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-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp136
1 files changed, 56 insertions, 80 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
index 1098d0c96b..4b22b2fff5 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-
#include "btContactConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btVector3.h"
@@ -22,44 +21,33 @@ subject to the following restrictions:
#include "LinearMath/btMinMax.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-
-
-btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB)
-:btTypedConstraint(CONTACT_CONSTRAINT_TYPE,rbA,rbB),
- m_contactManifold(*contactManifold)
+btContactConstraint::btContactConstraint(btPersistentManifold* contactManifold, btRigidBody& rbA, btRigidBody& rbB)
+ : btTypedConstraint(CONTACT_CONSTRAINT_TYPE, rbA, rbB),
+ m_contactManifold(*contactManifold)
{
-
}
btContactConstraint::~btContactConstraint()
{
-
}
-void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
+void btContactConstraint::setContactManifold(btPersistentManifold* contactManifold)
{
m_contactManifold = *contactManifold;
}
-void btContactConstraint::getInfo1 (btConstraintInfo1* info)
+void btContactConstraint::getInfo1(btConstraintInfo1* info)
{
-
}
-void btContactConstraint::getInfo2 (btConstraintInfo2* info)
+void btContactConstraint::getInfo2(btConstraintInfo2* info)
{
-
}
-void btContactConstraint::buildJacobian()
+void btContactConstraint::buildJacobian()
{
-
}
-
-
-
-
#include "btContactConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btVector3.h"
@@ -68,64 +56,59 @@ void btContactConstraint::buildJacobian()
#include "LinearMath/btMinMax.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
-
-
//response between two dynamic objects without friction and no restitution, assuming 0 penetration depth
btScalar resolveSingleCollision(
- btRigidBody* body1,
- btCollisionObject* colObj2,
- const btVector3& contactPositionWorld,
- const btVector3& contactNormalOnB,
- const btContactSolverInfo& solverInfo,
- btScalar distance)
+ btRigidBody* body1,
+ btCollisionObject* colObj2,
+ const btVector3& contactPositionWorld,
+ const btVector3& contactNormalOnB,
+ const btContactSolverInfo& solverInfo,
+ btScalar distance)
{
btRigidBody* body2 = btRigidBody::upcast(colObj2);
-
-
- const btVector3& normal = contactNormalOnB;
-
- btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin();
- btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
-
- btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
- btVector3 vel2 = body2? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
- btVector3 vel = vel1 - vel2;
- btScalar rel_vel;
- rel_vel = normal.dot(vel);
-
- btScalar combinedRestitution = 0.f;
- btScalar restitution = combinedRestitution* -rel_vel;
-
- btScalar positionalError = solverInfo.m_erp *-distance /solverInfo.m_timeStep ;
- btScalar velocityError = -(1.0f + restitution) * rel_vel;// * damping;
- btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld,normal);
- btScalar denom1 = body2? body2->computeImpulseDenominator(contactPositionWorld,normal) : 0.f;
+
+ const btVector3& normal = contactNormalOnB;
+
+ btVector3 rel_pos1 = contactPositionWorld - body1->getWorldTransform().getOrigin();
+ btVector3 rel_pos2 = contactPositionWorld - colObj2->getWorldTransform().getOrigin();
+
+ btVector3 vel1 = body1->getVelocityInLocalPoint(rel_pos1);
+ btVector3 vel2 = body2 ? body2->getVelocityInLocalPoint(rel_pos2) : btVector3(0, 0, 0);
+ btVector3 vel = vel1 - vel2;
+ btScalar rel_vel;
+ rel_vel = normal.dot(vel);
+
+ btScalar combinedRestitution = 0.f;
+ btScalar restitution = combinedRestitution * -rel_vel;
+
+ btScalar positionalError = solverInfo.m_erp * -distance / solverInfo.m_timeStep;
+ btScalar velocityError = -(1.0f + restitution) * rel_vel; // * damping;
+ btScalar denom0 = body1->computeImpulseDenominator(contactPositionWorld, normal);
+ btScalar denom1 = body2 ? body2->computeImpulseDenominator(contactPositionWorld, normal) : 0.f;
btScalar relaxation = 1.f;
- btScalar jacDiagABInv = relaxation/(denom0+denom1);
+ btScalar jacDiagABInv = relaxation / (denom0 + denom1);
- btScalar penetrationImpulse = positionalError * jacDiagABInv;
- btScalar velocityImpulse = velocityError * jacDiagABInv;
+ btScalar penetrationImpulse = positionalError * jacDiagABInv;
+ btScalar velocityImpulse = velocityError * jacDiagABInv;
- btScalar normalImpulse = penetrationImpulse+velocityImpulse;
- normalImpulse = 0.f > normalImpulse ? 0.f: normalImpulse;
+ btScalar normalImpulse = penetrationImpulse + velocityImpulse;
+ normalImpulse = 0.f > normalImpulse ? 0.f : normalImpulse;
- body1->applyImpulse(normal*(normalImpulse), rel_pos1);
- if (body2)
- body2->applyImpulse(-normal*(normalImpulse), rel_pos2);
-
- return normalImpulse;
-}
+ body1->applyImpulse(normal * (normalImpulse), rel_pos1);
+ if (body2)
+ body2->applyImpulse(-normal * (normalImpulse), rel_pos2);
+ return normalImpulse;
+}
//bilateral constraint between two dynamic objects
void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
- btRigidBody& body2, const btVector3& pos2,
- btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep)
+ btRigidBody& body2, const btVector3& pos2,
+ btScalar distance, const btVector3& normal, btScalar& impulse, btScalar timeStep)
{
(void)timeStep;
(void)distance;
-
btScalar normalLenSqr = normal.length2();
btAssert(btFabs(normalLenSqr) < btScalar(1.1));
if (normalLenSqr > btScalar(1.1))
@@ -133,45 +116,38 @@ void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
impulse = btScalar(0.);
return;
}
- btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
+ btVector3 rel_pos1 = pos1 - body1.getCenterOfMassPosition();
btVector3 rel_pos2 = pos2 - body2.getCenterOfMassPosition();
//this jacobian entry could be re-used for all iterations
-
+
btVector3 vel1 = body1.getVelocityInLocalPoint(rel_pos1);
btVector3 vel2 = body2.getVelocityInLocalPoint(rel_pos2);
btVector3 vel = vel1 - vel2;
-
- btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
- body2.getCenterOfMassTransform().getBasis().transpose(),
- rel_pos1,rel_pos2,normal,body1.getInvInertiaDiagLocal(),body1.getInvMass(),
- body2.getInvInertiaDiagLocal(),body2.getInvMass());
+ btJacobianEntry jac(body1.getCenterOfMassTransform().getBasis().transpose(),
+ body2.getCenterOfMassTransform().getBasis().transpose(),
+ rel_pos1, rel_pos2, normal, body1.getInvInertiaDiagLocal(), body1.getInvMass(),
+ body2.getInvInertiaDiagLocal(), body2.getInvMass());
btScalar jacDiagAB = jac.getDiagonal();
btScalar jacDiagABInv = btScalar(1.) / jacDiagAB;
-
- btScalar rel_vel = jac.getRelativeVelocity(
+
+ btScalar rel_vel = jac.getRelativeVelocity(
body1.getLinearVelocity(),
body1.getCenterOfMassTransform().getBasis().transpose() * body1.getAngularVelocity(),
body2.getLinearVelocity(),
- body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
-
-
+ body2.getCenterOfMassTransform().getBasis().transpose() * body2.getAngularVelocity());
rel_vel = normal.dot(vel);
-
+
//todo: move this into proper structure
btScalar contactDamping = btScalar(0.2);
#ifdef ONLY_USE_LINEAR_MASS
btScalar massTerm = btScalar(1.) / (body1.getInvMass() + body2.getInvMass());
- impulse = - contactDamping * rel_vel * massTerm;
-#else
+ impulse = -contactDamping * rel_vel * massTerm;
+#else
btScalar velocityImpulse = -contactDamping * rel_vel * jacDiagABInv;
impulse = velocityImpulse;
#endif
}
-
-
-
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-17 01:12:47 +0000