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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp')
-rw-r--r--thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp262
1 files changed, 128 insertions, 134 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
index f3979be358..ccf8916049 100644
--- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
+++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.cpp
@@ -15,14 +15,9 @@ subject to the following restrictions:
#include "btNNCGConstraintSolver.h"
-
-
-
-
-
-btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
+btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)
{
- btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies,numBodies,manifoldPtr, numManifolds, constraints,numConstraints,infoGlobal,debugDrawer);
+ btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
m_pNC.resizeNoInitialize(m_tmpSolverNonContactConstraintPool.size());
m_pC.resizeNoInitialize(m_tmpSolverContactConstraintPool.size());
@@ -37,38 +32,39 @@ btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject*
return val;
}
-btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
+btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */, int /*numBodies*/, btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* /*debugDrawer*/)
{
-
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
int numConstraintPool = m_tmpSolverContactConstraintPool.size();
int numFrictionPool = m_tmpSolverContactFrictionConstraintPool.size();
if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER)
{
- if (1) // uncomment this for a bit less random ((iteration & 7) == 0)
+ if (1) // uncomment this for a bit less random ((iteration & 7) == 0)
{
-
- for (int j=0; j<numNonContactPool; ++j) {
+ for (int j = 0; j < numNonContactPool; ++j)
+ {
int tmp = m_orderNonContactConstraintPool[j];
- int swapi = btRandInt2(j+1);
+ int swapi = btRandInt2(j + 1);
m_orderNonContactConstraintPool[j] = m_orderNonContactConstraintPool[swapi];
m_orderNonContactConstraintPool[swapi] = tmp;
}
- //contact/friction constraints are not solved more than
- if (iteration< infoGlobal.m_numIterations)
+ //contact/friction constraints are not solved more than
+ if (iteration < infoGlobal.m_numIterations)
{
- for (int j=0; j<numConstraintPool; ++j) {
+ for (int j = 0; j < numConstraintPool; ++j)
+ {
int tmp = m_orderTmpConstraintPool[j];
- int swapi = btRandInt2(j+1);
+ int swapi = btRandInt2(j + 1);
m_orderTmpConstraintPool[j] = m_orderTmpConstraintPool[swapi];
m_orderTmpConstraintPool[swapi] = tmp;
}
- for (int j=0; j<numFrictionPool; ++j) {
+ for (int j = 0; j < numFrictionPool; ++j)
+ {
int tmp = m_orderFrictionConstraintPool[j];
- int swapi = btRandInt2(j+1);
+ int swapi = btRandInt2(j + 1);
m_orderFrictionConstraintPool[j] = m_orderFrictionConstraintPool[swapi];
m_orderFrictionConstraintPool[swapi] = tmp;
}
@@ -76,39 +72,40 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
}
}
-
btScalar deltaflengthsqr = 0;
{
- for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+ for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
{
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
- if (iteration < constraint.m_overrideNumSolverIterations)
+ if (iteration < constraint.m_overrideNumSolverIterations)
{
- btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint);
+ btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA], m_tmpSolverBodyPool[constraint.m_solverBodyIdB], constraint);
m_deltafNC[j] = deltaf;
deltaflengthsqr += deltaf * deltaf;
}
}
}
-
- if (m_onlyForNoneContact)
+ if (m_onlyForNoneContact)
{
- if (iteration==0)
+ if (iteration == 0)
+ {
+ for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = m_deltafNC[j];
+ }
+ else
{
- for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j];
- } else {
// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
- btScalar beta = m_deltafLengthSqrPrev>0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
- if (beta>1)
+ btScalar beta = m_deltafLengthSqrPrev > 0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
+ if (beta > 1)
{
- for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0;
- } else
+ for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = 0;
+ }
+ else
{
- for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+ for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
{
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
- if (iteration < constraint.m_overrideNumSolverIterations)
+ if (iteration < constraint.m_overrideNumSolverIterations)
{
btScalar additionaldeltaimpulse = beta * m_pNC[j];
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
@@ -116,8 +113,8 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
const btSolverConstraint& c = constraint;
- body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
- body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
+ body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
+ body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
}
}
}
@@ -125,21 +122,18 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
m_deltafLengthSqrPrev = deltaflengthsqr;
}
-
-
{
-
- if (iteration< infoGlobal.m_numIterations)
+ if (iteration < infoGlobal.m_numIterations)
{
- for (int j=0;j<numConstraints;j++)
+ 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);
+ 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);
+ constraints[j]->solveConstraintObsolete(bodyA, bodyB, infoGlobal.m_timeStep);
}
}
@@ -147,203 +141,206 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS)
{
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
- int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)? 2 : 1;
+ int multiplier = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1;
- for (int c=0;c<numPoolConstraints;c++)
+ for (int c = 0; c < numPoolConstraints; c++)
{
- btScalar totalImpulse =0;
+ btScalar totalImpulse = 0;
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]];
- btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+ btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
m_deltafC[c] = deltaf;
- deltaflengthsqr += deltaf*deltaf;
+ deltaflengthsqr += deltaf * deltaf;
totalImpulse = solveManifold.m_appliedImpulse;
}
bool applyFriction = true;
if (applyFriction)
{
{
+ btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier]];
- btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier]];
-
- if (totalImpulse>btScalar(0))
+ if (totalImpulse > btScalar(0))
{
- solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
- solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
- btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
- m_deltafCF[c*multiplier] = deltaf;
- deltaflengthsqr += deltaf*deltaf;
- } else {
- m_deltafCF[c*multiplier] = 0;
+ solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+ solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
+ btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+ m_deltafCF[c * multiplier] = deltaf;
+ deltaflengthsqr += deltaf * deltaf;
+ }
+ else
+ {
+ m_deltafCF[c * multiplier] = 0;
}
}
if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS)
{
+ btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c * multiplier + 1]];
- btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[c*multiplier+1]];
-
- if (totalImpulse>btScalar(0))
+ if (totalImpulse > btScalar(0))
+ {
+ solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+ solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
+ btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
+ m_deltafCF[c * multiplier + 1] = deltaf;
+ deltaflengthsqr += deltaf * deltaf;
+ }
+ else
{
- solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
- solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
- btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
- m_deltafCF[c*multiplier+1] = deltaf;
- deltaflengthsqr += deltaf*deltaf;
- } else {
- m_deltafCF[c*multiplier+1] = 0;
+ m_deltafCF[c * multiplier + 1] = 0;
}
}
}
}
-
}
- else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
+ else //SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
{
//solve the friction constraints after all contact constraints, don't interleave them
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
int j;
- for (j=0;j<numPoolConstraints;j++)
+ for (j = 0; j < numPoolConstraints; j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
- btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+ btScalar deltaf = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
m_deltafC[j] = deltaf;
- deltaflengthsqr += deltaf*deltaf;
+ deltaflengthsqr += deltaf * deltaf;
}
-
-
///solve all friction constraints
int numFrictionPoolConstraints = m_tmpSolverContactFrictionConstraintPool.size();
- for (j=0;j<numFrictionPoolConstraints;j++)
+ for (j = 0; j < numFrictionPoolConstraints; j++)
{
btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
btScalar totalImpulse = m_tmpSolverContactConstraintPool[solveManifold.m_frictionIndex].m_appliedImpulse;
- if (totalImpulse>btScalar(0))
+ if (totalImpulse > btScalar(0))
{
- solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
- solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
+ solveManifold.m_lowerLimit = -(solveManifold.m_friction * totalImpulse);
+ solveManifold.m_upperLimit = solveManifold.m_friction * totalImpulse;
- btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
+ btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA], m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB], solveManifold);
m_deltafCF[j] = deltaf;
- deltaflengthsqr += deltaf*deltaf;
- } else {
+ deltaflengthsqr += deltaf * deltaf;
+ }
+ else
+ {
m_deltafCF[j] = 0;
}
}
}
- {
+ {
int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size();
- for (int j=0;j<numRollingFrictionPoolConstraints;j++)
+ for (int j = 0; j < numRollingFrictionPoolConstraints; j++)
{
-
btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
btScalar totalImpulse = m_tmpSolverContactConstraintPool[rollingFrictionConstraint.m_frictionIndex].m_appliedImpulse;
- if (totalImpulse>btScalar(0))
+ if (totalImpulse > btScalar(0))
{
- btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse;
- if (rollingFrictionMagnitude>rollingFrictionConstraint.m_friction)
+ btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction * totalImpulse;
+ if (rollingFrictionMagnitude > rollingFrictionConstraint.m_friction)
rollingFrictionMagnitude = rollingFrictionConstraint.m_friction;
rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude;
rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude;
- btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint);
+ btScalar deltaf = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA], m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB], rollingFrictionConstraint);
m_deltafCRF[j] = deltaf;
- deltaflengthsqr += deltaf*deltaf;
- } else {
+ deltaflengthsqr += deltaf * deltaf;
+ }
+ else
+ {
m_deltafCRF[j] = 0;
}
}
- }
-
+ }
}
-
-
-
}
-
-
-
- if (!m_onlyForNoneContact)
+ if (!m_onlyForNoneContact)
{
- if (iteration==0)
+ if (iteration == 0)
{
- for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = m_deltafNC[j];
- for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = m_deltafC[j];
- for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = m_deltafCF[j];
- for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = m_deltafCRF[j];
- } else
+ for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = m_deltafNC[j];
+ for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) m_pC[j] = m_deltafC[j];
+ for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) m_pCF[j] = m_deltafCF[j];
+ for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) m_pCRF[j] = m_deltafCRF[j];
+ }
+ else
{
// deltaflengthsqrprev can be 0 only if the solver solved the problem exactly in the previous iteration. In this case we should have quit, but mainly for debug reason with this 'hack' it is now allowed to continue the calculation
- btScalar beta = m_deltafLengthSqrPrev>0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
- if (beta>1) {
- for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++) m_pNC[j] = 0;
- for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++) m_pC[j] = 0;
- for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++) m_pCF[j] = 0;
- for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++) m_pCRF[j] = 0;
- } else {
- for (int j=0;j<m_tmpSolverNonContactConstraintPool.size();j++)
+ btScalar beta = m_deltafLengthSqrPrev > 0 ? deltaflengthsqr / m_deltafLengthSqrPrev : 2;
+ if (beta > 1)
+ {
+ for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++) m_pNC[j] = 0;
+ for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++) m_pC[j] = 0;
+ for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++) m_pCF[j] = 0;
+ for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++) m_pCRF[j] = 0;
+ }
+ else
+ {
+ for (int j = 0; j < m_tmpSolverNonContactConstraintPool.size(); j++)
{
btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[m_orderNonContactConstraintPool[j]];
- if (iteration < constraint.m_overrideNumSolverIterations) {
+ if (iteration < constraint.m_overrideNumSolverIterations)
+ {
btScalar additionaldeltaimpulse = beta * m_pNC[j];
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
m_pNC[j] = beta * m_pNC[j] + m_deltafNC[j];
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
const btSolverConstraint& c = constraint;
- body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
- body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
+ body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
+ body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
}
}
- for (int j=0;j<m_tmpSolverContactConstraintPool.size();j++)
+ for (int j = 0; j < m_tmpSolverContactConstraintPool.size(); j++)
{
btSolverConstraint& constraint = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
- if (iteration< infoGlobal.m_numIterations) {
+ if (iteration < infoGlobal.m_numIterations)
+ {
btScalar additionaldeltaimpulse = beta * m_pC[j];
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
m_pC[j] = beta * m_pC[j] + m_deltafC[j];
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
const btSolverConstraint& c = constraint;
- body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
- body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
+ body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
+ body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
}
}
- for (int j=0;j<m_tmpSolverContactFrictionConstraintPool.size();j++)
+ for (int j = 0; j < m_tmpSolverContactFrictionConstraintPool.size(); j++)
{
btSolverConstraint& constraint = m_tmpSolverContactFrictionConstraintPool[m_orderFrictionConstraintPool[j]];
- if (iteration< infoGlobal.m_numIterations) {
+ if (iteration < infoGlobal.m_numIterations)
+ {
btScalar additionaldeltaimpulse = beta * m_pCF[j];
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
m_pCF[j] = beta * m_pCF[j] + m_deltafCF[j];
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
const btSolverConstraint& c = constraint;
- body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
- body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
+ body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
+ body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
}
}
{
- for (int j=0;j<m_tmpSolverContactRollingFrictionConstraintPool.size();j++)
+ for (int j = 0; j < m_tmpSolverContactRollingFrictionConstraintPool.size(); j++)
{
btSolverConstraint& constraint = m_tmpSolverContactRollingFrictionConstraintPool[j];
- if (iteration< infoGlobal.m_numIterations) {
+ if (iteration < infoGlobal.m_numIterations)
+ {
btScalar additionaldeltaimpulse = beta * m_pCRF[j];
constraint.m_appliedImpulse = btScalar(constraint.m_appliedImpulse) + additionaldeltaimpulse;
m_pCRF[j] = beta * m_pCRF[j] + m_deltafCRF[j];
btSolverBody& body1 = m_tmpSolverBodyPool[constraint.m_solverBodyIdA];
btSolverBody& body2 = m_tmpSolverBodyPool[constraint.m_solverBodyIdB];
const btSolverConstraint& c = constraint;
- body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,additionaldeltaimpulse);
- body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,additionaldeltaimpulse);
+ body1.internalApplyImpulse(c.m_contactNormal1 * body1.internalGetInvMass(), c.m_angularComponentA, additionaldeltaimpulse);
+ body2.internalApplyImpulse(c.m_contactNormal2 * body2.internalGetInvMass(), c.m_angularComponentB, additionaldeltaimpulse);
}
}
}
@@ -355,7 +352,7 @@ btScalar btNNCGConstraintSolver::solveSingleIteration(int iteration, btCollision
return deltaflengthsqr;
}
-btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal)
+btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
{
m_pNC.resizeNoInitialize(0);
m_pC.resizeNoInitialize(0);
@@ -369,6 +366,3 @@ btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject
return btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);
}
-
-
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-08 00:51:29 +0000