())) {
- error_message("index out of range\n");
+ bt_id_error_message("index out of range\n");
return -1;
}
*joint = m_joints[index];
diff --git a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
index 4e76dca9db..6facce4e86 100644
--- a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp
@@ -157,7 +157,7 @@ void btSoftMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* coll
void btSoftMultiBodyDynamicsWorld::debugDrawWorld()
{
- btDiscreteDynamicsWorld::debugDrawWorld();
+ btMultiBodyDynamicsWorld::debugDrawWorld();
if (getDebugDrawer())
{
@@ -357,10 +357,14 @@ void btSoftMultiBodyDynamicsWorld::serialize(btSerializer* serializer)
serializeSoftBodies(serializer);
+ serializeMultiBodies(serializer);
+
serializeRigidBodies(serializer);
serializeCollisionObjects(serializer);
+ serializeContactManifolds(serializer);
+
serializer->finishSerialization();
}
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp
new file mode 100644
index 0000000000..49510d1660
--- /dev/null
+++ b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp
@@ -0,0 +1,802 @@
+
+#include "LinearMath/btMinMax.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btThreads.h"
+#include "LinearMath/btQuickprof.h"
+#include <stdio.h>
+#include <algorithm>
+
+
+
+#if BT_THREADSAFE
+
+#include "btThreadSupportInterface.h"
+
+#if defined( _WIN32 )
+
+#define WIN32_LEAN_AND_MEAN
+
+#include <windows.h>
+
+#endif
+
+
+typedef unsigned long long btU64;
+static const int kCacheLineSize = 64;
+
+void btSpinPause()
+{
+#if defined( _WIN32 )
+ YieldProcessor();
+#endif
+}
+
+
+struct WorkerThreadStatus
+{
+ enum Type
+ {
+ kInvalid,
+ kWaitingForWork,
+ kWorking,
+ kSleeping,
+ };
+};
+
+
+ATTRIBUTE_ALIGNED64(class) WorkerThreadDirectives
+{
+ static const int kMaxThreadCount = BT_MAX_THREAD_COUNT;
+ // directives for all worker threads packed into a single cacheline
+ char m_threadDirs[kMaxThreadCount];
+
+public:
+ enum Type
+ {
+ kInvalid,
+ kGoToSleep, // go to sleep
+ kStayAwakeButIdle, // wait for not checking job queue
+ kScanForJobs, // actively scan job queue for jobs
+ };
+ WorkerThreadDirectives()
+ {
+ for ( int i = 0; i < kMaxThreadCount; ++i )
+ {
+ m_threadDirs[ i ] = 0;
+ }
+ }
+
+ Type getDirective(int threadId)
+ {
+ btAssert(threadId < kMaxThreadCount);
+ return static_cast<Type>(m_threadDirs[threadId]);
+ }
+
+ void setDirectiveByRange(int threadBegin, int threadEnd, Type dir)
+ {
+ btAssert( threadBegin < threadEnd );
+ btAssert( threadEnd <= kMaxThreadCount );
+ char dirChar = static_cast<char>(dir);
+ for ( int i = threadBegin; i < threadEnd; ++i )
+ {
+ m_threadDirs[ i ] = dirChar;
+ }
+ }
+};
+
+class JobQueue;
+
+ATTRIBUTE_ALIGNED64(struct) ThreadLocalStorage
+{
+ int m_threadId;
+ WorkerThreadStatus::Type m_status;
+ int m_numJobsFinished;
+ btSpinMutex m_mutex;
+ btScalar m_sumResult;
+ WorkerThreadDirectives * m_directive;
+ JobQueue* m_queue;
+ btClock* m_clock;
+ unsigned int m_cooldownTime;
+};
+
+
+struct IJob
+{
+ virtual void executeJob(int threadId) = 0;
+};
+
+class ParallelForJob : public IJob
+{
+ const btIParallelForBody* m_body;
+ int m_begin;
+ int m_end;
+
+public:
+ ParallelForJob( int iBegin, int iEnd, const btIParallelForBody& body )
+ {
+ m_body = &body;
+ m_begin = iBegin;
+ m_end = iEnd;
+ }
+ virtual void executeJob(int threadId) BT_OVERRIDE
+ {
+ BT_PROFILE( "executeJob" );
+
+ // call the functor body to do the work
+ m_body->forLoop( m_begin, m_end );
+ }
+};
+
+
+class ParallelSumJob : public IJob
+{
+ const btIParallelSumBody* m_body;
+ ThreadLocalStorage* m_threadLocalStoreArray;
+ int m_begin;
+ int m_end;
+
+public:
+ ParallelSumJob( int iBegin, int iEnd, const btIParallelSumBody& body, ThreadLocalStorage* tls )
+ {
+ m_body = &body;
+ m_threadLocalStoreArray = tls;
+ m_begin = iBegin;
+ m_end = iEnd;
+ }
+ virtual void executeJob( int threadId ) BT_OVERRIDE
+ {
+ BT_PROFILE( "executeJob" );
+
+ // call the functor body to do the work
+ btScalar val = m_body->sumLoop( m_begin, m_end );
+#if BT_PARALLEL_SUM_DETERMINISTISM
+ // by truncating bits of the result, we can make the parallelSum deterministic (at the expense of precision)
+ const float TRUNC_SCALE = float(1<<19);
+ val = floor(val*TRUNC_SCALE+0.5f)/TRUNC_SCALE; // truncate some bits
+#endif
+ m_threadLocalStoreArray[threadId].m_sumResult += val;
+ }
+};
+
+
+ATTRIBUTE_ALIGNED64(class) JobQueue
+{
+ btThreadSupportInterface* m_threadSupport;
+ btCriticalSection* m_queueLock;
+ btSpinMutex m_mutex;
+
+ btAlignedObjectArray<IJob*> m_jobQueue;
+ char* m_jobMem;
+ int m_jobMemSize;
+ bool m_queueIsEmpty;
+ int m_tailIndex;
+ int m_headIndex;
+ int m_allocSize;
+ bool m_useSpinMutex;
+ btAlignedObjectArray<JobQueue*> m_neighborContexts;
+ char m_cachePadding[kCacheLineSize]; // prevent false sharing
+
+ void freeJobMem()
+ {
+ if ( m_jobMem )
+ {
+ // free old
+ btAlignedFree(m_jobMem);
+ m_jobMem = NULL;
+ }
+ }
+ void resizeJobMem(int newSize)
+ {
+ if (newSize > m_jobMemSize)
+ {
+ freeJobMem();
+ m_jobMem = static_cast<char*>(btAlignedAlloc(newSize, kCacheLineSize));
+ m_jobMemSize = newSize;
+ }
+ }
+
+public:
+
+ JobQueue()
+ {
+ m_jobMem = NULL;
+ m_jobMemSize = 0;
+ m_threadSupport = NULL;
+ m_queueLock = NULL;
+ m_headIndex = 0;
+ m_tailIndex = 0;
+ m_useSpinMutex = false;
+ }
+ ~JobQueue()
+ {
+ exit();
+ }
+ void exit()
+ {
+ freeJobMem();
+ if (m_queueLock && m_threadSupport)
+ {
+ m_threadSupport->deleteCriticalSection(m_queueLock);
+ m_queueLock = NULL;
+ m_threadSupport = 0;
+ }
+ }
+
+ void init(btThreadSupportInterface* threadSup, btAlignedObjectArray<JobQueue>* contextArray)
+ {
+ m_threadSupport = threadSup;
+ if (threadSup)
+ {
+ m_queueLock = m_threadSupport->createCriticalSection();
+ }
+ setupJobStealing(contextArray, contextArray->size());
+ }
+ void setupJobStealing(btAlignedObjectArray<JobQueue>* contextArray, int numActiveContexts)
+ {
+ btAlignedObjectArray<JobQueue>& contexts = *contextArray;
+ int selfIndex = 0;
+ for (int i = 0; i < contexts.size(); ++i)
+ {
+ if ( this == &contexts[ i ] )
+ {
+ selfIndex = i;
+ break;
+ }
+ }
+ int numNeighbors = btMin(2, contexts.size() - 1);
+ int neighborOffsets[ ] = {-1, 1, -2, 2, -3, 3};
+ int numOffsets = sizeof(neighborOffsets)/sizeof(neighborOffsets[0]);
+ m_neighborContexts.reserve( numNeighbors );
+ m_neighborContexts.resizeNoInitialize(0);
+ for (int i = 0; i < numOffsets && m_neighborContexts.size() < numNeighbors; i++)
+ {
+ int neighborIndex = selfIndex + neighborOffsets[i];
+ if ( neighborIndex >= 0 && neighborIndex < numActiveContexts)
+ {
+ m_neighborContexts.push_back( &contexts[ neighborIndex ] );
+ }
+ }
+ }
+
+ bool isQueueEmpty() const {return m_queueIsEmpty;}
+ void lockQueue()
+ {
+ if ( m_useSpinMutex )
+ {
+ m_mutex.lock();
+ }
+ else
+ {
+ m_queueLock->lock();
+ }
+ }
+ void unlockQueue()
+ {
+ if ( m_useSpinMutex )
+ {
+ m_mutex.unlock();
+ }
+ else
+ {
+ m_queueLock->unlock();
+ }
+ }
+ void clearQueue(int jobCount, int jobSize)
+ {
+ lockQueue();
+ m_headIndex = 0;
+ m_tailIndex = 0;
+ m_allocSize = 0;
+ m_queueIsEmpty = true;
+ int jobBufSize = jobSize * jobCount;
+ // make sure we have enough memory allocated to store jobs
+ if ( jobBufSize > m_jobMemSize )
+ {
+ resizeJobMem( jobBufSize );
+ }
+ // make sure job queue is big enough
+ if ( jobCount > m_jobQueue.capacity() )
+ {
+ m_jobQueue.reserve( jobCount );
+ }
+ unlockQueue();
+ m_jobQueue.resizeNoInitialize( 0 );
+ }
+ void* allocJobMem(int jobSize)
+ {
+ btAssert(m_jobMemSize >= (m_allocSize + jobSize));
+ void* jobMem = &m_jobMem[m_allocSize];
+ m_allocSize += jobSize;
+ return jobMem;
+ }
+ void submitJob( IJob* job )
+ {
+ btAssert( reinterpret_cast<char*>( job ) >= &m_jobMem[ 0 ] && reinterpret_cast<char*>( job ) < &m_jobMem[ 0 ] + m_allocSize );
+ m_jobQueue.push_back( job );
+ lockQueue();
+ m_tailIndex++;
+ m_queueIsEmpty = false;
+ unlockQueue();
+ }
+ IJob* consumeJobFromOwnQueue()
+ {
+ if ( m_queueIsEmpty )
+ {
+ // lock free path. even if this is taken erroneously it isn't harmful
+ return NULL;
+ }
+ IJob* job = NULL;
+ lockQueue();
+ if ( !m_queueIsEmpty )
+ {
+ job = m_jobQueue[ m_headIndex++ ];
+ btAssert( reinterpret_cast<char*>( job ) >= &m_jobMem[ 0 ] && reinterpret_cast<char*>( job ) < &m_jobMem[ 0 ] + m_allocSize );
+ if ( m_headIndex == m_tailIndex )
+ {
+ m_queueIsEmpty = true;
+ }
+ }
+ unlockQueue();
+ return job;
+ }
+ IJob* consumeJob()
+ {
+ if (IJob* job = consumeJobFromOwnQueue())
+ {
+ return job;
+ }
+ // own queue is empty, try to steal from neighbor
+ for (int i = 0; i < m_neighborContexts.size(); ++i)
+ {
+ JobQueue* otherContext = m_neighborContexts[ i ];
+ if ( IJob* job = otherContext->consumeJobFromOwnQueue() )
+ {
+ return job;
+ }
+ }
+ return NULL;
+ }
+};
+
+
+static void WorkerThreadFunc( void* userPtr )
+{
+ BT_PROFILE( "WorkerThreadFunc" );
+ ThreadLocalStorage* localStorage = (ThreadLocalStorage*) userPtr;
+ JobQueue* jobQueue = localStorage->m_queue;
+
+ bool shouldSleep = false;
+ int threadId = localStorage->m_threadId;
+ while (! shouldSleep)
+ {
+ // do work
+ localStorage->m_mutex.lock();
+ while ( IJob* job = jobQueue->consumeJob() )
+ {
+ localStorage->m_status = WorkerThreadStatus::kWorking;
+ job->executeJob( threadId );
+ localStorage->m_numJobsFinished++;
+ }
+ localStorage->m_status = WorkerThreadStatus::kWaitingForWork;
+ localStorage->m_mutex.unlock();
+ btU64 clockStart = localStorage->m_clock->getTimeMicroseconds();
+ // while queue is empty,
+ while (jobQueue->isQueueEmpty())
+ {
+ // todo: spin wait a bit to avoid hammering the empty queue
+ btSpinPause();
+ if ( localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kGoToSleep )
+ {
+ shouldSleep = true;
+ break;
+ }
+ // if jobs are incoming,
+ if ( localStorage->m_directive->getDirective( threadId ) == WorkerThreadDirectives::kScanForJobs )
+ {
+ clockStart = localStorage->m_clock->getTimeMicroseconds(); // reset clock
+ }
+ else
+ {
+ for ( int i = 0; i < 50; ++i )
+ {
+ btSpinPause();
+ btSpinPause();
+ btSpinPause();
+ btSpinPause();
+ if (localStorage->m_directive->getDirective( threadId ) == WorkerThreadDirectives::kScanForJobs || !jobQueue->isQueueEmpty())
+ {
+ break;
+ }
+ }
+ // if no jobs incoming and queue has been empty for the cooldown time, sleep
+ btU64 timeElapsed = localStorage->m_clock->getTimeMicroseconds() - clockStart;
+ if (timeElapsed > localStorage->m_cooldownTime)
+ {
+ shouldSleep = true;
+ break;
+ }
+ }
+ }
+ }
+ {
+ BT_PROFILE("sleep");
+ // go sleep
+ localStorage->m_mutex.lock();
+ localStorage->m_status = WorkerThreadStatus::kSleeping;
+ localStorage->m_mutex.unlock();
+ }
+}
+
+
+class btTaskSchedulerDefault : public btITaskScheduler
+{
+ btThreadSupportInterface* m_threadSupport;
+ WorkerThreadDirectives* m_workerDirective;
+ btAlignedObjectArray<JobQueue> m_jobQueues;
+ btAlignedObjectArray<JobQueue*> m_perThreadJobQueues;
+ btAlignedObjectArray<ThreadLocalStorage> m_threadLocalStorage;
+ btSpinMutex m_antiNestingLock; // prevent nested parallel-for
+ btClock m_clock;
+ int m_numThreads;
+ int m_numWorkerThreads;
+ int m_numActiveJobQueues;
+ int m_maxNumThreads;
+ int m_numJobs;
+ static const int kFirstWorkerThreadId = 1;
+public:
+
+ btTaskSchedulerDefault() : btITaskScheduler("ThreadSupport")
+ {
+ m_threadSupport = NULL;
+ m_workerDirective = NULL;
+ }
+
+ virtual ~btTaskSchedulerDefault()
+ {
+ waitForWorkersToSleep();
+
+ for ( int i = 0; i < m_jobQueues.size(); ++i )
+ {
+ m_jobQueues[i].exit();
+ }
+
+ if (m_threadSupport)
+ {
+ delete m_threadSupport;
+ m_threadSupport = NULL;
+ }
+ if (m_workerDirective)
+ {
+ btAlignedFree(m_workerDirective);
+ m_workerDirective = NULL;
+ }
+ }
+
+ void init()
+ {
+ btThreadSupportInterface::ConstructionInfo constructionInfo( "TaskScheduler", WorkerThreadFunc );
+ m_threadSupport = btThreadSupportInterface::create( constructionInfo );
+ m_workerDirective = static_cast<WorkerThreadDirectives*>(btAlignedAlloc(sizeof(*m_workerDirective), 64));
+
+ m_numWorkerThreads = m_threadSupport->getNumWorkerThreads();
+ m_maxNumThreads = m_threadSupport->getNumWorkerThreads() + 1;
+ m_numThreads = m_maxNumThreads;
+ // ideal to have one job queue for each physical processor (except for the main thread which needs no queue)
+ int numThreadsPerQueue = m_threadSupport->getLogicalToPhysicalCoreRatio();
+ int numJobQueues = (numThreadsPerQueue == 1) ? (m_maxNumThreads-1) : (m_maxNumThreads / numThreadsPerQueue);
+ m_jobQueues.resize(numJobQueues);
+ m_numActiveJobQueues = numJobQueues;
+ for ( int i = 0; i < m_jobQueues.size(); ++i )
+ {
+ m_jobQueues[i].init( m_threadSupport, &m_jobQueues );
+ }
+ m_perThreadJobQueues.resize(m_numThreads);
+ for ( int i = 0; i < m_numThreads; i++ )
+ {
+ JobQueue* jq = NULL;
+ // only worker threads get a job queue
+ if (i > 0)
+ {
+ if (numThreadsPerQueue == 1)
+ {
+ // one queue per worker thread
+ jq = &m_jobQueues[ i - kFirstWorkerThreadId ];
+ }
+ else
+ {
+ // 2 threads share each queue
+ jq = &m_jobQueues[ i / numThreadsPerQueue ];
+ }
+ }
+ m_perThreadJobQueues[i] = jq;
+ }
+ m_threadLocalStorage.resize(m_numThreads);
+ for ( int i = 0; i < m_numThreads; i++ )
+ {
+ ThreadLocalStorage& storage = m_threadLocalStorage[i];
+ storage.m_threadId = i;
+ storage.m_directive = m_workerDirective;
+ storage.m_status = WorkerThreadStatus::kSleeping;
+ storage.m_cooldownTime = 100; // 100 microseconds, threads go to sleep after this long if they have nothing to do
+ storage.m_clock = &m_clock;
+ storage.m_queue = m_perThreadJobQueues[i];
+ }
+ setWorkerDirectives( WorkerThreadDirectives::kGoToSleep ); // no work for them yet
+ setNumThreads( m_threadSupport->getCacheFriendlyNumThreads() );
+ }
+
+ void setWorkerDirectives(WorkerThreadDirectives::Type dir)
+ {
+ m_workerDirective->setDirectiveByRange(kFirstWorkerThreadId, m_numThreads, dir);
+ }
+
+ virtual int getMaxNumThreads() const BT_OVERRIDE
+ {
+ return m_maxNumThreads;
+ }
+
+ virtual int getNumThreads() const BT_OVERRIDE
+ {
+ return m_numThreads;
+ }
+
+ virtual void setNumThreads( int numThreads ) BT_OVERRIDE
+ {
+ m_numThreads = btMax( btMin(numThreads, int(m_maxNumThreads)), 1 );
+ m_numWorkerThreads = m_numThreads - 1;
+ m_numActiveJobQueues = 0;
+ // if there is at least 1 worker,
+ if ( m_numWorkerThreads > 0 )
+ {
+ // re-setup job stealing between queues to avoid attempting to steal from an inactive job queue
+ JobQueue* lastActiveContext = m_perThreadJobQueues[ m_numThreads - 1 ];
+ int iLastActiveContext = lastActiveContext - &m_jobQueues[0];
+ m_numActiveJobQueues = iLastActiveContext + 1;
+ for ( int i = 0; i < m_jobQueues.size(); ++i )
+ {
+ m_jobQueues[ i ].setupJobStealing( &m_jobQueues, m_numActiveJobQueues );
+ }
+ }
+ m_workerDirective->setDirectiveByRange(m_numThreads, BT_MAX_THREAD_COUNT, WorkerThreadDirectives::kGoToSleep);
+ }
+
+ void waitJobs()
+ {
+ BT_PROFILE( "waitJobs" );
+ // have the main thread work until the job queues are empty
+ int numMainThreadJobsFinished = 0;
+ for ( int i = 0; i < m_numActiveJobQueues; ++i )
+ {
+ while ( IJob* job = m_jobQueues[i].consumeJob() )
+ {
+ job->executeJob( 0 );
+ numMainThreadJobsFinished++;
+ }
+ }
+
+ // done with jobs for now, tell workers to rest (but not sleep)
+ setWorkerDirectives( WorkerThreadDirectives::kStayAwakeButIdle );
+
+ btU64 clockStart = m_clock.getTimeMicroseconds();
+ // wait for workers to finish any jobs in progress
+ while ( true )
+ {
+ int numWorkerJobsFinished = 0;
+ for ( int iThread = kFirstWorkerThreadId; iThread < m_numThreads; ++iThread )
+ {
+ ThreadLocalStorage* storage = &m_threadLocalStorage[iThread];
+ storage->m_mutex.lock();
+ numWorkerJobsFinished += storage->m_numJobsFinished;
+ storage->m_mutex.unlock();
+ }
+ if (numWorkerJobsFinished + numMainThreadJobsFinished == m_numJobs)
+ {
+ break;
+ }
+ btU64 timeElapsed = m_clock.getTimeMicroseconds() - clockStart;
+ btAssert(timeElapsed < 1000);
+ if (timeElapsed > 100000)
+ {
+ break;
+ }
+ btSpinPause();
+ }
+ }
+
+ void wakeWorkers(int numWorkersToWake)
+ {
+ BT_PROFILE( "wakeWorkers" );
+ btAssert( m_workerDirective->getDirective(1) == WorkerThreadDirectives::kScanForJobs );
+ int numDesiredWorkers = btMin(numWorkersToWake, m_numWorkerThreads);
+ int numActiveWorkers = 0;
+ for ( int iWorker = 0; iWorker < m_numWorkerThreads; ++iWorker )
+ {
+ // note this count of active workers is not necessarily totally reliable, because a worker thread could be
+ // just about to put itself to sleep. So we may on occasion fail to wake up all the workers. It should be rare.
+ ThreadLocalStorage& storage = m_threadLocalStorage[ kFirstWorkerThreadId + iWorker ];
+ if (storage.m_status != WorkerThreadStatus::kSleeping)
+ {
+ numActiveWorkers++;
+ }
+ }
+ for ( int iWorker = 0; iWorker < m_numWorkerThreads && numActiveWorkers < numDesiredWorkers; ++iWorker )
+ {
+ ThreadLocalStorage& storage = m_threadLocalStorage[ kFirstWorkerThreadId + iWorker ];
+ if (storage.m_status == WorkerThreadStatus::kSleeping)
+ {
+ m_threadSupport->runTask( iWorker, &storage );
+ numActiveWorkers++;
+ }
+ }
+ }
+
+ void waitForWorkersToSleep()
+ {
+ BT_PROFILE( "waitForWorkersToSleep" );
+ setWorkerDirectives( WorkerThreadDirectives::kGoToSleep );
+ m_threadSupport->waitForAllTasks();
+ for ( int i = kFirstWorkerThreadId; i < m_numThreads; i++ )
+ {
+ ThreadLocalStorage& storage = m_threadLocalStorage[i];
+ btAssert( storage.m_status == WorkerThreadStatus::kSleeping );
+ }
+ }
+
+ virtual void sleepWorkerThreadsHint() BT_OVERRIDE
+ {
+ BT_PROFILE( "sleepWorkerThreadsHint" );
+ // hint the task scheduler that we may not be using these threads for a little while
+ setWorkerDirectives( WorkerThreadDirectives::kGoToSleep );
+ }
+
+ void prepareWorkerThreads()
+ {
+ for ( int i = kFirstWorkerThreadId; i < m_numThreads; ++i )
+ {
+ ThreadLocalStorage& storage = m_threadLocalStorage[i];
+ storage.m_mutex.lock();
+ storage.m_numJobsFinished = 0;
+ storage.m_mutex.unlock();
+ }
+ setWorkerDirectives( WorkerThreadDirectives::kScanForJobs );
+ }
+
+ virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
+ {
+ BT_PROFILE( "parallelFor_ThreadSupport" );
+ btAssert( iEnd >= iBegin );
+ btAssert( grainSize >= 1 );
+ int iterationCount = iEnd - iBegin;
+ if ( iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock() )
+ {
+ typedef ParallelForJob JobType;
+ int jobCount = ( iterationCount + grainSize - 1 ) / grainSize;
+ m_numJobs = jobCount;
+ btAssert( jobCount >= 2 ); // need more than one job for multithreading
+ int jobSize = sizeof( JobType );
+
+ for (int i = 0; i < m_numActiveJobQueues; ++i)
+ {
+ m_jobQueues[i].clearQueue( jobCount, jobSize );
+ }
+ // prepare worker threads for incoming work
+ prepareWorkerThreads();
+ // submit all of the jobs
+ int iJob = 0;
+ int iThread = kFirstWorkerThreadId; // first worker thread
+ for ( int i = iBegin; i < iEnd; i += grainSize )
+ {
+ btAssert( iJob < jobCount );
+ int iE = btMin( i + grainSize, iEnd );
+ JobQueue* jq = m_perThreadJobQueues[ iThread ];
+ btAssert(jq);
+ btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues);
+ void* jobMem = jq->allocJobMem(jobSize);
+ JobType* job = new ( jobMem ) ParallelForJob( i, iE, body ); // placement new
+ jq->submitJob( job );
+ iJob++;
+ iThread++;
+ if ( iThread >= m_numThreads )
+ {
+ iThread = kFirstWorkerThreadId; // first worker thread
+ }
+ }
+ wakeWorkers( jobCount - 1 );
+
+ // put the main thread to work on emptying the job queue and then wait for all workers to finish
+ waitJobs();
+ m_antiNestingLock.unlock();
+ }
+ else
+ {
+ BT_PROFILE( "parallelFor_mainThread" );
+ // just run on main thread
+ body.forLoop( iBegin, iEnd );
+ }
+ }
+ virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE
+ {
+ BT_PROFILE( "parallelSum_ThreadSupport" );
+ btAssert( iEnd >= iBegin );
+ btAssert( grainSize >= 1 );
+ int iterationCount = iEnd - iBegin;
+ if ( iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock() )
+ {
+ typedef ParallelSumJob JobType;
+ int jobCount = ( iterationCount + grainSize - 1 ) / grainSize;
+ m_numJobs = jobCount;
+ btAssert( jobCount >= 2 ); // need more than one job for multithreading
+ int jobSize = sizeof( JobType );
+ for (int i = 0; i < m_numActiveJobQueues; ++i)
+ {
+ m_jobQueues[i].clearQueue( jobCount, jobSize );
+ }
+
+ // initialize summation
+ for ( int iThread = 0; iThread < m_numThreads; ++iThread )
+ {
+ m_threadLocalStorage[iThread].m_sumResult = btScalar(0);
+ }
+
+ // prepare worker threads for incoming work
+ prepareWorkerThreads();
+ // submit all of the jobs
+ int iJob = 0;
+ int iThread = kFirstWorkerThreadId; // first worker thread
+ for ( int i = iBegin; i < iEnd; i += grainSize )
+ {
+ btAssert( iJob < jobCount );
+ int iE = btMin( i + grainSize, iEnd );
+ JobQueue* jq = m_perThreadJobQueues[ iThread ];
+ btAssert(jq);
+ btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues);
+ void* jobMem = jq->allocJobMem(jobSize);
+ JobType* job = new ( jobMem ) ParallelSumJob( i, iE, body, &m_threadLocalStorage[0] ); // placement new
+ jq->submitJob( job );
+ iJob++;
+ iThread++;
+ if ( iThread >= m_numThreads )
+ {
+ iThread = kFirstWorkerThreadId; // first worker thread
+ }
+ }
+ wakeWorkers( jobCount - 1 );
+
+ // put the main thread to work on emptying the job queue and then wait for all workers to finish
+ waitJobs();
+
+ // add up all the thread sums
+ btScalar sum = btScalar(0);
+ for ( int iThread = 0; iThread < m_numThreads; ++iThread )
+ {
+ sum += m_threadLocalStorage[ iThread ].m_sumResult;
+ }
+ m_antiNestingLock.unlock();
+ return sum;
+ }
+ else
+ {
+ BT_PROFILE( "parallelSum_mainThread" );
+ // just run on main thread
+ return body.sumLoop( iBegin, iEnd );
+ }
+ }
+};
+
+
+
+btITaskScheduler* btCreateDefaultTaskScheduler()
+{
+ btTaskSchedulerDefault* ts = new btTaskSchedulerDefault();
+ ts->init();
+ return ts;
+}
+
+#else // #if BT_THREADSAFE
+
+btITaskScheduler* btCreateDefaultTaskScheduler()
+{
+ return NULL;
+}
+
+#endif // #else // #if BT_THREADSAFE
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h
new file mode 100644
index 0000000000..a0ad802b1e
--- /dev/null
+++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h
@@ -0,0 +1,70 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_THREAD_SUPPORT_INTERFACE_H
+#define BT_THREAD_SUPPORT_INTERFACE_H
+
+
+
+class btCriticalSection
+{
+public:
+ btCriticalSection() {}
+ virtual ~btCriticalSection() {}
+
+ virtual void lock() = 0;
+ virtual void unlock() = 0;
+};
+
+
+class btThreadSupportInterface
+{
+public:
+
+ virtual ~btThreadSupportInterface() {}
+
+ virtual int getNumWorkerThreads() const = 0; // number of worker threads (total number of logical processors - 1)
+ virtual int getCacheFriendlyNumThreads() const = 0; // the number of logical processors sharing a single L3 cache
+ virtual int getLogicalToPhysicalCoreRatio() const = 0; // the number of logical processors per physical processor (usually 1 or 2)
+ virtual void runTask( int threadIndex, void* userData ) = 0;
+ virtual void waitForAllTasks() = 0;
+
+ virtual btCriticalSection* createCriticalSection() = 0;
+ virtual void deleteCriticalSection( btCriticalSection* criticalSection ) = 0;
+
+ typedef void( *ThreadFunc )( void* userPtr );
+
+ struct ConstructionInfo
+ {
+ ConstructionInfo( const char* uniqueName,
+ ThreadFunc userThreadFunc,
+ int threadStackSize = 65535
+ )
+ :m_uniqueName( uniqueName ),
+ m_userThreadFunc( userThreadFunc ),
+ m_threadStackSize( threadStackSize )
+ {
+ }
+
+ const char* m_uniqueName;
+ ThreadFunc m_userThreadFunc;
+ int m_threadStackSize;
+ };
+
+ static btThreadSupportInterface* create( const ConstructionInfo& info );
+};
+
+#endif //BT_THREAD_SUPPORT_INTERFACE_H
+
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
new file mode 100644
index 0000000000..50ca060dfe
--- /dev/null
+++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp
@@ -0,0 +1,365 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#if BT_THREADSAFE && !defined( _WIN32 )
+
+
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btThreads.h"
+#include "LinearMath/btMinMax.h"
+#include "btThreadSupportInterface.h"
+
+#include <stdio.h>
+#include <errno.h>
+#include <unistd.h>
+
+
+#ifndef _XOPEN_SOURCE
+#define _XOPEN_SOURCE 600 //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html
+#endif //_XOPEN_SOURCE
+#include <pthread.h>
+#include <semaphore.h>
+#include <unistd.h> //for sysconf
+
+
+///
+/// getNumHardwareThreads()
+///
+///
+/// https://stackoverflow.com/questions/150355/programmatically-find-the-number-of-cores-on-a-machine
+///
+#if __cplusplus >= 201103L
+
+#include <thread>
+
+int btGetNumHardwareThreads()
+{
+ return btMin<int>(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency());
+}
+
+#else
+
+int btGetNumHardwareThreads()
+{
+ return btMin<int>(BT_MAX_THREAD_COUNT, sysconf( _SC_NPROCESSORS_ONLN ));
+}
+
+#endif
+
+
+// btThreadSupportPosix helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+class btThreadSupportPosix : public btThreadSupportInterface
+{
+public:
+ struct btThreadStatus
+ {
+ int m_taskId;
+ int m_commandId;
+ int m_status;
+
+ ThreadFunc m_userThreadFunc;
+ void* m_userPtr; //for taskDesc etc
+
+ pthread_t thread;
+ //each tread will wait until this signal to start its work
+ sem_t* startSemaphore;
+
+ // this is a copy of m_mainSemaphore,
+ //each tread will signal once it is finished with its work
+ sem_t* m_mainSemaphore;
+ unsigned long threadUsed;
+ };
+private:
+ typedef unsigned long long UINT64;
+
+ btAlignedObjectArray<btThreadStatus> m_activeThreadStatus;
+ // m_mainSemaphoresemaphore will signal, if and how many threads are finished with their work
+ sem_t* m_mainSemaphore;
+ int m_numThreads;
+ UINT64 m_startedThreadsMask;
+ void startThreads( const ConstructionInfo& threadInfo );
+ void stopThreads();
+ int waitForResponse();
+
+public:
+ btThreadSupportPosix( const ConstructionInfo& threadConstructionInfo );
+ virtual ~btThreadSupportPosix();
+
+ virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; }
+ // TODO: return the number of logical processors sharing the first L3 cache
+ virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return m_numThreads + 1; }
+ // TODO: detect if CPU has hyperthreading enabled
+ virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return 1; }
+
+ virtual void runTask( int threadIndex, void* userData ) BT_OVERRIDE;
+ virtual void waitForAllTasks() BT_OVERRIDE;
+
+ virtual btCriticalSection* createCriticalSection() BT_OVERRIDE;
+ virtual void deleteCriticalSection( btCriticalSection* criticalSection ) BT_OVERRIDE;
+};
+
+
+#define checkPThreadFunction(returnValue) \
+ if(0 != returnValue) { \
+ printf("PThread problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, returnValue, errno); \
+ }
+
+// The number of threads should be equal to the number of available cores
+// Todo: each worker should be linked to a single core, using SetThreadIdealProcessor.
+
+
+btThreadSupportPosix::btThreadSupportPosix( const ConstructionInfo& threadConstructionInfo )
+{
+ startThreads( threadConstructionInfo );
+}
+
+// cleanup/shutdown Libspe2
+btThreadSupportPosix::~btThreadSupportPosix()
+{
+ stopThreads();
+}
+
+#if (defined (__APPLE__))
+#define NAMED_SEMAPHORES
+#endif
+
+
+static sem_t* createSem( const char* baseName )
+{
+ static int semCount = 0;
+#ifdef NAMED_SEMAPHORES
+ /// Named semaphore begin
+ char name[ 32 ];
+ snprintf( name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++ );
+ sem_t* tempSem = sem_open( name, O_CREAT, 0600, 0 );
+
+ if ( tempSem != reinterpret_cast<sem_t *>( SEM_FAILED ) )
+ {
+ // printf("Created \"%s\" Semaphore %p\n", name, tempSem);
+ }
+ else
+ {
+ //printf("Error creating Semaphore %d\n", errno);
+ exit( -1 );
+ }
+ /// Named semaphore end
+#else
+ sem_t* tempSem = new sem_t;
+ checkPThreadFunction( sem_init( tempSem, 0, 0 ) );
+#endif
+ return tempSem;
+}
+
+static void destroySem( sem_t* semaphore )
+{
+#ifdef NAMED_SEMAPHORES
+ checkPThreadFunction( sem_close( semaphore ) );
+#else
+ checkPThreadFunction( sem_destroy( semaphore ) );
+ delete semaphore;
+#endif
+}
+
+static void *threadFunction( void *argument )
+{
+ btThreadSupportPosix::btThreadStatus* status = ( btThreadSupportPosix::btThreadStatus* )argument;
+
+ while ( 1 )
+ {
+ checkPThreadFunction( sem_wait( status->startSemaphore ) );
+ void* userPtr = status->m_userPtr;
+
+ if ( userPtr )
+ {
+ btAssert( status->m_status );
+ status->m_userThreadFunc( userPtr );
+ status->m_status = 2;
+ checkPThreadFunction( sem_post( status->m_mainSemaphore ) );
+ status->threadUsed++;
+ }
+ else
+ {
+ //exit Thread
+ status->m_status = 3;
+ checkPThreadFunction( sem_post( status->m_mainSemaphore ) );
+ printf( "Thread with taskId %i exiting\n", status->m_taskId );
+ break;
+ }
+ }
+
+ printf( "Thread TERMINATED\n" );
+ return 0;
+}
+
+///send messages to SPUs
+void btThreadSupportPosix::runTask( int threadIndex, void* userData )
+{
+ ///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
+ btThreadStatus& threadStatus = m_activeThreadStatus[ threadIndex ];
+ btAssert( threadIndex >= 0 );
+ btAssert( threadIndex < m_activeThreadStatus.size() );
+
+ threadStatus.m_commandId = 1;
+ threadStatus.m_status = 1;
+ threadStatus.m_userPtr = userData;
+ m_startedThreadsMask |= UINT64( 1 ) << threadIndex;
+
+ // fire event to start new task
+ checkPThreadFunction( sem_post( threadStatus.startSemaphore ) );
+}
+
+
+///check for messages from SPUs
+int btThreadSupportPosix::waitForResponse()
+{
+ ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
+ ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
+
+ btAssert( m_activeThreadStatus.size() );
+
+ // wait for any of the threads to finish
+ checkPThreadFunction( sem_wait( m_mainSemaphore ) );
+ // get at least one thread which has finished
+ size_t last = -1;
+
+ for ( size_t t = 0; t < size_t( m_activeThreadStatus.size() ); ++t )
+ {
+ if ( 2 == m_activeThreadStatus[ t ].m_status )
+ {
+ last = t;
+ break;
+ }
+ }
+
+ btThreadStatus& threadStatus = m_activeThreadStatus[ last ];
+
+ btAssert( threadStatus.m_status > 1 );
+ threadStatus.m_status = 0;
+
+ // need to find an active spu
+ btAssert( last >= 0 );
+ m_startedThreadsMask &= ~( UINT64( 1 ) << last );
+
+ return last;
+}
+
+
+void btThreadSupportPosix::waitForAllTasks()
+{
+ while ( m_startedThreadsMask )
+ {
+ waitForResponse();
+ }
+}
+
+
+void btThreadSupportPosix::startThreads( const ConstructionInfo& threadConstructionInfo )
+{
+ m_numThreads = btGetNumHardwareThreads() - 1; // main thread exists already
+ printf( "%s creating %i threads.\n", __FUNCTION__, m_numThreads );
+ m_activeThreadStatus.resize( m_numThreads );
+ m_startedThreadsMask = 0;
+
+ m_mainSemaphore = createSem( "main" );
+ //checkPThreadFunction(sem_wait(mainSemaphore));
+
+ for ( int i = 0; i < m_numThreads; i++ )
+ {
+ printf( "starting thread %d\n", i );
+ btThreadStatus& threadStatus = m_activeThreadStatus[ i ];
+ threadStatus.startSemaphore = createSem( "threadLocal" );
+ checkPThreadFunction( pthread_create( &threadStatus.thread, NULL, &threadFunction, (void*) &threadStatus ) );
+
+ threadStatus.m_userPtr = 0;
+ threadStatus.m_taskId = i;
+ threadStatus.m_commandId = 0;
+ threadStatus.m_status = 0;
+ threadStatus.m_mainSemaphore = m_mainSemaphore;
+ threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
+ threadStatus.threadUsed = 0;
+
+ printf( "started thread %d \n", i );
+ }
+}
+
+///tell the task scheduler we are done with the SPU tasks
+void btThreadSupportPosix::stopThreads()
+{
+ for ( size_t t = 0; t < size_t( m_activeThreadStatus.size() ); ++t )
+ {
+ btThreadStatus& threadStatus = m_activeThreadStatus[ t ];
+ printf( "%s: Thread %i used: %ld\n", __FUNCTION__, int( t ), threadStatus.threadUsed );
+
+ threadStatus.m_userPtr = 0;
+ checkPThreadFunction( sem_post( threadStatus.startSemaphore ) );
+ checkPThreadFunction( sem_wait( m_mainSemaphore ) );
+
+ printf( "destroy semaphore\n" );
+ destroySem( threadStatus.startSemaphore );
+ printf( "semaphore destroyed\n" );
+ checkPThreadFunction( pthread_join( threadStatus.thread, 0 ) );
+
+ }
+ printf( "destroy main semaphore\n" );
+ destroySem( m_mainSemaphore );
+ printf( "main semaphore destroyed\n" );
+ m_activeThreadStatus.clear();
+}
+
+class btCriticalSectionPosix : public btCriticalSection
+{
+ pthread_mutex_t m_mutex;
+
+public:
+ btCriticalSectionPosix()
+ {
+ pthread_mutex_init( &m_mutex, NULL );
+ }
+ virtual ~btCriticalSectionPosix()
+ {
+ pthread_mutex_destroy( &m_mutex );
+ }
+
+ virtual void lock()
+ {
+ pthread_mutex_lock( &m_mutex );
+ }
+ virtual void unlock()
+ {
+ pthread_mutex_unlock( &m_mutex );
+ }
+};
+
+
+btCriticalSection* btThreadSupportPosix::createCriticalSection()
+{
+ return new btCriticalSectionPosix();
+}
+
+void btThreadSupportPosix::deleteCriticalSection( btCriticalSection* cs )
+{
+ delete cs;
+}
+
+
+btThreadSupportInterface* btThreadSupportInterface::create( const ConstructionInfo& info )
+{
+ return new btThreadSupportPosix( info );
+}
+
+#endif // BT_THREADSAFE && !defined( _WIN32 )
+
diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
new file mode 100644
index 0000000000..00edac650b
--- /dev/null
+++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp
@@ -0,0 +1,472 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#if defined( _WIN32 ) && BT_THREADSAFE
+
+#include "LinearMath/btScalar.h"
+#include "LinearMath/btMinMax.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btThreads.h"
+#include "btThreadSupportInterface.h"
+#include <windows.h>
+#include <stdio.h>
+
+
+struct btProcessorInfo
+{
+ int numLogicalProcessors;
+ int numCores;
+ int numNumaNodes;
+ int numL1Cache;
+ int numL2Cache;
+ int numL3Cache;
+ int numPhysicalPackages;
+ static const int maxNumTeamMasks = 32;
+ int numTeamMasks;
+ UINT64 processorTeamMasks[ maxNumTeamMasks ];
+};
+
+UINT64 getProcessorTeamMask( const btProcessorInfo& procInfo, int procId )
+{
+ UINT64 procMask = UINT64( 1 ) << procId;
+ for ( int i = 0; i < procInfo.numTeamMasks; ++i )
+ {
+ if ( procMask & procInfo.processorTeamMasks[ i ] )
+ {
+ return procInfo.processorTeamMasks[ i ];
+ }
+ }
+ return 0;
+}
+
+int getProcessorTeamIndex( const btProcessorInfo& procInfo, int procId )
+{
+ UINT64 procMask = UINT64( 1 ) << procId;
+ for ( int i = 0; i < procInfo.numTeamMasks; ++i )
+ {
+ if ( procMask & procInfo.processorTeamMasks[ i ] )
+ {
+ return i;
+ }
+ }
+ return -1;
+}
+
+int countSetBits( ULONG64 bits )
+{
+ int count = 0;
+ while ( bits )
+ {
+ if ( bits & 1 )
+ {
+ count++;
+ }
+ bits >>= 1;
+ }
+ return count;
+}
+
+
+typedef BOOL( WINAPI *Pfn_GetLogicalProcessorInformation )( PSYSTEM_LOGICAL_PROCESSOR_INFORMATION, PDWORD );
+
+
+void getProcessorInformation( btProcessorInfo* procInfo )
+{
+ memset( procInfo, 0, sizeof( *procInfo ) );
+ Pfn_GetLogicalProcessorInformation getLogicalProcInfo =
+ (Pfn_GetLogicalProcessorInformation) GetProcAddress( GetModuleHandle( TEXT( "kernel32" ) ), "GetLogicalProcessorInformation" );
+ if ( getLogicalProcInfo == NULL )
+ {
+ // no info
+ return;
+ }
+ PSYSTEM_LOGICAL_PROCESSOR_INFORMATION buf = NULL;
+ DWORD bufSize = 0;
+ while ( true )
+ {
+ if ( getLogicalProcInfo( buf, &bufSize ) )
+ {
+ break;
+ }
+ else
+ {
+ if ( GetLastError() == ERROR_INSUFFICIENT_BUFFER )
+ {
+ if ( buf )
+ {
+ free( buf );
+ }
+ buf = (PSYSTEM_LOGICAL_PROCESSOR_INFORMATION) malloc( bufSize );
+ }
+ }
+ }
+
+ int len = bufSize / sizeof( *buf );
+ for ( int i = 0; i < len; ++i )
+ {
+ PSYSTEM_LOGICAL_PROCESSOR_INFORMATION info = buf + i;
+ switch ( info->Relationship )
+ {
+ case RelationNumaNode:
+ procInfo->numNumaNodes++;
+ break;
+
+ case RelationProcessorCore:
+ procInfo->numCores++;
+ procInfo->numLogicalProcessors += countSetBits( info->ProcessorMask );
+ break;
+
+ case RelationCache:
+ if ( info->Cache.Level == 1 )
+ {
+ procInfo->numL1Cache++;
+ }
+ else if ( info->Cache.Level == 2 )
+ {
+ procInfo->numL2Cache++;
+ }
+ else if ( info->Cache.Level == 3 )
+ {
+ procInfo->numL3Cache++;
+ // processors that share L3 cache are considered to be on the same team
+ // because they can more easily work together on the same data.
+ // Large performance penalties will occur if 2 or more threads from different
+ // teams attempt to frequently read and modify the same cache lines.
+ //
+ // On the AMD Ryzen 7 CPU for example, the 8 cores on the CPU are split into
+ // 2 CCX units of 4 cores each. Each CCX has a separate L3 cache, so if both
+ // CCXs are operating on the same data, many cycles will be spent keeping the
+ // two caches coherent.
+ if ( procInfo->numTeamMasks < btProcessorInfo::maxNumTeamMasks )
+ {
+ procInfo->processorTeamMasks[ procInfo->numTeamMasks ] = info->ProcessorMask;
+ procInfo->numTeamMasks++;
+ }
+ }
+ break;
+
+ case RelationProcessorPackage:
+ procInfo->numPhysicalPackages++;
+ break;
+ }
+ }
+ free( buf );
+}
+
+
+
+///btThreadSupportWin32 helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
+class btThreadSupportWin32 : public btThreadSupportInterface
+{
+public:
+ struct btThreadStatus
+ {
+ int m_taskId;
+ int m_commandId;
+ int m_status;
+
+ ThreadFunc m_userThreadFunc;
+ void* m_userPtr; //for taskDesc etc
+
+ void* m_threadHandle; //this one is calling 'Win32ThreadFunc'
+
+ void* m_eventStartHandle;
+ char m_eventStartHandleName[ 32 ];
+
+ void* m_eventCompleteHandle;
+ char m_eventCompleteHandleName[ 32 ];
+ };
+
+private:
+ btAlignedObjectArray<btThreadStatus> m_activeThreadStatus;
+ btAlignedObjectArray<void*> m_completeHandles;
+ int m_numThreads;
+ DWORD_PTR m_startedThreadMask;
+ btProcessorInfo m_processorInfo;
+
+ void startThreads( const ConstructionInfo& threadInfo );
+ void stopThreads();
+ int waitForResponse();
+
+public:
+
+ btThreadSupportWin32( const ConstructionInfo& threadConstructionInfo );
+ virtual ~btThreadSupportWin32();
+
+ virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; }
+ virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return countSetBits(m_processorInfo.processorTeamMasks[0]); }
+ virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return m_processorInfo.numLogicalProcessors / m_processorInfo.numCores; }
+
+ virtual void runTask( int threadIndex, void* userData ) BT_OVERRIDE;
+ virtual void waitForAllTasks() BT_OVERRIDE;
+
+ virtual btCriticalSection* createCriticalSection() BT_OVERRIDE;
+ virtual void deleteCriticalSection( btCriticalSection* criticalSection ) BT_OVERRIDE;
+};
+
+
+btThreadSupportWin32::btThreadSupportWin32( const ConstructionInfo & threadConstructionInfo )
+{
+ startThreads( threadConstructionInfo );
+}
+
+
+btThreadSupportWin32::~btThreadSupportWin32()
+{
+ stopThreads();
+}
+
+
+DWORD WINAPI win32threadStartFunc( LPVOID lpParam )
+{
+ btThreadSupportWin32::btThreadStatus* status = ( btThreadSupportWin32::btThreadStatus* )lpParam;
+
+ while ( 1 )
+ {
+ WaitForSingleObject( status->m_eventStartHandle, INFINITE );
+ void* userPtr = status->m_userPtr;
+
+ if ( userPtr )
+ {
+ btAssert( status->m_status );
+ status->m_userThreadFunc( userPtr );
+ status->m_status = 2;
+ SetEvent( status->m_eventCompleteHandle );
+ }
+ else
+ {
+ //exit Thread
+ status->m_status = 3;
+ printf( "Thread with taskId %i with handle %p exiting\n", status->m_taskId, status->m_threadHandle );
+ SetEvent( status->m_eventCompleteHandle );
+ break;
+ }
+ }
+ printf( "Thread TERMINATED\n" );
+ return 0;
+}
+
+
+void btThreadSupportWin32::runTask( int threadIndex, void* userData )
+{
+ btThreadStatus& threadStatus = m_activeThreadStatus[ threadIndex ];
+ btAssert( threadIndex >= 0 );
+ btAssert( int( threadIndex ) < m_activeThreadStatus.size() );
+
+ threadStatus.m_commandId = 1;
+ threadStatus.m_status = 1;
+ threadStatus.m_userPtr = userData;
+ m_startedThreadMask |= DWORD_PTR( 1 ) << threadIndex;
+
+ ///fire event to start new task
+ SetEvent( threadStatus.m_eventStartHandle );
+}
+
+
+int btThreadSupportWin32::waitForResponse()
+{
+ btAssert( m_activeThreadStatus.size() );
+
+ int last = -1;
+ DWORD res = WaitForMultipleObjects( m_completeHandles.size(), &m_completeHandles[ 0 ], FALSE, INFINITE );
+ btAssert( res != WAIT_FAILED );
+ last = res - WAIT_OBJECT_0;
+
+ btThreadStatus& threadStatus = m_activeThreadStatus[ last ];
+ btAssert( threadStatus.m_threadHandle );
+ btAssert( threadStatus.m_eventCompleteHandle );
+
+ //WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE);
+ btAssert( threadStatus.m_status > 1 );
+ threadStatus.m_status = 0;
+
+ ///need to find an active spu
+ btAssert( last >= 0 );
+ m_startedThreadMask &= ~( DWORD_PTR( 1 ) << last );
+
+ return last;
+}
+
+
+void btThreadSupportWin32::waitForAllTasks()
+{
+ while ( m_startedThreadMask )
+ {
+ waitForResponse();
+ }
+}
+
+
+void btThreadSupportWin32::startThreads( const ConstructionInfo& threadConstructionInfo )
+{
+ static int uniqueId = 0;
+ uniqueId++;
+ btProcessorInfo& procInfo = m_processorInfo;
+ getProcessorInformation( &procInfo );
+ DWORD_PTR dwProcessAffinityMask = 0;
+ DWORD_PTR dwSystemAffinityMask = 0;
+ if ( !GetProcessAffinityMask( GetCurrentProcess(), &dwProcessAffinityMask, &dwSystemAffinityMask ) )
+ {
+ dwProcessAffinityMask = 0;
+ }
+ ///The number of threads should be equal to the number of available cores - 1
+ m_numThreads = btMin(procInfo.numLogicalProcessors, int(BT_MAX_THREAD_COUNT)) - 1; // cap to max thread count (-1 because main thread already exists)
+
+ m_activeThreadStatus.resize( m_numThreads );
+ m_completeHandles.resize( m_numThreads );
+ m_startedThreadMask = 0;
+
+ // set main thread affinity
+ if ( DWORD_PTR mask = dwProcessAffinityMask & getProcessorTeamMask( procInfo, 0 ))
+ {
+ SetThreadAffinityMask( GetCurrentThread(), mask );
+ SetThreadIdealProcessor( GetCurrentThread(), 0 );
+ }
+
+ for ( int i = 0; i < m_numThreads; i++ )
+ {
+ printf( "starting thread %d\n", i );
+
+ btThreadStatus& threadStatus = m_activeThreadStatus[ i ];
+
+ LPSECURITY_ATTRIBUTES lpThreadAttributes = NULL;
+ SIZE_T dwStackSize = threadConstructionInfo.m_threadStackSize;
+ LPTHREAD_START_ROUTINE lpStartAddress = &win32threadStartFunc;
+ LPVOID lpParameter = &threadStatus;
+ DWORD dwCreationFlags = 0;
+ LPDWORD lpThreadId = 0;
+
+ threadStatus.m_userPtr = 0;
+
+ sprintf( threadStatus.m_eventStartHandleName, "es%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i );
+ threadStatus.m_eventStartHandle = CreateEventA( 0, false, false, threadStatus.m_eventStartHandleName );
+
+ sprintf( threadStatus.m_eventCompleteHandleName, "ec%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i );
+ threadStatus.m_eventCompleteHandle = CreateEventA( 0, false, false, threadStatus.m_eventCompleteHandleName );
+
+ m_completeHandles[ i ] = threadStatus.m_eventCompleteHandle;
+
+ HANDLE handle = CreateThread( lpThreadAttributes, dwStackSize, lpStartAddress, lpParameter, dwCreationFlags, lpThreadId );
+ //SetThreadPriority( handle, THREAD_PRIORITY_HIGHEST );
+ // highest priority -- can cause erratic performance when numThreads > numCores
+ // we don't want worker threads to be higher priority than the main thread or the main thread could get
+ // totally shut out and unable to tell the workers to stop
+ //SetThreadPriority( handle, THREAD_PRIORITY_BELOW_NORMAL );
+
+ {
+ int processorId = i + 1; // leave processor 0 for main thread
+ DWORD_PTR teamMask = getProcessorTeamMask( procInfo, processorId );
+ if ( teamMask )
+ {
+ // bind each thread to only execute on processors of it's assigned team
+ // - for single-socket Intel x86 CPUs this has no effect (only a single, shared L3 cache so there is only 1 team)
+ // - for multi-socket Intel this will keep threads from migrating from one socket to another
+ // - for AMD Ryzen this will keep threads from migrating from one CCX to another
+ DWORD_PTR mask = teamMask & dwProcessAffinityMask;
+ if ( mask )
+ {
+ SetThreadAffinityMask( handle, mask );
+ }
+ }
+ SetThreadIdealProcessor( handle, processorId );
+ }
+
+ threadStatus.m_taskId = i;
+ threadStatus.m_commandId = 0;
+ threadStatus.m_status = 0;
+ threadStatus.m_threadHandle = handle;
+ threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc;
+
+ printf( "started %s thread %d with threadHandle %p\n", threadConstructionInfo.m_uniqueName, i, handle );
+ }
+}
+
+///tell the task scheduler we are done with the SPU tasks
+void btThreadSupportWin32::stopThreads()
+{
+ for ( int i = 0; i < m_activeThreadStatus.size(); i++ )
+ {
+ btThreadStatus& threadStatus = m_activeThreadStatus[ i ];
+ if ( threadStatus.m_status > 0 )
+ {
+ WaitForSingleObject( threadStatus.m_eventCompleteHandle, INFINITE );
+ }
+
+ threadStatus.m_userPtr = NULL;
+ SetEvent( threadStatus.m_eventStartHandle );
+ WaitForSingleObject( threadStatus.m_eventCompleteHandle, INFINITE );
+
+ CloseHandle( threadStatus.m_eventCompleteHandle );
+ CloseHandle( threadStatus.m_eventStartHandle );
+ CloseHandle( threadStatus.m_threadHandle );
+
+ }
+
+ m_activeThreadStatus.clear();
+ m_completeHandles.clear();
+}
+
+
+class btWin32CriticalSection : public btCriticalSection
+{
+private:
+ CRITICAL_SECTION mCriticalSection;
+
+public:
+ btWin32CriticalSection()
+ {
+ InitializeCriticalSection( &mCriticalSection );
+ }
+
+ ~btWin32CriticalSection()
+ {
+ DeleteCriticalSection( &mCriticalSection );
+ }
+
+ void lock()
+ {
+ EnterCriticalSection( &mCriticalSection );
+ }
+
+ void unlock()
+ {
+ LeaveCriticalSection( &mCriticalSection );
+ }
+};
+
+
+btCriticalSection* btThreadSupportWin32::createCriticalSection()
+{
+ unsigned char* mem = (unsigned char*) btAlignedAlloc( sizeof( btWin32CriticalSection ), 16 );
+ btWin32CriticalSection* cs = new( mem ) btWin32CriticalSection();
+ return cs;
+}
+
+void btThreadSupportWin32::deleteCriticalSection( btCriticalSection* criticalSection )
+{
+ criticalSection->~btCriticalSection();
+ btAlignedFree( criticalSection );
+}
+
+
+btThreadSupportInterface* btThreadSupportInterface::create( const ConstructionInfo& info )
+{
+ return new btThreadSupportWin32( info );
+}
+
+
+
+#endif //defined(_WIN32) && BT_THREADSAFE
+
diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
index e5f6040c43..0526a42283 100644
--- a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
+++ b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp
@@ -15,9 +15,11 @@ subject to the following restrictions:
#include "btAlignedAllocator.h"
+#ifdef BT_DEBUG_MEMORY_ALLOCATIONS
int gNumAlignedAllocs = 0;
int gNumAlignedFree = 0;
int gTotalBytesAlignedAllocs = 0;//detect memory leaks
+#endif //BT_DEBUG_MEMORY_ALLOCATIONST_DEBUG_ALLOCATIONS
static void *btAllocDefault(size_t size)
{
@@ -246,7 +248,6 @@ void btAlignedFreeInternal (void* ptr,int line,char* filename)
void* btAlignedAllocInternal (size_t size, int alignment)
{
- gNumAlignedAllocs++;
void* ptr;
ptr = sAlignedAllocFunc(size, alignment);
// printf("btAlignedAllocInternal %d, %x\n",size,ptr);
@@ -260,7 +261,6 @@ void btAlignedFreeInternal (void* ptr)
return;
}
- gNumAlignedFree++;
// printf("btAlignedFreeInternal %x\n",ptr);
sAlignedFreeFunc(ptr);
}
diff --git a/thirdparty/bullet/LinearMath/btHashMap.h b/thirdparty/bullet/LinearMath/btHashMap.h
index 5e9cdb6054..180e7b44af 100644
--- a/thirdparty/bullet/LinearMath/btHashMap.h
+++ b/thirdparty/bullet/LinearMath/btHashMap.h
@@ -17,12 +17,13 @@ subject to the following restrictions:
#ifndef BT_HASH_MAP_H
#define BT_HASH_MAP_H
+#include <string>
#include "btAlignedObjectArray.h"
///very basic hashable string implementation, compatible with btHashMap
struct btHashString
{
- const char* m_string;
+ std::string m_string1;
unsigned int m_hash;
SIMD_FORCE_INLINE unsigned int getHash()const
@@ -30,8 +31,13 @@ struct btHashString
return m_hash;
}
+ btHashString()
+ {
+ m_string1="";
+ m_hash=0;
+ }
btHashString(const char* name)
- :m_string(name)
+ :m_string1(name)
{
/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
static const unsigned int InitialFNV = 2166136261u;
@@ -40,36 +46,18 @@ struct btHashString
/* Fowler / Noll / Vo (FNV) Hash */
unsigned int hash = InitialFNV;
- for(int i = 0; m_string[i]; i++)
+ for(int i = 0; m_string1.c_str()[i]; i++)
{
- hash = hash ^ (m_string[i]); /* xor the low 8 bits */
+ hash = hash ^ (m_string1.c_str()[i]); /* xor the low 8 bits */
hash = hash * FNVMultiple; /* multiply by the magic number */
}
m_hash = hash;
}
- int portableStringCompare(const char* src, const char* dst) const
- {
- int ret = 0 ;
-
- while( ! (ret = *(const unsigned char *)src - *(const unsigned char *)dst) && *dst)
- ++src, ++dst;
-
- if ( ret < 0 )
- ret = -1 ;
- else if ( ret > 0 )
- ret = 1 ;
-
- return( ret );
- }
-
bool equals(const btHashString& other) const
{
- return (m_string == other.m_string) ||
- (0==portableStringCompare(m_string,other.m_string));
-
+ return (m_string1 == other.m_string1);
}
-
};
const int BT_HASH_NULL=0xffffffff;
diff --git a/thirdparty/bullet/LinearMath/btIDebugDraw.h b/thirdparty/bullet/LinearMath/btIDebugDraw.h
index 936aaa896b..b57282717d 100644
--- a/thirdparty/bullet/LinearMath/btIDebugDraw.h
+++ b/thirdparty/bullet/LinearMath/btIDebugDraw.h
@@ -166,9 +166,9 @@ class btIDebugDraw
virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
{
btVector3 start = transform.getOrigin();
- drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(1.f,0.3,0.3));
- drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0.3,1.f, 0.3));
- drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0.3, 0.3,1.f));
+ drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(btScalar(1.), btScalar(0.3), btScalar(0.3)));
+ drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(btScalar(0.3), btScalar(1.), btScalar(0.3)));
+ drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(btScalar(0.3), btScalar(0.3), btScalar(1.)));
}
virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,
diff --git a/thirdparty/bullet/LinearMath/btMatrix3x3.h b/thirdparty/bullet/LinearMath/btMatrix3x3.h
index 9f642a1779..6cc4993da5 100644
--- a/thirdparty/bullet/LinearMath/btMatrix3x3.h
+++ b/thirdparty/bullet/LinearMath/btMatrix3x3.h
@@ -289,7 +289,7 @@ public:
/** @brief Set the matrix from euler angles YPR around ZYX axes
* @param eulerX Roll about X axis
* @param eulerY Pitch around Y axis
- * @param eulerZ Yaw aboud Z axis
+ * @param eulerZ Yaw about Z axis
*
* These angles are used to produce a rotation matrix. The euler
* angles are applied in ZYX order. I.e a vector is first rotated
@@ -514,7 +514,7 @@ public:
/**@brief Get the matrix represented as euler angles around ZYX
- * @param yaw Yaw around X axis
+ * @param yaw Yaw around Z axis
* @param pitch Pitch around Y axis
* @param roll around X axis
* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/
@@ -649,6 +649,10 @@ public:
///extractRotation is from "A robust method to extract the rotational part of deformations"
///See http://dl.acm.org/citation.cfm?doid=2994258.2994269
+ ///decomposes a matrix A in a orthogonal matrix R and a
+ ///symmetric matrix S:
+ ///A = R*S.
+ ///note that R can include both rotation and scaling.
SIMD_FORCE_INLINE void extractRotation(btQuaternion &q,btScalar tolerance = 1.0e-9, int maxIter=100)
{
int iter =0;
@@ -673,25 +677,93 @@ public:
- /**@brief diagonalizes this matrix
+
+ /**@brief diagonalizes this matrix by the Jacobi method.
* @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original
- * coordinate system, i.e., old_this = rot * new_this * rot^T.
+ * coordinate system, i.e., old_this = rot * new_this * rot^T.
* @param threshold See iteration
- * @param maxIter The iteration stops when we hit the given tolerance or when maxIter have been executed.
+ * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied
+ * by the sum of the absolute values of the diagonal, or when maxSteps have been executed.
+ *
+ * Note that this matrix is assumed to be symmetric.
*/
- void diagonalize(btMatrix3x3& rot, btScalar tolerance = 1.0e-9, int maxIter=100)
+ void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps)
{
- btQuaternion r;
- r = btQuaternion::getIdentity();
- extractRotation(r,tolerance,maxIter);
- rot.setRotation(r);
- btMatrix3x3 rotInv = btMatrix3x3(r.inverse());
- btMatrix3x3 old = *this;
- setValue(old.tdotx( rotInv[0]), old.tdoty( rotInv[0]), old.tdotz( rotInv[0]),
- old.tdotx( rotInv[1]), old.tdoty( rotInv[1]), old.tdotz( rotInv[1]),
- old.tdotx( rotInv[2]), old.tdoty( rotInv[2]), old.tdotz( rotInv[2]));
- }
+ rot.setIdentity();
+ for (int step = maxSteps; step > 0; step--)
+ {
+ // find off-diagonal element [p][q] with largest magnitude
+ int p = 0;
+ int q = 1;
+ int r = 2;
+ btScalar max = btFabs(m_el[0][1]);
+ btScalar v = btFabs(m_el[0][2]);
+ if (v > max)
+ {
+ q = 2;
+ r = 1;
+ max = v;
+ }
+ v = btFabs(m_el[1][2]);
+ if (v > max)
+ {
+ p = 1;
+ q = 2;
+ r = 0;
+ max = v;
+ }
+
+ btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2]));
+ if (max <= t)
+ {
+ if (max <= SIMD_EPSILON * t)
+ {
+ return;
+ }
+ step = 1;
+ }
+ // compute Jacobi rotation J which leads to a zero for element [p][q]
+ btScalar mpq = m_el[p][q];
+ btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq);
+ btScalar theta2 = theta * theta;
+ btScalar cos;
+ btScalar sin;
+ if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON))
+ {
+ t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2))
+ : 1 / (theta - btSqrt(1 + theta2));
+ cos = 1 / btSqrt(1 + t * t);
+ sin = cos * t;
+ }
+ else
+ {
+ // approximation for large theta-value, i.e., a nearly diagonal matrix
+ t = 1 / (theta * (2 + btScalar(0.5) / theta2));
+ cos = 1 - btScalar(0.5) * t * t;
+ sin = cos * t;
+ }
+
+ // apply rotation to matrix (this = J^T * this * J)
+ m_el[p][q] = m_el[q][p] = 0;
+ m_el[p][p] -= t * mpq;
+ m_el[q][q] += t * mpq;
+ btScalar mrp = m_el[r][p];
+ btScalar mrq = m_el[r][q];
+ m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq;
+ m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp;
+
+ // apply rotation to rot (rot = rot * J)
+ for (int i = 0; i < 3; i++)
+ {
+ btVector3& row = rot[i];
+ mrp = row[p];
+ mrq = row[q];
+ row[p] = cos * mrp - sin * mrq;
+ row[q] = cos * mrq + sin * mrp;
+ }
+ }
+ }
diff --git a/thirdparty/bullet/LinearMath/btQuaternion.h b/thirdparty/bullet/LinearMath/btQuaternion.h
index 7bd39e6a33..a98fec7bc4 100644
--- a/thirdparty/bullet/LinearMath/btQuaternion.h
+++ b/thirdparty/bullet/LinearMath/btQuaternion.h
@@ -173,10 +173,28 @@ public:
sqy = m_floats[1] * m_floats[1];
sqz = m_floats[2] * m_floats[2];
squ = m_floats[3] * m_floats[3];
- rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
- sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
- pitchY = sarg <= btScalar(-1.0) ? btScalar(-0.5) * SIMD_PI: (sarg >= btScalar(1.0) ? btScalar(0.5) * SIMD_PI : btAsin(sarg));
- yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
+ sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]);
+
+ // If the pitch angle is PI/2 or -PI/2, we can only compute
+ // the sum roll + yaw. However, any combination that gives
+ // the right sum will produce the correct orientation, so we
+ // set rollX = 0 and compute yawZ.
+ if (sarg <= -btScalar(0.99999))
+ {
+ pitchY = btScalar(-0.5)*SIMD_PI;
+ rollX = 0;
+ yawZ = btScalar(2) * btAtan2(m_floats[0],-m_floats[1]);
+ } else if (sarg >= btScalar(0.99999))
+ {
+ pitchY = btScalar(0.5)*SIMD_PI;
+ rollX = 0;
+ yawZ = btScalar(2) * btAtan2(-m_floats[0], m_floats[1]);
+ } else
+ {
+ pitchY = btAsin(sarg);
+ rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz);
+ yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz);
+ }
}
/**@brief Add two quaternions
@@ -602,7 +620,9 @@ public:
SIMD_FORCE_INLINE void serialize(struct btQuaternionData& dataOut) const;
- SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionData& dataIn);
+ SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionFloatData& dataIn);
+
+ SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionDoubleData& dataIn);
SIMD_FORCE_INLINE void serializeFloat(struct btQuaternionFloatData& dataOut) const;
@@ -1003,10 +1023,16 @@ SIMD_FORCE_INLINE void btQuaternion::serialize(struct btQuaternionData& dataOut)
dataOut.m_floats[i] = m_floats[i];
}
-SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionData& dataIn)
+SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionFloatData& dataIn)
+{
+ for (int i = 0; i<4; i++)
+ m_floats[i] = (btScalar)dataIn.m_floats[i];
+}
+
+SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionDoubleData& dataIn)
{
for (int i=0;i<4;i++)
- m_floats[i] = dataIn.m_floats[i];
+ m_floats[i] = (btScalar)dataIn.m_floats[i];
}
diff --git a/thirdparty/bullet/LinearMath/btQuickprof.cpp b/thirdparty/bullet/LinearMath/btQuickprof.cpp
index aed3104a6e..1572b96262 100644
--- a/thirdparty/bullet/LinearMath/btQuickprof.cpp
+++ b/thirdparty/bullet/LinearMath/btQuickprof.cpp
@@ -680,56 +680,58 @@ void CProfileManager::dumpAll()
CProfileManager::Release_Iterator(profileIterator);
}
+// clang-format off
+#if defined(_WIN32) && (defined(__MINGW32__) || defined(__MINGW64__))
+ #define BT_HAVE_TLS 1
+#elif __APPLE__ && !TARGET_OS_IPHONE
+ // TODO: Modern versions of iOS support TLS now with updated version checking.
+ #define BT_HAVE_TLS 1
+#elif __linux__
+ #define BT_HAVE_TLS 1
+#endif
+// __thread is broken on Andorid clang until r12b. See
+// https://github.com/android-ndk/ndk/issues/8
+#if defined(__ANDROID__) && defined(__clang__)
+ #if __has_include(<android/ndk-version.h>)
+ #include <android/ndk-version.h>
+ #endif // __has_include(<android/ndk-version.h>)
+ #if defined(__NDK_MAJOR__) && \
+ ((__NDK_MAJOR__ < 12) || ((__NDK_MAJOR__ == 12) && (__NDK_MINOR__ < 1)))
+ #undef BT_HAVE_TLS
+ #endif
+#endif // defined(__ANDROID__) && defined(__clang__)
+// clang-format on
+
+unsigned int btQuickprofGetCurrentThreadIndex2() {
+ const unsigned int kNullIndex = ~0U;
-
-unsigned int btQuickprofGetCurrentThreadIndex2()
-{
#if BT_THREADSAFE
- return btGetCurrentThreadIndex();
-#else // #if BT_THREADSAFE
- const unsigned int kNullIndex = ~0U;
-#ifdef _WIN32
- #if defined(__MINGW32__) || defined(__MINGW64__)
- static __thread unsigned int sThreadIndex = kNullIndex;
- #else
- __declspec( thread ) static unsigned int sThreadIndex = kNullIndex;
- #endif
+ return btGetCurrentThreadIndex();
#else
-#ifdef __APPLE__
- #if TARGET_OS_IPHONE
- unsigned int sThreadIndex = 0;
- return -1;
- #else
- static __thread unsigned int sThreadIndex = kNullIndex;
- #endif
-#else//__APPLE__
-#if __linux__
- static __thread unsigned int sThreadIndex = kNullIndex;
+#if defined(BT_HAVE_TLS)
+ static __thread unsigned int sThreadIndex = kNullIndex;
+#elif defined(_WIN32)
+ __declspec(thread) static unsigned int sThreadIndex = kNullIndex;
#else
- unsigned int sThreadIndex = 0;
- return -1;
+ unsigned int sThreadIndex = 0;
+ return -1;
#endif
-#endif//__APPLE__
-
-#endif
- static int gThreadCounter=0;
- if ( sThreadIndex == kNullIndex )
- {
- sThreadIndex = gThreadCounter++;
- }
- return sThreadIndex;
-#endif // #else // #if BT_THREADSAFE
+ static int gThreadCounter = 0;
+
+ if (sThreadIndex == kNullIndex) {
+ sThreadIndex = gThreadCounter++;
+ }
+ return sThreadIndex;
+#endif //BT_THREADSAFE
}
void btEnterProfileZoneDefault(const char* name)
{
- CProfileManager::Start_Profile( name );
}
void btLeaveProfileZoneDefault()
{
- CProfileManager::Stop_Profile();
}
diff --git a/thirdparty/bullet/LinearMath/btQuickprof.h b/thirdparty/bullet/LinearMath/btQuickprof.h
index 7b38d71b90..98a2675771 100644
--- a/thirdparty/bullet/LinearMath/btQuickprof.h
+++ b/thirdparty/bullet/LinearMath/btQuickprof.h
@@ -70,11 +70,12 @@ void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
//#define BT_NO_PROFILE 1
#endif //BT_NO_PROFILE
+const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
+
#ifndef BT_NO_PROFILE
//btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined,
//otherwise returns thread index in range [0..maxThreads]
unsigned int btQuickprofGetCurrentThreadIndex2();
-const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64;
#include <stdio.h>//@todo remove this, backwards compatibility
diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h
index bffb2ce274..24e8454c1f 100644
--- a/thirdparty/bullet/LinearMath/btScalar.h
+++ b/thirdparty/bullet/LinearMath/btScalar.h
@@ -25,7 +25,7 @@ subject to the following restrictions:
#include <float.h>
/* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/
-#define BT_BULLET_VERSION 287
+#define BT_BULLET_VERSION 288
inline int btGetVersion()
{
diff --git a/thirdparty/bullet/LinearMath/btSerializer.cpp b/thirdparty/bullet/LinearMath/btSerializer.cpp
index fcd2255ad5..4faa8f536b 100644
--- a/thirdparty/bullet/LinearMath/btSerializer.cpp
+++ b/thirdparty/bullet/LinearMath/btSerializer.cpp
@@ -1,5 +1,5 @@
char sBulletDNAstr[]= {
-char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
@@ -72,528 +72,618 @@ char(105),char(115),char(116),char(97),char(110),char(99),char(101),char(84),cha
char(101),char(114),char(111),char(65),char(114),char(101),char(97),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110),
char(101),char(120),char(116),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(104),char(97),char(115),char(104),char(84),char(97),char(98),char(108),char(101),char(83),
char(105),char(122),char(101),char(0),char(109),char(95),char(110),char(117),char(109),char(86),char(97),char(108),char(117),char(101),char(115),char(0),char(109),char(95),char(110),char(117),
-char(109),char(75),char(101),char(121),char(115),char(0),char(109),char(95),char(103),char(105),char(109),char(112),char(97),char(99),char(116),char(83),char(117),char(98),char(84),char(121),
-char(112),char(101),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),
-char(70),char(108),char(111),char(97),char(116),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),
-char(80),char(111),char(105),char(110),char(116),char(115),char(68),char(111),char(117),char(98),char(108),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117),
-char(109),char(85),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),char(0),char(109),char(95),char(112),char(97),
-char(100),char(100),char(105),char(110),char(103),char(51),char(91),char(52),char(93),char(0),char(42),char(109),char(95),char(98),char(114),char(111),char(97),char(100),char(112),char(104),
-char(97),char(115),char(101),char(72),char(97),char(110),char(100),char(108),char(101),char(0),char(42),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),
-char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(42),char(109),char(95),char(114),char(111),char(111),char(116),char(67),char(111),char(108),char(108),char(105),
-char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(109),char(95),char(119),char(111),char(114),char(108),char(100),char(84),char(114),char(97),
-char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(105),char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),
-char(111),char(110),char(87),char(111),char(114),char(108),char(100),char(84),char(114),char(97),char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(105),
-char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),char(111),char(110),char(76),char(105),char(110),char(101),char(97),char(114),char(86),char(101),
-char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),char(105),char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),
-char(111),char(110),char(65),char(110),char(103),char(117),char(108),char(97),char(114),char(86),char(101),char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),
-char(97),char(110),char(105),char(115),char(111),char(116),char(114),char(111),char(112),char(105),char(99),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),
-char(109),char(95),char(99),char(111),char(110),char(116),char(97),char(99),char(116),char(80),char(114),char(111),char(99),char(101),char(115),char(115),char(105),char(110),char(103),char(84),
-char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(100),char(101),char(97),char(99),char(116),char(105),char(118),char(97),char(116),
-char(105),char(111),char(110),char(84),char(105),char(109),char(101),char(0),char(109),char(95),char(102),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),
-char(95),char(114),char(111),char(108),char(108),char(105),char(110),char(103),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),
-char(111),char(110),char(116),char(97),char(99),char(116),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(99),char(111),char(110),char(116),
-char(97),char(99),char(116),char(83),char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(105),
-char(116),char(117),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(104),char(105),char(116),char(70),char(114),char(97),char(99),char(116),char(105),char(111),char(110),
-char(0),char(109),char(95),char(99),char(99),char(100),char(83),char(119),char(101),char(112),char(116),char(83),char(112),char(104),char(101),char(114),char(101),char(82),char(97),char(100),
-char(105),char(117),char(115),char(0),char(109),char(95),char(99),char(99),char(100),char(77),char(111),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),
-char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(104),char(97),char(115),char(65),char(110),char(105),char(115),char(111),char(116),char(114),char(111),char(112),char(105),
-char(99),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),
-char(110),char(70),char(108),char(97),char(103),char(115),char(0),char(109),char(95),char(105),char(115),char(108),char(97),char(110),char(100),char(84),char(97),char(103),char(49),char(0),
-char(109),char(95),char(99),char(111),char(109),char(112),char(97),char(110),char(105),char(111),char(110),char(73),char(100),char(0),char(109),char(95),char(97),char(99),char(116),char(105),
-char(118),char(97),char(116),char(105),char(111),char(110),char(83),char(116),char(97),char(116),char(101),char(49),char(0),char(109),char(95),char(105),char(110),char(116),char(101),char(114),
-char(110),char(97),char(108),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(99),char(104),char(101),char(99),char(107),char(67),char(111),char(108),char(108),char(105),
-char(100),char(101),char(87),char(105),char(116),char(104),char(0),char(109),char(95),char(116),char(97),char(117),char(0),char(109),char(95),char(100),char(97),char(109),char(112),char(105),
-char(110),char(103),char(0),char(109),char(95),char(116),char(105),char(109),char(101),char(83),char(116),char(101),char(112),char(0),char(109),char(95),char(109),char(97),char(120),char(69),
-char(114),char(114),char(111),char(114),char(82),char(101),char(100),char(117),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(115),char(111),char(114),char(0),
-char(109),char(95),char(101),char(114),char(112),char(0),char(109),char(95),char(101),char(114),char(112),char(50),char(0),char(109),char(95),char(103),char(108),char(111),char(98),char(97),
-char(108),char(67),char(102),char(109),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(80),
-char(101),char(110),char(101),char(116),char(114),char(97),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),
-char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(84),char(117),char(114),char(110),char(69),char(114),
-char(112),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(83),char(108),char(111),char(112),char(0),char(109),char(95),char(119),char(97),char(114),
-char(109),char(115),char(116),char(97),char(114),char(116),char(105),char(110),char(103),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109),char(95),char(109),char(97),
-char(120),char(71),char(121),char(114),char(111),char(115),char(99),char(111),char(112),char(105),char(99),char(70),char(111),char(114),char(99),char(101),char(0),char(109),char(95),char(115),
-char(105),char(110),char(103),char(108),char(101),char(65),char(120),char(105),char(115),char(82),char(111),char(108),char(108),char(105),char(110),char(103),char(70),char(114),char(105),char(99),
-char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110),char(117),char(109),char(73),
-char(116),char(101),char(114),char(97),char(116),char(105),char(111),char(110),char(115),char(0),char(109),char(95),char(115),char(111),char(108),char(118),char(101),char(114),char(77),char(111),
-char(100),char(101),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(105),char(110),char(103),char(67),char(111),char(110),char(116),char(97),char(99),char(116),char(82),
-char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),
-char(109),char(95),char(109),char(105),char(110),char(105),char(109),char(117),char(109),char(83),char(111),char(108),char(118),char(101),char(114),char(66),char(97),char(116),char(99),char(104),
-char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(0),
-char(109),char(95),char(115),char(111),char(108),char(118),char(101),char(114),char(73),char(110),char(102),char(111),char(0),char(109),char(95),char(103),char(114),char(97),char(118),char(105),
-char(116),char(121),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),
-char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(105),char(110),char(118),char(73),char(110),char(101),char(114),char(116),char(105),char(97),char(84),char(101),char(110),
-char(115),char(111),char(114),char(87),char(111),char(114),char(108),char(100),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(86),char(101),char(108),
-char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114),char(86),char(101),char(108),char(111),char(99),
-char(105),char(116),char(121),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114),char(70),char(97),char(99),char(116),char(111),char(114),char(0),
-char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109),char(95),char(103),char(114),char(97),
-char(118),char(105),char(116),char(121),char(95),char(97),char(99),char(99),char(101),char(108),char(101),char(114),char(97),char(116),char(105),char(111),char(110),char(0),char(109),char(95),
-char(105),char(110),char(118),char(73),char(110),char(101),char(114),char(116),char(105),char(97),char(76),char(111),char(99),char(97),char(108),char(0),char(109),char(95),char(116),char(111),
-char(116),char(97),char(108),char(70),char(111),char(114),char(99),char(101),char(0),char(109),char(95),char(116),char(111),char(116),char(97),char(108),char(84),char(111),char(114),char(113),
-char(117),char(101),char(0),char(109),char(95),char(105),char(110),char(118),char(101),char(114),char(115),char(101),char(77),char(97),char(115),char(115),char(0),char(109),char(95),char(108),
-char(105),char(110),char(101),char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),
-char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(97),char(100),char(100),char(105),char(116),char(105),char(111),char(110),
-char(97),char(108),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109),char(95),char(97),char(100),
-char(100),char(105),char(116),char(105),char(111),char(110),char(97),char(108),char(76),char(105),char(110),char(101),char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),
-char(103),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(83),char(113),char(114),char(0),char(109),char(95),char(97),char(100),char(100),char(105),
-char(116),char(105),char(111),char(110),char(97),char(108),char(65),char(110),char(103),char(117),char(108),char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),char(103),
-char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(83),char(113),char(114),char(0),char(109),char(95),char(97),char(100),char(100),char(105),char(116),
-char(105),char(111),char(110),char(97),char(108),char(65),char(110),char(103),char(117),char(108),char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(70),
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+char(13),char(0),char(-108),char(1),char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(4),char(0),char(-102),char(1),
+char(7),char(0),char(-104),char(1),char(4),char(0),char(-103),char(1),char(4),char(0),char(124),char(1),char(7),char(0),char(-100),char(1),char(7),char(0),char(-99),char(1),
+char(7),char(0),char(-98),char(1),char(4),char(0),char(-101),char(1),char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(7),char(0),char(-95),char(1),
+char(7),char(0),char(-94),char(1),char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1),char(0),char(0),char(-90),char(1),
+char(50),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-87),char(1),char(16),char(0),char(-86),char(1),
+char(14),char(0),char(-85),char(1),char(14),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(8),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),
+char(0),char(0),char(37),char(0),char(0),char(0),char(-81),char(1),char(93),char(0),char(-128),char(1),char(48),char(0),char(-80),char(1),char(96),char(0),char(10),char(0),
+char(13),char(0),char(-87),char(1),char(15),char(0),char(-86),char(1),char(13),char(0),char(-85),char(1),char(13),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),
+char(7),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),char(0),char(0),char(-81),char(1),char(94),char(0),char(-128),char(1),char(50),char(0),char(-80),char(1),
+char(97),char(0),char(4),char(0),char(50),char(0),char(-79),char(1),char(96),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0),
+char(98),char(0),char(4),char(0),char(48),char(0),char(-79),char(1),char(95),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0),
+};
int sBulletDNAlen= sizeof(sBulletDNAstr);
diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h
index 89b4d74683..39be3f810e 100644
--- a/thirdparty/bullet/LinearMath/btSerializer.h
+++ b/thirdparty/bullet/LinearMath/btSerializer.h
@@ -62,7 +62,8 @@ enum btSerializationFlags
{
BT_SERIALIZE_NO_BVH = 1,
BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2,
- BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4
+ BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4,
+ BT_SERIALIZE_CONTACT_MANIFOLDS = 8,
};
class btSerializer
@@ -115,6 +116,7 @@ public:
#define BT_MULTIBODY_CODE BT_MAKE_ID('M','B','D','Y')
+#define BT_MB_LINKCOLLIDER_CODE BT_MAKE_ID('M','B','L','C')
#define BT_SOFTBODY_CODE BT_MAKE_ID('S','B','D','Y')
#define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C','O','B','J')
#define BT_RIGIDBODY_CODE BT_MAKE_ID('R','B','D','Y')
@@ -127,9 +129,9 @@ public:
#define BT_SBMATERIAL_CODE BT_MAKE_ID('S','B','M','T')
#define BT_SBNODE_CODE BT_MAKE_ID('S','B','N','D')
#define BT_DYNAMICSWORLD_CODE BT_MAKE_ID('D','W','L','D')
+#define BT_CONTACTMANIFOLD_CODE BT_MAKE_ID('C','O','N','T')
#define BT_DNA_CODE BT_MAKE_ID('D','N','A','1')
-
struct btPointerUid
{
union
@@ -505,7 +507,7 @@ public:
buffer[9] = '2';
buffer[10] = '8';
- buffer[11] = '7';
+ buffer[11] = '8';
}
diff --git a/thirdparty/bullet/LinearMath/btSerializer64.cpp b/thirdparty/bullet/LinearMath/btSerializer64.cpp
index 05f59202d7..0aa5cbf30e 100644
--- a/thirdparty/bullet/LinearMath/btSerializer64.cpp
+++ b/thirdparty/bullet/LinearMath/btSerializer64.cpp
@@ -1,5 +1,5 @@
char sBulletDNAstr64[]= {
-char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
+char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109),
char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95),
char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111),
char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110),
@@ -72,528 +72,618 @@ char(105),char(115),char(116),char(97),char(110),char(99),char(101),char(84),cha
char(101),char(114),char(111),char(65),char(114),char(101),char(97),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110),
char(101),char(120),char(116),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(104),char(97),char(115),char(104),char(84),char(97),char(98),char(108),char(101),char(83),
char(105),char(122),char(101),char(0),char(109),char(95),char(110),char(117),char(109),char(86),char(97),char(108),char(117),char(101),char(115),char(0),char(109),char(95),char(110),char(117),
-char(109),char(75),char(101),char(121),char(115),char(0),char(109),char(95),char(103),char(105),char(109),char(112),char(97),char(99),char(116),char(83),char(117),char(98),char(84),char(121),
-char(112),char(101),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),
-char(70),char(108),char(111),char(97),char(116),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),
-char(80),char(111),char(105),char(110),char(116),char(115),char(68),char(111),char(117),char(98),char(108),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117),
-char(109),char(85),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115),char(0),char(109),char(95),char(112),char(97),
-char(100),char(100),char(105),char(110),char(103),char(51),char(91),char(52),char(93),char(0),char(42),char(109),char(95),char(98),char(114),char(111),char(97),char(100),char(112),char(104),
-char(97),char(115),char(101),char(72),char(97),char(110),char(100),char(108),char(101),char(0),char(42),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),
-char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(42),char(109),char(95),char(114),char(111),char(111),char(116),char(67),char(111),char(108),char(108),char(105),
-char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(0),char(109),char(95),char(119),char(111),char(114),char(108),char(100),char(84),char(114),char(97),
-char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(105),char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),
-char(111),char(110),char(87),char(111),char(114),char(108),char(100),char(84),char(114),char(97),char(110),char(115),char(102),char(111),char(114),char(109),char(0),char(109),char(95),char(105),
-char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),char(111),char(110),char(76),char(105),char(110),char(101),char(97),char(114),char(86),char(101),
-char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),char(105),char(110),char(116),char(101),char(114),char(112),char(111),char(108),char(97),char(116),char(105),
-char(111),char(110),char(65),char(110),char(103),char(117),char(108),char(97),char(114),char(86),char(101),char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),
-char(97),char(110),char(105),char(115),char(111),char(116),char(114),char(111),char(112),char(105),char(99),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),
-char(109),char(95),char(99),char(111),char(110),char(116),char(97),char(99),char(116),char(80),char(114),char(111),char(99),char(101),char(115),char(115),char(105),char(110),char(103),char(84),
-char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(100),char(101),char(97),char(99),char(116),char(105),char(118),char(97),char(116),
-char(105),char(111),char(110),char(84),char(105),char(109),char(101),char(0),char(109),char(95),char(102),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),
-char(95),char(114),char(111),char(108),char(108),char(105),char(110),char(103),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),
-char(111),char(110),char(116),char(97),char(99),char(116),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(99),char(111),char(110),char(116),
-char(97),char(99),char(116),char(83),char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(105),
-char(116),char(117),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(104),char(105),char(116),char(70),char(114),char(97),char(99),char(116),char(105),char(111),char(110),
-char(0),char(109),char(95),char(99),char(99),char(100),char(83),char(119),char(101),char(112),char(116),char(83),char(112),char(104),char(101),char(114),char(101),char(82),char(97),char(100),
-char(105),char(117),char(115),char(0),char(109),char(95),char(99),char(99),char(100),char(77),char(111),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),
-char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(104),char(97),char(115),char(65),char(110),char(105),char(115),char(111),char(116),char(114),char(111),char(112),char(105),
-char(99),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),
-char(110),char(70),char(108),char(97),char(103),char(115),char(0),char(109),char(95),char(105),char(115),char(108),char(97),char(110),char(100),char(84),char(97),char(103),char(49),char(0),
-char(109),char(95),char(99),char(111),char(109),char(112),char(97),char(110),char(105),char(111),char(110),char(73),char(100),char(0),char(109),char(95),char(97),char(99),char(116),char(105),
-char(118),char(97),char(116),char(105),char(111),char(110),char(83),char(116),char(97),char(116),char(101),char(49),char(0),char(109),char(95),char(105),char(110),char(116),char(101),char(114),
-char(110),char(97),char(108),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(99),char(104),char(101),char(99),char(107),char(67),char(111),char(108),char(108),char(105),
-char(100),char(101),char(87),char(105),char(116),char(104),char(0),char(109),char(95),char(116),char(97),char(117),char(0),char(109),char(95),char(100),char(97),char(109),char(112),char(105),
-char(110),char(103),char(0),char(109),char(95),char(116),char(105),char(109),char(101),char(83),char(116),char(101),char(112),char(0),char(109),char(95),char(109),char(97),char(120),char(69),
-char(114),char(114),char(111),char(114),char(82),char(101),char(100),char(117),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(115),char(111),char(114),char(0),
-char(109),char(95),char(101),char(114),char(112),char(0),char(109),char(95),char(101),char(114),char(112),char(50),char(0),char(109),char(95),char(103),char(108),char(111),char(98),char(97),
-char(108),char(67),char(102),char(109),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(80),
-char(101),char(110),char(101),char(116),char(114),char(97),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),
-char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(84),char(117),char(114),char(110),char(69),char(114),
-char(112),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(83),char(108),char(111),char(112),char(0),char(109),char(95),char(119),char(97),char(114),
-char(109),char(115),char(116),char(97),char(114),char(116),char(105),char(110),char(103),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109),char(95),char(109),char(97),
-char(120),char(71),char(121),char(114),char(111),char(115),char(99),char(111),char(112),char(105),char(99),char(70),char(111),char(114),char(99),char(101),char(0),char(109),char(95),char(115),
-char(105),char(110),char(103),char(108),char(101),char(65),char(120),char(105),char(115),char(82),char(111),char(108),char(108),char(105),char(110),char(103),char(70),char(114),char(105),char(99),
-char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110),char(117),char(109),char(73),
-char(116),char(101),char(114),char(97),char(116),char(105),char(111),char(110),char(115),char(0),char(109),char(95),char(115),char(111),char(108),char(118),char(101),char(114),char(77),char(111),
-char(100),char(101),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(105),char(110),char(103),char(67),char(111),char(110),char(116),char(97),char(99),char(116),char(82),
-char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),
-char(109),char(95),char(109),char(105),char(110),char(105),char(109),char(117),char(109),char(83),char(111),char(108),char(118),char(101),char(114),char(66),char(97),char(116),char(99),char(104),
-char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(0),
-char(109),char(95),char(115),char(111),char(108),char(118),char(101),char(114),char(73),char(110),char(102),char(111),char(0),char(109),char(95),char(103),char(114),char(97),char(118),char(105),
-char(116),char(121),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),
-char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(105),char(110),char(118),char(73),char(110),char(101),char(114),char(116),char(105),char(97),char(84),char(101),char(110),
-char(115),char(111),char(114),char(87),char(111),char(114),char(108),char(100),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(86),char(101),char(108),
-char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114),char(86),char(101),char(108),char(111),char(99),
-char(105),char(116),char(121),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114),char(70),char(97),char(99),char(116),char(111),char(114),char(0),
-char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109),char(95),char(103),char(114),char(97),
-char(118),char(105),char(116),char(121),char(95),char(97),char(99),char(99),char(101),char(108),char(101),char(114),char(97),char(116),char(105),char(111),char(110),char(0),char(109),char(95),
-char(105),char(110),char(118),char(73),char(110),char(101),char(114),char(116),char(105),char(97),char(76),char(111),char(99),char(97),char(108),char(0),char(109),char(95),char(116),char(111),
-char(116),char(97),char(108),char(70),char(111),char(114),char(99),char(101),char(0),char(109),char(95),char(116),char(111),char(116),char(97),char(108),char(84),char(111),char(114),char(113),
-char(117),char(101),char(0),char(109),char(95),char(105),char(110),char(118),char(101),char(114),char(115),char(101),char(77),char(97),char(115),char(115),char(0),char(109),char(95),char(108),
-char(105),char(110),char(101),char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),
-char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(97),char(100),char(100),char(105),char(116),char(105),char(111),char(110),
-char(97),char(108),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109),char(95),char(97),char(100),
-char(100),char(105),char(116),char(105),char(111),char(110),char(97),char(108),char(76),char(105),char(110),char(101),char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),
-char(103),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(83),char(113),char(114),char(0),char(109),char(95),char(97),char(100),char(100),char(105),
-char(116),char(105),char(111),char(110),char(97),char(108),char(65),char(110),char(103),char(117),char(108),char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),char(103),
-char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(83),char(113),char(114),char(0),char(109),char(95),char(97),char(100),char(100),char(105),char(116),
-char(105),char(111),char(110),char(97),char(108),char(65),char(110),char(103),char(117),char(108),char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(70),
-char(97),char(99),char(116),char(111),char(114),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(83),char(108),char(101),char(101),char(112),char(105),
-char(110),char(103),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),
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-char(95),char(97),char(100),char(100),char(105),char(116),char(105),char(111),char(110),char(97),char(108),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),
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+char(7),char(0),char(-98),char(1),char(4),char(0),char(-101),char(1),char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(7),char(0),char(-95),char(1),
+char(7),char(0),char(-94),char(1),char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1),char(0),char(0),char(-90),char(1),
+char(50),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-87),char(1),char(16),char(0),char(-86),char(1),
+char(14),char(0),char(-85),char(1),char(14),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(8),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),
+char(0),char(0),char(37),char(0),char(0),char(0),char(-81),char(1),char(93),char(0),char(-128),char(1),char(48),char(0),char(-80),char(1),char(96),char(0),char(10),char(0),
+char(13),char(0),char(-87),char(1),char(15),char(0),char(-86),char(1),char(13),char(0),char(-85),char(1),char(13),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1),
+char(7),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),char(0),char(0),char(-81),char(1),char(94),char(0),char(-128),char(1),char(50),char(0),char(-80),char(1),
+char(97),char(0),char(4),char(0),char(50),char(0),char(-79),char(1),char(96),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0),
+char(98),char(0),char(4),char(0),char(48),char(0),char(-79),char(1),char(95),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0),
+};
int sBulletDNAlen64= sizeof(sBulletDNAstr64);
diff --git a/thirdparty/bullet/LinearMath/btThreads.cpp b/thirdparty/bullet/LinearMath/btThreads.cpp
index 59a7ea36e9..c037626ffb 100644
--- a/thirdparty/bullet/LinearMath/btThreads.cpp
+++ b/thirdparty/bullet/LinearMath/btThreads.cpp
@@ -453,6 +453,33 @@ void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBod
#endif// #if BT_THREADSAFE
}
+btScalar btParallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body )
+{
+#if BT_THREADSAFE
+
+#if BT_DETECT_BAD_THREAD_INDEX
+ if ( !btThreadsAreRunning() )
+ {
+ // clear out thread ids
+ for ( int i = 0; i < BT_MAX_THREAD_COUNT; ++i )
+ {
+ gDebugThreadIds[ i ] = kInvalidThreadId;
+ }
+ }
+#endif // #if BT_DETECT_BAD_THREAD_INDEX
+
+ btAssert( gBtTaskScheduler != NULL ); // call btSetTaskScheduler() with a valid task scheduler first!
+ return gBtTaskScheduler->parallelSum( iBegin, iEnd, grainSize, body );
+
+#else // #if BT_THREADSAFE
+
+ // non-parallel version of btParallelSum
+ btAssert( !"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE" );
+ return body.sumLoop( iBegin, iEnd );
+
+#endif //#else // #if BT_THREADSAFE
+}
+
///
/// btTaskSchedulerSequential -- non-threaded implementation of task scheduler
@@ -470,6 +497,11 @@ public:
BT_PROFILE( "parallelFor_sequential" );
body.forLoop( iBegin, iEnd );
}
+ virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE
+ {
+ BT_PROFILE( "parallelSum_sequential" );
+ return body.sumLoop( iBegin, iEnd );
+ }
};
@@ -514,11 +546,25 @@ public:
#pragma omp parallel for schedule( static, 1 )
for ( int i = iBegin; i < iEnd; i += grainSize )
{
- BT_PROFILE( "OpenMP_job" );
+ BT_PROFILE( "OpenMP_forJob" );
body.forLoop( i, ( std::min )( i + grainSize, iEnd ) );
}
btPopThreadsAreRunning();
}
+ virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE
+ {
+ BT_PROFILE( "parallelFor_OpenMP" );
+ btPushThreadsAreRunning();
+ btScalar sum = btScalar( 0 );
+#pragma omp parallel for schedule( static, 1 ) reduction(+:sum)
+ for ( int i = iBegin; i < iEnd; i += grainSize )
+ {
+ BT_PROFILE( "OpenMP_sumJob" );
+ sum += body.sumLoop( i, ( std::min )( i + grainSize, iEnd ) );
+ }
+ btPopThreadsAreRunning();
+ return sum;
+ }
};
#endif // #if BT_USE_OPENMP && BT_THREADSAFE
@@ -571,22 +617,21 @@ public:
btResetThreadIndexCounter();
}
}
- struct BodyAdapter
+ struct ForBodyAdapter
{
const btIParallelForBody* mBody;
+ ForBodyAdapter( const btIParallelForBody* body ) : mBody( body ) {}
void operator()( const tbb::blocked_range<int>& range ) const
{
- BT_PROFILE( "TBB_job" );
+ BT_PROFILE( "TBB_forJob" );
mBody->forLoop( range.begin(), range.end() );
}
};
virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE
{
BT_PROFILE( "parallelFor_TBB" );
- // TBB dispatch
- BodyAdapter tbbBody;
- tbbBody.mBody = &body;
+ ForBodyAdapter tbbBody( &body );
btPushThreadsAreRunning();
tbb::parallel_for( tbb::blocked_range<int>( iBegin, iEnd, grainSize ),
tbbBody,
@@ -594,6 +639,29 @@ public:
);
btPopThreadsAreRunning();
}
+ struct SumBodyAdapter
+ {
+ const btIParallelSumBody* mBody;
+ btScalar mSum;
+
+ SumBodyAdapter( const btIParallelSumBody* body ) : mBody( body ), mSum( btScalar( 0 ) ) {}
+ SumBodyAdapter( const SumBodyAdapter& src, tbb::split ) : mBody( src.mBody ), mSum( btScalar( 0 ) ) {}
+ void join( const SumBodyAdapter& src ) { mSum += src.mSum; }
+ void operator()( const tbb::blocked_range<int>& range )
+ {
+ BT_PROFILE( "TBB_sumJob" );
+ mSum += mBody->sumLoop( range.begin(), range.end() );
+ }
+ };
+ virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE
+ {
+ BT_PROFILE( "parallelSum_TBB" );
+ SumBodyAdapter tbbBody( &body );
+ btPushThreadsAreRunning();
+ tbb::parallel_deterministic_reduce( tbb::blocked_range<int>( iBegin, iEnd, grainSize ), tbbBody );
+ btPopThreadsAreRunning();
+ return tbbBody.mSum;
+ }
};
#endif // #if BT_USE_TBB && BT_THREADSAFE
@@ -605,6 +673,7 @@ public:
class btTaskSchedulerPPL : public btITaskScheduler
{
int m_numThreads;
+ concurrency::combinable<btScalar> m_sum; // for parallelSum
public:
btTaskSchedulerPPL() : btITaskScheduler( "PPL" )
{
@@ -644,15 +713,16 @@ public:
btResetThreadIndexCounter();
}
}
- struct BodyAdapter
+ struct ForBodyAdapter
{
const btIParallelForBody* mBody;
int mGrainSize;
int mIndexEnd;
+ ForBodyAdapter( const btIParallelForBody* body, int grainSize, int end ) : mBody( body ), mGrainSize( grainSize ), mIndexEnd( end ) {}
void operator()( int i ) const
{
- BT_PROFILE( "PPL_job" );
+ BT_PROFILE( "PPL_forJob" );
mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) );
}
};
@@ -660,10 +730,36 @@ public:
{
BT_PROFILE( "parallelFor_PPL" );
// PPL dispatch
- BodyAdapter pplBody;
- pplBody.mBody = &body;
- pplBody.mGrainSize = grainSize;
- pplBody.mIndexEnd = iEnd;
+ ForBodyAdapter pplBody( &body, grainSize, iEnd );
+ btPushThreadsAreRunning();
+ // note: MSVC 2010 doesn't support partitioner args, so avoid them
+ concurrency::parallel_for( iBegin,
+ iEnd,
+ grainSize,
+ pplBody
+ );
+ btPopThreadsAreRunning();
+ }
+ struct SumBodyAdapter
+ {
+ const btIParallelSumBody* mBody;
+ concurrency::combinable<btScalar>* mSum;
+ int mGrainSize;
+ int mIndexEnd;
+
+ SumBodyAdapter( const btIParallelSumBody* body, concurrency::combinable<btScalar>* sum, int grainSize, int end ) : mBody( body ), mSum(sum), mGrainSize( grainSize ), mIndexEnd( end ) {}
+ void operator()( int i ) const
+ {
+ BT_PROFILE( "PPL_sumJob" );
+ mSum->local() += mBody->sumLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) );
+ }
+ };
+ static btScalar sumFunc( btScalar a, btScalar b ) { return a + b; }
+ virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE
+ {
+ BT_PROFILE( "parallelSum_PPL" );
+ m_sum.clear();
+ SumBodyAdapter pplBody( &body, &m_sum, grainSize, iEnd );
btPushThreadsAreRunning();
// note: MSVC 2010 doesn't support partitioner args, so avoid them
concurrency::parallel_for( iBegin,
@@ -672,6 +768,7 @@ public:
pplBody
);
btPopThreadsAreRunning();
+ return m_sum.combine( sumFunc );
}
};
#endif // #if BT_USE_PPL && BT_THREADSAFE
diff --git a/thirdparty/bullet/LinearMath/btThreads.h b/thirdparty/bullet/LinearMath/btThreads.h
index 05fd15ec82..921fd088c0 100644
--- a/thirdparty/bullet/LinearMath/btThreads.h
+++ b/thirdparty/bullet/LinearMath/btThreads.h
@@ -28,6 +28,8 @@ subject to the following restrictions:
#define BT_OVERRIDE
#endif
+// Don't set this to larger than 64, without modifying btThreadSupportPosix
+// and btThreadSupportWin32. They use UINT64 bit-masks.
const unsigned int BT_MAX_THREAD_COUNT = 64; // only if BT_THREADSAFE is 1
// for internal use only
@@ -72,6 +74,8 @@ SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex )
{
#if BT_THREADSAFE
mutex->lock();
+#else
+ (void)mutex;
#endif // #if BT_THREADSAFE
}
@@ -79,6 +83,8 @@ SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex )
{
#if BT_THREADSAFE
mutex->unlock();
+#else
+ (void)mutex;
#endif // #if BT_THREADSAFE
}
@@ -87,6 +93,7 @@ SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex )
#if BT_THREADSAFE
return mutex->tryLock();
#else
+ (void)mutex;
return true;
#endif // #if BT_THREADSAFE
}
@@ -103,6 +110,17 @@ public:
};
//
+// btIParallelSumBody -- subclass this to express work that can be done in parallel
+// and produces a sum over all loop elements
+//
+class btIParallelSumBody
+{
+public:
+ virtual ~btIParallelSumBody() {}
+ virtual btScalar sumLoop( int iBegin, int iEnd ) const = 0;
+};
+
+//
// btITaskScheduler -- subclass this to implement a task scheduler that can dispatch work to
// worker threads
//
@@ -117,6 +135,8 @@ public:
virtual int getNumThreads() const = 0;
virtual void setNumThreads( int numThreads ) = 0;
virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) = 0;
+ virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) = 0;
+ virtual void sleepWorkerThreadsHint() {} // hint the task scheduler that we may not be using these threads for a little while
// internal use only
virtual void activate();
@@ -138,6 +158,9 @@ btITaskScheduler* btGetTaskScheduler();
// get non-threaded task scheduler (always available)
btITaskScheduler* btGetSequentialTaskScheduler();
+// create a default task scheduler (Win32 or pthreads based)
+btITaskScheduler* btCreateDefaultTaskScheduler();
+
// get OpenMP task scheduler (if available, otherwise returns null)
btITaskScheduler* btGetOpenMPTaskScheduler();
@@ -151,5 +174,9 @@ btITaskScheduler* btGetPPLTaskScheduler();
// (iterations may be done out of order, so no dependencies are allowed)
void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body );
+// btParallelSum -- call this to dispatch work like a for-loop, returns the sum of all iterations
+// (iterations may be done out of order, so no dependencies are allowed)
+btScalar btParallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body );
+
#endif
diff --git a/thirdparty/bullet/LinearMath/btVector3.h b/thirdparty/bullet/LinearMath/btVector3.h
index c69effa96e..76024f1236 100644
--- a/thirdparty/bullet/LinearMath/btVector3.h
+++ b/thirdparty/bullet/LinearMath/btVector3.h
@@ -705,7 +705,9 @@ public:
SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const;
- SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn);
+ SIMD_FORCE_INLINE void deSerialize(const struct btVector3DoubleData& dataIn);
+
+ SIMD_FORCE_INLINE void deSerialize(const struct btVector3FloatData& dataIn);
SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const;
@@ -1236,9 +1238,9 @@ public:
///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization
SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal)
{
- #ifdef BT_USE_DOUBLE_PRECISION
+#ifdef BT_USE_DOUBLE_PRECISION
unsigned char* dest = (unsigned char*) &destVal;
- unsigned char* src = (unsigned char*) &sourceVal;
+ const unsigned char* src = (const unsigned char*) &sourceVal;
dest[0] = src[7];
dest[1] = src[6];
dest[2] = src[5];
@@ -1249,7 +1251,7 @@ SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& d
dest[7] = src[0];
#else
unsigned char* dest = (unsigned char*) &destVal;
- unsigned char* src = (unsigned char*) &sourceVal;
+ const unsigned char* src = (const unsigned char*) &sourceVal;
dest[0] = src[3];
dest[1] = src[2];
dest[2] = src[1];
@@ -1354,10 +1356,18 @@ SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
dataOut.m_floats[i] = m_floats[i];
}
-SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn)
+
+SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3FloatData& dataIn)
+{
+ for (int i = 0; i<4; i++)
+ m_floats[i] = (btScalar)dataIn.m_floats[i];
+}
+
+
+SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3DoubleData& dataIn)
{
for (int i=0;i<4;i++)
- m_floats[i] = dataIn.m_floats[i];
+ m_floats[i] = (btScalar)dataIn.m_floats[i];
}
#endif //BT_VECTOR3_H
diff --git a/thirdparty/bullet/clew/clew.c b/thirdparty/bullet/clew/clew.c
index a07b0aad75..5afc42a485 100644
--- a/thirdparty/bullet/clew/clew.c
+++ b/thirdparty/bullet/clew/clew.c
@@ -15,7 +15,7 @@
typedef HMODULE CLEW_DYNLIB_HANDLE;
- #define CLEW_DYNLIB_OPEN LoadLibrary
+ #define CLEW_DYNLIB_OPEN LoadLibraryA
#define CLEW_DYNLIB_CLOSE FreeLibrary
#define CLEW_DYNLIB_IMPORT GetProcAddress
#else