diff options
Diffstat (limited to 'thirdparty/bullet/src/Bullet3Dynamics/shared')
4 files changed, 315 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ContactConstraint4.h b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ContactConstraint4.h new file mode 100644 index 0000000000..68cf65e312 --- /dev/null +++ b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ContactConstraint4.h @@ -0,0 +1,34 @@ +#ifndef B3_CONTACT_CONSTRAINT5_H +#define B3_CONTACT_CONSTRAINT5_H + +#include "Bullet3Common/shared/b3Float4.h" + +typedef struct b3ContactConstraint4 b3ContactConstraint4_t; + + +struct b3ContactConstraint4 +{ + + b3Float4 m_linear;//normal? + b3Float4 m_worldPos[4]; + b3Float4 m_center; // friction + float m_jacCoeffInv[4]; + float m_b[4]; + float m_appliedRambdaDt[4]; + float m_fJacCoeffInv[2]; // friction + float m_fAppliedRambdaDt[2]; // friction + + unsigned int m_bodyA; + unsigned int m_bodyB; + int m_batchIdx; + unsigned int m_paddings; + +}; + +//inline void setFrictionCoeff(float value) { m_linear[3] = value; } +inline float b3GetFrictionCoeff(b3ContactConstraint4_t* constraint) +{ + return constraint->m_linear.w; +} + +#endif //B3_CONTACT_CONSTRAINT5_H diff --git a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ConvertConstraint4.h b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ConvertConstraint4.h new file mode 100644 index 0000000000..805a2bd3ea --- /dev/null +++ b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3ConvertConstraint4.h @@ -0,0 +1,153 @@ + + +#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h" +#include "Bullet3Dynamics/shared/b3ContactConstraint4.h" +#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" + + +void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q); + void b3PlaneSpace1 (b3Float4ConstArg n, b3Float4* p, b3Float4* q) +{ + if (b3Fabs(n.z) > 0.70710678f) { + // choose p in y-z plane + float a = n.y*n.y + n.z*n.z; + float k = 1.f/sqrt(a); + p[0].x = 0; + p[0].y = -n.z*k; + p[0].z = n.y*k; + // set q = n x p + q[0].x = a*k; + q[0].y = -n.x*p[0].z; + q[0].z = n.x*p[0].y; + } + else { + // choose p in x-y plane + float a = n.x*n.x + n.y*n.y; + float k = 1.f/sqrt(a); + p[0].x = -n.y*k; + p[0].y = n.x*k; + p[0].z = 0; + // set q = n x p + q[0].x = -n.z*p[0].y; + q[0].y = n.z*p[0].x; + q[0].z = a*k; + } +} + + + +void setLinearAndAngular( b3Float4ConstArg n, b3Float4ConstArg r0, b3Float4ConstArg r1, b3Float4* linear, b3Float4* angular0, b3Float4* angular1) +{ + *linear = b3MakeFloat4(n.x,n.y,n.z,0.f); + *angular0 = b3Cross3(r0, n); + *angular1 = -b3Cross3(r1, n); +} + + +float calcRelVel( b3Float4ConstArg l0, b3Float4ConstArg l1, b3Float4ConstArg a0, b3Float4ConstArg a1, b3Float4ConstArg linVel0, + b3Float4ConstArg angVel0, b3Float4ConstArg linVel1, b3Float4ConstArg angVel1 ) +{ + return b3Dot3F4(l0, linVel0) + b3Dot3F4(a0, angVel0) + b3Dot3F4(l1, linVel1) + b3Dot3F4(a1, angVel1); +} + + +float calcJacCoeff(b3Float4ConstArg linear0, b3Float4ConstArg linear1, b3Float4ConstArg angular0, b3Float4ConstArg angular1, + float invMass0, const b3Mat3x3* invInertia0, float invMass1, const b3Mat3x3* invInertia1) +{ + // linear0,1 are normlized + float jmj0 = invMass0;//b3Dot3F4(linear0, linear0)*invMass0; + float jmj1 = b3Dot3F4(mtMul3(angular0,*invInertia0), angular0); + float jmj2 = invMass1;//b3Dot3F4(linear1, linear1)*invMass1; + float jmj3 = b3Dot3F4(mtMul3(angular1,*invInertia1), angular1); + return -1.f/(jmj0+jmj1+jmj2+jmj3); +} + + +void setConstraint4( b3Float4ConstArg posA, b3Float4ConstArg linVelA, b3Float4ConstArg angVelA, float invMassA, b3Mat3x3ConstArg invInertiaA, + b3Float4ConstArg posB, b3Float4ConstArg linVelB, b3Float4ConstArg angVelB, float invMassB, b3Mat3x3ConstArg invInertiaB, + __global struct b3Contact4Data* src, float dt, float positionDrift, float positionConstraintCoeff, + b3ContactConstraint4_t* dstC ) +{ + dstC->m_bodyA = abs(src->m_bodyAPtrAndSignBit); + dstC->m_bodyB = abs(src->m_bodyBPtrAndSignBit); + + float dtInv = 1.f/dt; + for(int ic=0; ic<4; ic++) + { + dstC->m_appliedRambdaDt[ic] = 0.f; + } + dstC->m_fJacCoeffInv[0] = dstC->m_fJacCoeffInv[1] = 0.f; + + + dstC->m_linear = src->m_worldNormalOnB; + dstC->m_linear.w = 0.7f ;//src->getFrictionCoeff() ); + for(int ic=0; ic<4; ic++) + { + b3Float4 r0 = src->m_worldPosB[ic] - posA; + b3Float4 r1 = src->m_worldPosB[ic] - posB; + + if( ic >= src->m_worldNormalOnB.w )//npoints + { + dstC->m_jacCoeffInv[ic] = 0.f; + continue; + } + + float relVelN; + { + b3Float4 linear, angular0, angular1; + setLinearAndAngular(src->m_worldNormalOnB, r0, r1, &linear, &angular0, &angular1); + + dstC->m_jacCoeffInv[ic] = calcJacCoeff(linear, -linear, angular0, angular1, + invMassA, &invInertiaA, invMassB, &invInertiaB ); + + relVelN = calcRelVel(linear, -linear, angular0, angular1, + linVelA, angVelA, linVelB, angVelB); + + float e = 0.f;//src->getRestituitionCoeff(); + if( relVelN*relVelN < 0.004f ) e = 0.f; + + dstC->m_b[ic] = e*relVelN; + //float penetration = src->m_worldPosB[ic].w; + dstC->m_b[ic] += (src->m_worldPosB[ic].w + positionDrift)*positionConstraintCoeff*dtInv; + dstC->m_appliedRambdaDt[ic] = 0.f; + } + } + + if( src->m_worldNormalOnB.w > 0 )//npoints + { // prepare friction + b3Float4 center = b3MakeFloat4(0.f,0.f,0.f,0.f); + for(int i=0; i<src->m_worldNormalOnB.w; i++) + center += src->m_worldPosB[i]; + center /= (float)src->m_worldNormalOnB.w; + + b3Float4 tangent[2]; + b3PlaneSpace1(src->m_worldNormalOnB,&tangent[0],&tangent[1]); + + b3Float4 r[2]; + r[0] = center - posA; + r[1] = center - posB; + + for(int i=0; i<2; i++) + { + b3Float4 linear, angular0, angular1; + setLinearAndAngular(tangent[i], r[0], r[1], &linear, &angular0, &angular1); + + dstC->m_fJacCoeffInv[i] = calcJacCoeff(linear, -linear, angular0, angular1, + invMassA, &invInertiaA, invMassB, &invInertiaB ); + dstC->m_fAppliedRambdaDt[i] = 0.f; + } + dstC->m_center = center; + } + + for(int i=0; i<4; i++) + { + if( i<src->m_worldNormalOnB.w ) + { + dstC->m_worldPos[i] = src->m_worldPosB[i]; + } + else + { + dstC->m_worldPos[i] = b3MakeFloat4(0.f,0.f,0.f,0.f); + } + } +} diff --git a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3Inertia.h b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3Inertia.h new file mode 100644 index 0000000000..96fe9f8b39 --- /dev/null +++ b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3Inertia.h @@ -0,0 +1,15 @@ + + +#ifndef B3_INERTIA_H +#define B3_INERTIA_H + +#include "Bullet3Common/shared/b3Mat3x3.h" + +struct b3Inertia +{ + b3Mat3x3 m_invInertiaWorld; + b3Mat3x3 m_initInvInertia; +}; + + +#endif //B3_INERTIA_H
\ No newline at end of file diff --git a/thirdparty/bullet/src/Bullet3Dynamics/shared/b3IntegrateTransforms.h b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3IntegrateTransforms.h new file mode 100644 index 0000000000..e96f90d3f3 --- /dev/null +++ b/thirdparty/bullet/src/Bullet3Dynamics/shared/b3IntegrateTransforms.h @@ -0,0 +1,113 @@ + + +#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" + + + +inline void integrateSingleTransform( __global b3RigidBodyData_t* bodies,int nodeID, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration) +{ + + if (bodies[nodeID].m_invMass != 0.f) + { + float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f); + + //angular velocity + { + b3Float4 axis; + //add some hardcoded angular damping + bodies[nodeID].m_angVel.x *= angularDamping; + bodies[nodeID].m_angVel.y *= angularDamping; + bodies[nodeID].m_angVel.z *= angularDamping; + + b3Float4 angvel = bodies[nodeID].m_angVel; + + float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel)); + + //limit the angular motion + if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD) + { + fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep; + } + if(fAngle < 0.001f) + { + // use Taylor's expansions of sync function + axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle); + } + else + { + // sync(fAngle) = sin(c*fAngle)/t + axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle); + } + + b3Quat dorn; + dorn.x = axis.x; + dorn.y = axis.y; + dorn.z = axis.z; + dorn.w = b3Cos(fAngle * timeStep * 0.5f); + b3Quat orn0 = bodies[nodeID].m_quat; + b3Quat predictedOrn = b3QuatMul(dorn, orn0); + predictedOrn = b3QuatNormalized(predictedOrn); + bodies[nodeID].m_quat=predictedOrn; + } + //linear velocity + bodies[nodeID].m_pos += bodies[nodeID].m_linVel * timeStep; + + //apply gravity + bodies[nodeID].m_linVel += gravityAcceleration * timeStep; + + } + +} + +inline void b3IntegrateTransform( __global b3RigidBodyData_t* body, float timeStep, float angularDamping, b3Float4ConstArg gravityAcceleration) +{ + float BT_GPU_ANGULAR_MOTION_THRESHOLD = (0.25f * 3.14159254f); + + if( (body->m_invMass != 0.f)) + { + //angular velocity + { + b3Float4 axis; + //add some hardcoded angular damping + body->m_angVel.x *= angularDamping; + body->m_angVel.y *= angularDamping; + body->m_angVel.z *= angularDamping; + + b3Float4 angvel = body->m_angVel; + float fAngle = b3Sqrt(b3Dot3F4(angvel, angvel)); + //limit the angular motion + if(fAngle*timeStep > BT_GPU_ANGULAR_MOTION_THRESHOLD) + { + fAngle = BT_GPU_ANGULAR_MOTION_THRESHOLD / timeStep; + } + if(fAngle < 0.001f) + { + // use Taylor's expansions of sync function + axis = angvel * (0.5f*timeStep-(timeStep*timeStep*timeStep)*0.020833333333f * fAngle * fAngle); + } + else + { + // sync(fAngle) = sin(c*fAngle)/t + axis = angvel * ( b3Sin(0.5f * fAngle * timeStep) / fAngle); + } + b3Quat dorn; + dorn.x = axis.x; + dorn.y = axis.y; + dorn.z = axis.z; + dorn.w = b3Cos(fAngle * timeStep * 0.5f); + b3Quat orn0 = body->m_quat; + + b3Quat predictedOrn = b3QuatMul(dorn, orn0); + predictedOrn = b3QuatNormalized(predictedOrn); + body->m_quat=predictedOrn; + } + + //apply gravity + body->m_linVel += gravityAcceleration * timeStep; + + //linear velocity + body->m_pos += body->m_linVel * timeStep; + + } + +} |