diff options
Diffstat (limited to 'thirdparty/bullet/src/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp | 488 |
1 files changed, 0 insertions, 488 deletions
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp b/thirdparty/bullet/src/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp deleted file mode 100644 index fbc84cc28d..0000000000 --- a/thirdparty/bullet/src/Bullet3Dynamics/b3CpuRigidBodyPipeline.cpp +++ /dev/null @@ -1,488 +0,0 @@ -#include "b3CpuRigidBodyPipeline.h" - -#include "Bullet3Dynamics/shared/b3IntegrateTransforms.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" -#include "Bullet3Collision/BroadPhaseCollision/b3DynamicBvhBroadphase.h" -#include "Bullet3Collision/NarrowPhaseCollision/b3Config.h" -#include "Bullet3Collision/NarrowPhaseCollision/b3CpuNarrowPhase.h" -#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h" -#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h" -#include "Bullet3Common/b3Vector3.h" -#include "Bullet3Dynamics/shared/b3ContactConstraint4.h" -#include "Bullet3Dynamics/shared/b3Inertia.h" - - -struct b3CpuRigidBodyPipelineInternalData -{ - b3AlignedObjectArray<b3RigidBodyData> m_rigidBodies; - b3AlignedObjectArray<b3Inertia> m_inertias; - b3AlignedObjectArray<b3Aabb> m_aabbWorldSpace; - - b3DynamicBvhBroadphase* m_bp; - b3CpuNarrowPhase* m_np; - b3Config m_config; -}; - - -b3CpuRigidBodyPipeline::b3CpuRigidBodyPipeline(class b3CpuNarrowPhase* narrowphase, struct b3DynamicBvhBroadphase* broadphaseDbvt, const b3Config& config) -{ - m_data = new b3CpuRigidBodyPipelineInternalData; - m_data->m_np = narrowphase; - m_data->m_bp = broadphaseDbvt; - m_data->m_config = config; -} - -b3CpuRigidBodyPipeline::~b3CpuRigidBodyPipeline() -{ - delete m_data; -} - -void b3CpuRigidBodyPipeline::updateAabbWorldSpace() -{ - - for (int i=0;i<this->getNumBodies();i++) - { - b3RigidBodyData* body = &m_data->m_rigidBodies[i]; - b3Float4 position = body->m_pos; - b3Quat orientation = body->m_quat; - - int collidableIndex = body->m_collidableIdx; - b3Collidable& collidable = m_data->m_np->getCollidableCpu(collidableIndex); - int shapeIndex = collidable.m_shapeIndex; - - if (shapeIndex>=0) - { - - - b3Aabb localAabb = m_data->m_np->getLocalSpaceAabb(shapeIndex); - b3Aabb& worldAabb = m_data->m_aabbWorldSpace[i]; - float margin=0.f; - b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&worldAabb.m_minVec,&worldAabb.m_maxVec); - m_data->m_bp->setAabb(i,worldAabb.m_minVec,worldAabb.m_maxVec,0); - } - } -} - -void b3CpuRigidBodyPipeline::computeOverlappingPairs() -{ - int numPairs = m_data->m_bp->getOverlappingPairCache()->getNumOverlappingPairs(); - m_data->m_bp->calculateOverlappingPairs(); - numPairs = m_data->m_bp->getOverlappingPairCache()->getNumOverlappingPairs(); - printf("numPairs=%d\n",numPairs); -} - -void b3CpuRigidBodyPipeline::computeContactPoints() -{ - - b3AlignedObjectArray<b3Int4>& pairs = m_data->m_bp->getOverlappingPairCache()->getOverlappingPairArray(); - - m_data->m_np->computeContacts(pairs,m_data->m_aabbWorldSpace, m_data->m_rigidBodies); - -} -void b3CpuRigidBodyPipeline::stepSimulation(float deltaTime) -{ - - //update world space aabb's - updateAabbWorldSpace(); - - //compute overlapping pairs - computeOverlappingPairs(); - - //compute contacts - computeContactPoints(); - - //solve contacts - - //update transforms - integrate(deltaTime); - - -} - - -static inline float b3CalcRelVel(const b3Vector3& l0, const b3Vector3& l1, const b3Vector3& a0, const b3Vector3& a1, - const b3Vector3& linVel0, const b3Vector3& angVel0, const b3Vector3& linVel1, const b3Vector3& angVel1) -{ - return b3Dot(l0, linVel0) + b3Dot(a0, angVel0) + b3Dot(l1, linVel1) + b3Dot(a1, angVel1); -} - - -static inline void b3SetLinearAndAngular(const b3Vector3& n, const b3Vector3& r0, const b3Vector3& r1, - b3Vector3& linear, b3Vector3& angular0, b3Vector3& angular1) -{ - linear = -n; - angular0 = -b3Cross(r0, n); - angular1 = b3Cross(r1, n); -} - - - -static inline void b3SolveContact(b3ContactConstraint4& cs, - const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA, - const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB, - float maxRambdaDt[4], float minRambdaDt[4]) -{ - - b3Vector3 dLinVelA; dLinVelA.setZero(); - b3Vector3 dAngVelA; dAngVelA.setZero(); - b3Vector3 dLinVelB; dLinVelB.setZero(); - b3Vector3 dAngVelB; dAngVelB.setZero(); - - for(int ic=0; ic<4; ic++) - { - // dont necessary because this makes change to 0 - if( cs.m_jacCoeffInv[ic] == 0.f ) continue; - - { - b3Vector3 angular0, angular1, linear; - b3Vector3 r0 = cs.m_worldPos[ic] - (b3Vector3&)posA; - b3Vector3 r1 = cs.m_worldPos[ic] - (b3Vector3&)posB; - b3SetLinearAndAngular( (const b3Vector3 &)-cs.m_linear, (const b3Vector3 &)r0, (const b3Vector3 &)r1, linear, angular0, angular1 ); - - float rambdaDt = b3CalcRelVel((const b3Vector3 &)cs.m_linear,(const b3Vector3 &) -cs.m_linear, angular0, angular1, - linVelA, angVelA, linVelB, angVelB ) + cs.m_b[ic]; - rambdaDt *= cs.m_jacCoeffInv[ic]; - - { - float prevSum = cs.m_appliedRambdaDt[ic]; - float updated = prevSum; - updated += rambdaDt; - updated = b3Max( updated, minRambdaDt[ic] ); - updated = b3Min( updated, maxRambdaDt[ic] ); - rambdaDt = updated - prevSum; - cs.m_appliedRambdaDt[ic] = updated; - } - - b3Vector3 linImp0 = invMassA*linear*rambdaDt; - b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt; - b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt; - b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt; -#ifdef _WIN32 - b3Assert(_finite(linImp0.getX())); - b3Assert(_finite(linImp1.getX())); -#endif - { - linVelA += linImp0; - angVelA += angImp0; - linVelB += linImp1; - angVelB += angImp1; - } - } - } - - -} - - - - - -static inline void b3SolveFriction(b3ContactConstraint4& cs, - const b3Vector3& posA, b3Vector3& linVelA, b3Vector3& angVelA, float invMassA, const b3Matrix3x3& invInertiaA, - const b3Vector3& posB, b3Vector3& linVelB, b3Vector3& angVelB, float invMassB, const b3Matrix3x3& invInertiaB, - float maxRambdaDt[4], float minRambdaDt[4]) -{ - - if( cs.m_fJacCoeffInv[0] == 0 && cs.m_fJacCoeffInv[0] == 0 ) return; - const b3Vector3& center = (const b3Vector3&)cs.m_center; - - b3Vector3 n = -(const b3Vector3&)cs.m_linear; - - b3Vector3 tangent[2]; - - b3PlaneSpace1 (n, tangent[0],tangent[1]); - - b3Vector3 angular0, angular1, linear; - b3Vector3 r0 = center - posA; - b3Vector3 r1 = center - posB; - for(int i=0; i<2; i++) - { - b3SetLinearAndAngular( tangent[i], r0, r1, linear, angular0, angular1 ); - float rambdaDt = b3CalcRelVel(linear, -linear, angular0, angular1, - linVelA, angVelA, linVelB, angVelB ); - rambdaDt *= cs.m_fJacCoeffInv[i]; - - { - float prevSum = cs.m_fAppliedRambdaDt[i]; - float updated = prevSum; - updated += rambdaDt; - updated = b3Max( updated, minRambdaDt[i] ); - updated = b3Min( updated, maxRambdaDt[i] ); - rambdaDt = updated - prevSum; - cs.m_fAppliedRambdaDt[i] = updated; - } - - b3Vector3 linImp0 = invMassA*linear*rambdaDt; - b3Vector3 linImp1 = invMassB*(-linear)*rambdaDt; - b3Vector3 angImp0 = (invInertiaA* angular0)*rambdaDt; - b3Vector3 angImp1 = (invInertiaB* angular1)*rambdaDt; -#ifdef _WIN32 - b3Assert(_finite(linImp0.getX())); - b3Assert(_finite(linImp1.getX())); -#endif - linVelA += linImp0; - angVelA += angImp0; - linVelB += linImp1; - angVelB += angImp1; - } - - { // angular damping for point constraint - b3Vector3 ab = ( posB - posA ).normalized(); - b3Vector3 ac = ( center - posA ).normalized(); - if( b3Dot( ab, ac ) > 0.95f || (invMassA == 0.f || invMassB == 0.f)) - { - float angNA = b3Dot( n, angVelA ); - float angNB = b3Dot( n, angVelB ); - - angVelA -= (angNA*0.1f)*n; - angVelB -= (angNB*0.1f)*n; - } - } - -} - - - - - -struct b3SolveTask// : public ThreadPool::Task -{ - b3SolveTask(b3AlignedObjectArray<b3RigidBodyData>& bodies, - b3AlignedObjectArray<b3Inertia>& shapes, - b3AlignedObjectArray<b3ContactConstraint4>& constraints, - int start, int nConstraints, - int maxNumBatches, - b3AlignedObjectArray<int>* wgUsedBodies, int curWgidx - ) - : m_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ), - m_wgUsedBodies(wgUsedBodies),m_curWgidx(curWgidx), -m_start( start ), - m_nConstraints( nConstraints ), - m_solveFriction( true ), - m_maxNumBatches(maxNumBatches) - {} - - unsigned short int getType(){ return 0; } - - void run(int tIdx) - { - b3AlignedObjectArray<int> usedBodies; - //printf("run..............\n"); - - - for (int bb=0;bb<m_maxNumBatches;bb++) - { - usedBodies.resize(0); - for(int ic=m_nConstraints-1; ic>=0; ic--) - //for(int ic=0; ic<m_nConstraints; ic++) - { - - int i = m_start + ic; - if (m_constraints[i].m_batchIdx != bb) - continue; - - float frictionCoeff = b3GetFrictionCoeff(&m_constraints[i]); - int aIdx = (int)m_constraints[i].m_bodyA; - int bIdx = (int)m_constraints[i].m_bodyB; - //int localBatch = m_constraints[i].m_batchIdx; - b3RigidBodyData& bodyA = m_bodies[aIdx]; - b3RigidBodyData& bodyB = m_bodies[bIdx]; - -#if 0 - if ((bodyA.m_invMass) && (bodyB.m_invMass)) - { - // printf("aIdx=%d, bIdx=%d\n", aIdx,bIdx); - } - if (bIdx==10) - { - //printf("ic(b)=%d, localBatch=%d\n",ic,localBatch); - } -#endif - if (aIdx==10) - { - //printf("ic(a)=%d, localBatch=%d\n",ic,localBatch); - } - if (usedBodies.size()<(aIdx+1)) - { - usedBodies.resize(aIdx+1,0); - } - - if (usedBodies.size()<(bIdx+1)) - { - usedBodies.resize(bIdx+1,0); - } - - if (bodyA.m_invMass) - { - b3Assert(usedBodies[aIdx]==0); - usedBodies[aIdx]++; - } - - if (bodyB.m_invMass) - { - b3Assert(usedBodies[bIdx]==0); - usedBodies[bIdx]++; - } - - - if( !m_solveFriction ) - { - float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX}; - float minRambdaDt[4] = {0.f,0.f,0.f,0.f}; - - b3SolveContact( m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass, (const b3Matrix3x3 &)m_shapes[aIdx].m_invInertiaWorld, - (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass, (const b3Matrix3x3 &)m_shapes[bIdx].m_invInertiaWorld, - maxRambdaDt, minRambdaDt ); - - } - else - { - float maxRambdaDt[4] = {FLT_MAX,FLT_MAX,FLT_MAX,FLT_MAX}; - float minRambdaDt[4] = {0.f,0.f,0.f,0.f}; - - float sum = 0; - for(int j=0; j<4; j++) - { - sum +=m_constraints[i].m_appliedRambdaDt[j]; - } - frictionCoeff = 0.7f; - for(int j=0; j<4; j++) - { - maxRambdaDt[j] = frictionCoeff*sum; - minRambdaDt[j] = -maxRambdaDt[j]; - } - - b3SolveFriction( m_constraints[i], (b3Vector3&)bodyA.m_pos, (b3Vector3&)bodyA.m_linVel, (b3Vector3&)bodyA.m_angVel, bodyA.m_invMass,(const b3Matrix3x3 &) m_shapes[aIdx].m_invInertiaWorld, - (b3Vector3&)bodyB.m_pos, (b3Vector3&)bodyB.m_linVel, (b3Vector3&)bodyB.m_angVel, bodyB.m_invMass,(const b3Matrix3x3 &) m_shapes[bIdx].m_invInertiaWorld, - maxRambdaDt, minRambdaDt ); - - } - } - - if (m_wgUsedBodies) - { - if (m_wgUsedBodies[m_curWgidx].size()<usedBodies.size()) - { - m_wgUsedBodies[m_curWgidx].resize(usedBodies.size()); - } - for (int i=0;i<usedBodies.size();i++) - { - if (usedBodies[i]) - { - //printf("cell %d uses body %d\n", m_curWgidx,i); - m_wgUsedBodies[m_curWgidx][i]=1; - } - } - } - - } - - - - } - - b3AlignedObjectArray<b3RigidBodyData>& m_bodies; - b3AlignedObjectArray<b3Inertia>& m_shapes; - b3AlignedObjectArray<b3ContactConstraint4>& m_constraints; - b3AlignedObjectArray<int>* m_wgUsedBodies; - int m_curWgidx; - int m_start; - int m_nConstraints; - bool m_solveFriction; - int m_maxNumBatches; -}; - -void b3CpuRigidBodyPipeline::solveContactConstraints() -{ - int m_nIterations = 4; - - b3AlignedObjectArray<b3ContactConstraint4> contactConstraints; -// const b3AlignedObjectArray<b3Contact4Data>& contacts = m_data->m_np->getContacts(); - int n = contactConstraints.size(); - //convert contacts... - - - - int maxNumBatches = 250; - - for(int iter=0; iter<m_nIterations; iter++) - { - b3SolveTask task( m_data->m_rigidBodies, m_data->m_inertias, contactConstraints, 0, n ,maxNumBatches,0,0); - task.m_solveFriction = false; - task.run(0); - } - - for(int iter=0; iter<m_nIterations; iter++) - { - b3SolveTask task( m_data->m_rigidBodies, m_data->m_inertias, contactConstraints, 0, n ,maxNumBatches,0,0); - task.m_solveFriction = true; - task.run(0); - } -} - -void b3CpuRigidBodyPipeline::integrate(float deltaTime) -{ - float angDamping=0.f; - b3Vector3 gravityAcceleration=b3MakeVector3(0,-9,0); - - //integrate transforms (external forces/gravity should be moved into constraint solver) - for (int i=0;i<m_data->m_rigidBodies.size();i++) - { - b3IntegrateTransform(&m_data->m_rigidBodies[i],deltaTime,angDamping,gravityAcceleration); - } - -} - -int b3CpuRigidBodyPipeline::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userData) -{ - b3RigidBodyData body; - int bodyIndex = m_data->m_rigidBodies.size(); - body.m_invMass = mass ? 1.f/mass : 0.f; - body.m_angVel.setValue(0,0,0); - body.m_collidableIdx = collidableIndex; - body.m_frictionCoeff = 0.3f; - body.m_linVel.setValue(0,0,0); - body.m_pos.setValue(position[0],position[1],position[2]); - body.m_quat.setValue(orientation[0],orientation[1],orientation[2],orientation[3]); - body.m_restituitionCoeff = 0.f; - - m_data->m_rigidBodies.push_back(body); - - - if (collidableIndex>=0) - { - b3Aabb& worldAabb = m_data->m_aabbWorldSpace.expand(); - - b3Aabb localAabb = m_data->m_np->getLocalSpaceAabb(collidableIndex); - b3Vector3 localAabbMin=b3MakeVector3(localAabb.m_min[0],localAabb.m_min[1],localAabb.m_min[2]); - b3Vector3 localAabbMax=b3MakeVector3(localAabb.m_max[0],localAabb.m_max[1],localAabb.m_max[2]); - - b3Scalar margin = 0.01f; - b3Transform t; - t.setIdentity(); - t.setOrigin(b3MakeVector3(position[0],position[1],position[2])); - t.setRotation(b3Quaternion(orientation[0],orientation[1],orientation[2],orientation[3])); - b3TransformAabb(localAabbMin,localAabbMax, margin,t,worldAabb.m_minVec,worldAabb.m_maxVec); - - m_data->m_bp->createProxy(worldAabb.m_minVec,worldAabb.m_maxVec,bodyIndex,0,1,1); -// b3Vector3 aabbMin,aabbMax; - // m_data->m_bp->getAabb(bodyIndex,aabbMin,aabbMax); - - } else - { - b3Error("registerPhysicsInstance using invalid collidableIndex\n"); - } - - return bodyIndex; -} - - -const struct b3RigidBodyData* b3CpuRigidBodyPipeline::getBodyBuffer() const -{ - return m_data->m_rigidBodies.size() ? &m_data->m_rigidBodies[0] : 0; -} - -int b3CpuRigidBodyPipeline::getNumBodies() const -{ - return m_data->m_rigidBodies.size(); -} |