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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp | 620 |
1 files changed, 0 insertions, 620 deletions
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp deleted file mode 100644 index ed4e0b686d..0000000000 --- a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp +++ /dev/null @@ -1,620 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2013 Erwin Coumans 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. -*/ -///original version written by Erwin Coumans, October 2013 - -#include "btMLCPSolver.h" -#include "LinearMath/btMatrixX.h" -#include "LinearMath/btQuickprof.h" -#include "btSolveProjectedGaussSeidel.h" - -btMLCPSolver::btMLCPSolver(btMLCPSolverInterface* solver) - : m_solver(solver), - m_fallback(0) -{ -} - -btMLCPSolver::~btMLCPSolver() -{ -} - -bool gUseMatrixMultiply = false; -bool interleaveContactAndFriction = false; - -btScalar btMLCPSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodiesUnUsed, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) -{ - btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(bodies, numBodiesUnUsed, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); - - { - BT_PROFILE("gather constraint data"); - - int numFrictionPerContact = m_tmpSolverContactConstraintPool.size() == m_tmpSolverContactFrictionConstraintPool.size() ? 1 : 2; - - // int numBodies = m_tmpSolverBodyPool.size(); - m_allConstraintPtrArray.resize(0); - m_limitDependencies.resize(m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size()); - btAssert(m_limitDependencies.size() == m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size()); - // printf("m_limitDependencies.size() = %d\n",m_limitDependencies.size()); - - int dindex = 0; - for (int i = 0; i < m_tmpSolverNonContactConstraintPool.size(); i++) - { - m_allConstraintPtrArray.push_back(&m_tmpSolverNonContactConstraintPool[i]); - m_limitDependencies[dindex++] = -1; - } - - ///The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead - - int firstContactConstraintOffset = dindex; - - if (interleaveContactAndFriction) - { - for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++) - { - 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); - return 0.f; - } - } - - if (gUseMatrixMultiply) - { - BT_PROFILE("createMLCP"); - createMLCP(infoGlobal); - } - else - { - BT_PROFILE("createMLCPFast"); - createMLCPFast(infoGlobal); - } - - return 0.f; -} - -bool btMLCPSolver::solveMLCP(const btContactSolverInfo& infoGlobal) -{ - bool result = true; - - if (m_A.rows() == 0) - return true; - - //if using split impulse, we solve 2 separate (M)LCPs - if (infoGlobal.m_splitImpulse) - { - btMatrixXu Acopy = m_A; - btAlignedObjectArray<int> limitDependenciesCopy = m_limitDependencies; - // printf("solve first LCP\n"); - 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); - } - return result; -} - -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; -}; - -void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal) -{ - int numContactRows = interleaveContactAndFriction ? 3 : 1; - - int numConstraintRows = m_allConstraintPtrArray.size(); - 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 btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal) -{ - int numBodies = this->m_tmpSolverBodyPool.size(); - int numConstraintRows = m_allConstraintPtrArray.size(); - - m_b.resize(numConstraintRows); - if (infoGlobal.m_splitImpulse) - m_bSplit.resize(numConstraintRows); - - m_bSplit.setZero(); - m_b.setZero(); - - for (int i = 0; i < numConstraintRows; i++) - { - if (m_allConstraintPtrArray[i]->m_jacDiagABInv) - { - m_b[i] = m_allConstraintPtrArray[i]->m_rhs / m_allConstraintPtrArray[i]->m_jacDiagABInv; - if (infoGlobal.m_splitImpulse) - m_bSplit[i] = m_allConstraintPtrArray[i]->m_rhsPenetration / m_allConstraintPtrArray[i]->m_jacDiagABInv; - } - } - - btMatrixXu& Minv = m_scratchMInv; - Minv.resize(6 * numBodies, 6 * numBodies); - Minv.setZero(); - for (int i = 0; i < numBodies; i++) - { - const btSolverBody& rb = m_tmpSolverBodyPool[i]; - const btVector3& invMass = rb.m_invMass; - setElem(Minv, i * 6 + 0, i * 6 + 0, invMass[0]); - setElem(Minv, i * 6 + 1, i * 6 + 1, invMass[1]); - setElem(Minv, i * 6 + 2, i * 6 + 2, invMass[2]); - btRigidBody* orgBody = m_tmpSolverBodyPool[i].m_originalBody; - - for (int r = 0; r < 3; r++) - for (int c = 0; c < 3; c++) - setElem(Minv, i * 6 + 3 + r, i * 6 + 3 + c, orgBody ? orgBody->getInvInertiaTensorWorld()[r][c] : 0); - } - - btMatrixXu& J = m_scratchJ; - J.resize(numConstraintRows, 6 * numBodies); - J.setZero(); - - m_lo.resize(numConstraintRows); - m_hi.resize(numConstraintRows); - - for (int i = 0; i < numConstraintRows; i++) - { - m_lo[i] = m_allConstraintPtrArray[i]->m_lowerLimit; - m_hi[i] = m_allConstraintPtrArray[i]->m_upperLimit; - - int bodyIndex0 = m_allConstraintPtrArray[i]->m_solverBodyIdA; - int bodyIndex1 = m_allConstraintPtrArray[i]->m_solverBodyIdB; - if (m_tmpSolverBodyPool[bodyIndex0].m_originalBody) - { - setElem(J, i, 6 * bodyIndex0 + 0, m_allConstraintPtrArray[i]->m_contactNormal1[0]); - setElem(J, i, 6 * bodyIndex0 + 1, m_allConstraintPtrArray[i]->m_contactNormal1[1]); - setElem(J, i, 6 * bodyIndex0 + 2, m_allConstraintPtrArray[i]->m_contactNormal1[2]); - setElem(J, i, 6 * bodyIndex0 + 3, m_allConstraintPtrArray[i]->m_relpos1CrossNormal[0]); - setElem(J, i, 6 * bodyIndex0 + 4, m_allConstraintPtrArray[i]->m_relpos1CrossNormal[1]); - setElem(J, i, 6 * bodyIndex0 + 5, m_allConstraintPtrArray[i]->m_relpos1CrossNormal[2]); - } - if (m_tmpSolverBodyPool[bodyIndex1].m_originalBody) - { - setElem(J, i, 6 * bodyIndex1 + 0, m_allConstraintPtrArray[i]->m_contactNormal2[0]); - setElem(J, i, 6 * bodyIndex1 + 1, m_allConstraintPtrArray[i]->m_contactNormal2[1]); - setElem(J, i, 6 * bodyIndex1 + 2, m_allConstraintPtrArray[i]->m_contactNormal2[2]); - setElem(J, i, 6 * bodyIndex1 + 3, m_allConstraintPtrArray[i]->m_relpos2CrossNormal[0]); - setElem(J, i, 6 * bodyIndex1 + 4, m_allConstraintPtrArray[i]->m_relpos2CrossNormal[1]); - setElem(J, i, 6 * bodyIndex1 + 5, m_allConstraintPtrArray[i]->m_relpos2CrossNormal[2]); - } - } - - btMatrixXu& J_transpose = m_scratchJTranspose; - J_transpose = J.transpose(); - - btMatrixXu& tmp = m_scratchTmp; - //Minv.printMatrix("Minv="); - { - { - BT_PROFILE("J*Minv"); - tmp = J * Minv; - } - { - BT_PROFILE("J*tmp"); - m_A = tmp * J_transpose; - } - } - //J.printMatrix("J"); - 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); - } - } - - m_x.resize(numConstraintRows); - if (infoGlobal.m_splitImpulse) - m_xSplit.resize(numConstraintRows); - // m_x.setZero(); - - for (int i = 0; i < m_allConstraintPtrArray.size(); i++) - { - const btSolverConstraint& c = *m_allConstraintPtrArray[i]; - m_x[i] = c.m_appliedImpulse; - if (infoGlobal.m_splitImpulse) - m_xSplit[i] = c.m_appliedPushImpulse; - } -} - -btScalar btMLCPSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) -{ - bool result = true; - { - BT_PROFILE("solveMLCP"); - // printf("m_A(%d,%d)\n", m_A.rows(),m_A.cols()); - result = solveMLCP(infoGlobal); - } - - //check if solution is valid, and otherwise fallback to btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations - if (result) - { - BT_PROFILE("process MLCP results"); - for (int i = 0; i < m_allConstraintPtrArray.size(); i++) - { - { - btSolverConstraint& c = *m_allConstraintPtrArray[i]; - int sbA = c.m_solverBodyIdA; - int sbB = c.m_solverBodyIdB; - //btRigidBody* orgBodyA = m_tmpSolverBodyPool[sbA].m_originalBody; - // btRigidBody* orgBodyB = m_tmpSolverBodyPool[sbB].m_originalBody; - - btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA]; - btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB]; - - { - btScalar deltaImpulse = m_x[i] - c.m_appliedImpulse; - c.m_appliedImpulse = m_x[i]; - 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) - { - btScalar deltaImpulse = m_xSplit[i] - c.m_appliedPushImpulse; - solverBodyA.internalApplyPushImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); - solverBodyB.internalApplyPushImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); - c.m_appliedPushImpulse = m_xSplit[i]; - } - } - } - } - else - { - // printf("m_fallback = %d\n",m_fallback); - m_fallback++; - btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); - } - - return 0.f; -} |