diff options
Diffstat (limited to 'thirdparty/bullet')
117 files changed, 11680 insertions, 2406 deletions
diff --git a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h b/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h index 947362d08e..ef71016565 100644 --- a/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h +++ b/thirdparty/bullet/Bullet3Common/b3AlignedObjectArray.h @@ -528,6 +528,14 @@ protected: otherArray.copy(0, otherSize, m_data); } + void removeAtIndex(int index) + { + if (index<size()) + { + swap( index,size()-1); + pop_back(); + } + } }; #endif //B3_OBJECT_ARRAY__ diff --git a/thirdparty/bullet/Bullet3Common/b3FileUtils.h b/thirdparty/bullet/Bullet3Common/b3FileUtils.h index 1a331029ea..b5e8225cf0 100644 --- a/thirdparty/bullet/Bullet3Common/b3FileUtils.h +++ b/thirdparty/bullet/Bullet3Common/b3FileUtils.h @@ -36,7 +36,7 @@ struct b3FileUtils for (int i=0;!f && i<numPrefixes;i++) { -#ifdef _WIN32 +#ifdef _MSC_VER sprintf_s(relativeFileName,maxRelativeFileNameMaxLen,"%s%s",prefix[i],orgFileName); #else sprintf(relativeFileName,"%s%s",prefix[i],orgFileName); diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp index 168a773d56..3ae2922e58 100644 --- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp +++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.cpp @@ -599,8 +599,8 @@ int b3Generic6DofConstraint::get_limit_motor_info2( tag_vel, info->fps * limot->m_stopERP); info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity; - info->m_lowerLimit[srow] = -limot->m_maxMotorForce; - info->m_upperLimit[srow] = limot->m_maxMotorForce; + info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps; + info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps; } } if(limit) diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h index 084d36055c..169b1b94ad 100644 --- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h +++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Generic6DofConstraint.h @@ -69,7 +69,7 @@ public: { m_accumulatedImpulse = 0.f; m_targetVelocity = 0; - m_maxMotorForce = 0.1f; + m_maxMotorForce = 6.0f; m_maxLimitForce = 300.0f; m_loLimit = 1.0f; m_hiLimit = -1.0f; diff --git a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp index dd194fc7ba..896191c89c 100644 --- a/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp +++ b/thirdparty/bullet/Bullet3OpenCL/Initialize/b3OpenCLUtils.cpp @@ -619,7 +619,7 @@ cl_program b3OpenCLUtils_compileCLProgramFromString(cl_context clContext, cl_dev strippedName = strip2(clFileNameForCaching,"\\"); strippedName = strip2(strippedName,"/"); -#ifdef _MSVC_VER +#ifdef _MSC_VER sprintf_s(binaryFileName,B3_MAX_STRING_LENGTH,"%s/%s.%s.%s.bin",sCachedBinaryPath,strippedName, deviceName,driverVersion ); #else sprintf(binaryFileName,"%s/%s.%s.%s.bin",sCachedBinaryPath,strippedName, deviceName,driverVersion ); diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h index 2c4d41bc04..323aa96dca 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3Internal.h @@ -628,7 +628,6 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::resetPool(btDispatcher* /*dispatcher* } -extern int gOverlappingPairs; //#include <stdio.h> template <typename BP_FP_INT_TYPE> @@ -695,10 +694,9 @@ void btAxisSweep3Internal<BP_FP_INT_TYPE>::calculateOverlappingPairs(btDispatche pair.m_pProxy0 = 0; pair.m_pProxy1 = 0; m_invalidPair++; - gOverlappingPairs--; - } - - } + } + + } ///if you don't like to skip the invalid pairs in the array, execute following code: #define CLEAN_INVALID_PAIRS 1 diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h index adaf083a21..f6e1202a69 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h @@ -66,6 +66,7 @@ CONCAVE_SHAPES_START_HERE, EMPTY_SHAPE_PROXYTYPE, STATIC_PLANE_PROXYTYPE, CUSTOM_CONCAVE_SHAPE_TYPE, + SDF_SHAPE_PROXYTYPE=CUSTOM_CONCAVE_SHAPE_TYPE, CONCAVE_SHAPES_END_HERE, COMPOUND_SHAPE_PROXYTYPE, diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp index 4d12b1c9c7..14cd1a31ea 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp @@ -17,7 +17,7 @@ subject to the following restrictions: #include "btDbvtBroadphase.h" #include "LinearMath/btThreads.h" - +btScalar gDbvtMargin = btScalar(0.05); // // Profiling // @@ -332,12 +332,9 @@ void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy, if(delta[0]<0) velocity[0]=-velocity[0]; if(delta[1]<0) velocity[1]=-velocity[1]; if(delta[2]<0) velocity[2]=-velocity[2]; - if ( -#ifdef DBVT_BP_MARGIN - m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN) -#else - m_sets[0].update(proxy->leaf,aabb,velocity) -#endif + if ( + m_sets[0].update(proxy->leaf, aabb, velocity, gDbvtMargin) + ) { ++m_updates_done; diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h index 8feb95d51f..90b333d846 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h @@ -29,7 +29,8 @@ subject to the following restrictions: #define DBVT_BP_PREVENTFALSEUPDATE 0 #define DBVT_BP_ACCURATESLEEPING 0 #define DBVT_BP_ENABLE_BENCHMARK 0 -#define DBVT_BP_MARGIN (btScalar)0.05 +//#define DBVT_BP_MARGIN (btScalar)0.05 +extern btScalar gDbvtMargin; #if DBVT_BP_PROFILE #define DBVT_BP_PROFILING_RATE 256 diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h index 7b0f9489af..a0e4c18927 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h @@ -46,7 +46,8 @@ struct btDispatcherInfo m_useEpa(true), m_allowedCcdPenetration(btScalar(0.04)), m_useConvexConservativeDistanceUtil(false), - m_convexConservativeDistanceThreshold(0.0f) + m_convexConservativeDistanceThreshold(0.0f), + m_deterministicOverlappingPairs(false) { } @@ -62,6 +63,7 @@ struct btDispatcherInfo btScalar m_allowedCcdPenetration; bool m_useConvexConservativeDistanceUtil; btScalar m_convexConservativeDistanceThreshold; + bool m_deterministicOverlappingPairs; }; enum ebtDispatcherQueryType diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp index 55ebf06f1e..9e3337c5f6 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp @@ -23,11 +23,6 @@ subject to the following restrictions: #include <stdio.h> -int gOverlappingPairs = 0; - -int gRemovePairs =0; -int gAddedPairs =0; -int gFindPairs =0; @@ -134,13 +129,12 @@ void btHashedOverlappingPairCache::removeOverlappingPairsContainingProxy(btBroad btBroadphasePair* btHashedOverlappingPairCache::findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) { - gFindPairs++; - if(proxy0->m_uniqueId>proxy1->m_uniqueId) + if(proxy0->m_uniqueId>proxy1->m_uniqueId) btSwap(proxy0,proxy1); int proxyId1 = proxy0->getUid(); int proxyId2 = proxy1->getUid(); - /*if (proxyId1 > proxyId2) + /*if (proxyId1 > proxyId2) btSwap(proxyId1, proxyId2);*/ int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1), static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); @@ -271,13 +265,12 @@ btBroadphasePair* btHashedOverlappingPairCache::internalAddPair(btBroadphaseProx void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1,btDispatcher* dispatcher) { - gRemovePairs++; - if(proxy0->m_uniqueId>proxy1->m_uniqueId) + if(proxy0->m_uniqueId>proxy1->m_uniqueId) btSwap(proxy0,proxy1); int proxyId1 = proxy0->getUid(); int proxyId2 = proxy1->getUid(); - /*if (proxyId1 > proxyId2) + /*if (proxyId1 > proxyId2) btSwap(proxyId1, proxyId2);*/ int hash = static_cast<int>(getHash(static_cast<unsigned int>(proxyId1),static_cast<unsigned int>(proxyId2)) & (m_overlappingPairArray.capacity()-1)); @@ -386,8 +379,6 @@ void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* if (callback->processOverlap(*pair)) { removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher); - - gOverlappingPairs--; } else { i++; @@ -395,6 +386,70 @@ void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* } } +struct MyPairIndex +{ + int m_orgIndex; + int m_uidA0; + int m_uidA1; +}; + +class MyPairIndeSortPredicate +{ +public: + + bool operator() ( const MyPairIndex& a, const MyPairIndex& b ) const + { + const int uidA0 = a.m_uidA0; + const int uidB0 = b.m_uidA0; + const int uidA1 = a.m_uidA1; + const int uidB1 = b.m_uidA1; + return uidA0 > uidB0 || (uidA0 == uidB0 && uidA1 > uidB1); + } +}; + +void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo) +{ + if (dispatchInfo.m_deterministicOverlappingPairs) + { + btBroadphasePairArray& pa = getOverlappingPairArray(); + btAlignedObjectArray<MyPairIndex> indices; + { + BT_PROFILE("sortOverlappingPairs"); + indices.resize(pa.size()); + for (int i=0;i<indices.size();i++) + { + const btBroadphasePair& p = pa[i]; + const int uidA0 = p.m_pProxy0 ? p.m_pProxy0->m_uniqueId : -1; + const int uidA1 = p.m_pProxy1 ? p.m_pProxy1->m_uniqueId : -1; + + indices[i].m_uidA0 = uidA0; + indices[i].m_uidA1 = uidA1; + indices[i].m_orgIndex = i; + } + indices.quickSort(MyPairIndeSortPredicate()); + } + { + BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs"); + int i; + for (i=0;i<indices.size();) + { + btBroadphasePair* pair = &pa[indices[i].m_orgIndex]; + if (callback->processOverlap(*pair)) + { + removeOverlappingPair(pair->m_pProxy0,pair->m_pProxy1,dispatcher); + } else + { + i++; + } + } + } + } else + { + processAllOverlappingPairs(callback, dispatcher); + } +} + + void btHashedOverlappingPairCache::sortOverlappingPairs(btDispatcher* dispatcher) { ///need to keep hashmap in sync with pair address, so rebuild all @@ -435,7 +490,6 @@ void* btSortedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro int findIndex = m_overlappingPairArray.findLinearSearch(findPair); if (findIndex < m_overlappingPairArray.size()) { - gOverlappingPairs--; btBroadphasePair& pair = m_overlappingPairArray[findIndex]; void* userData = pair.m_internalInfo1; cleanOverlappingPair(pair,dispatcher); @@ -468,11 +522,8 @@ btBroadphasePair* btSortedOverlappingPairCache::addOverlappingPair(btBroadphaseP void* mem = &m_overlappingPairArray.expandNonInitializing(); btBroadphasePair* pair = new (mem) btBroadphasePair(*proxy0,*proxy1); - - gOverlappingPairs++; - gAddedPairs++; - - if (m_ghostPairCallback) + + if (m_ghostPairCallback) m_ghostPairCallback->addOverlappingPair(proxy0, proxy1); return pair; @@ -526,7 +577,6 @@ void btSortedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* pair->m_pProxy1 = 0; m_overlappingPairArray.swap(i,m_overlappingPairArray.size()-1); m_overlappingPairArray.pop_back(); - gOverlappingPairs--; } else { i++; @@ -559,7 +609,6 @@ void btSortedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,b pair.m_algorithm->~btCollisionAlgorithm(); dispatcher->freeCollisionAlgorithm(pair.m_algorithm); pair.m_algorithm=0; - gRemovePairs--; } } } diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h index f7be7d45b3..7a38d34f05 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h @@ -49,10 +49,6 @@ struct btOverlapFilterCallback -extern int gRemovePairs; -extern int gAddedPairs; -extern int gFindPairs; - const int BT_NULL_PAIR=0xffffffff; ///The btOverlappingPairCache provides an interface for overlapping pair management (add, remove, storage), used by the btBroadphaseInterface broadphases. @@ -78,6 +74,10 @@ public: virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher) = 0; + virtual void processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo) + { + processAllOverlappingPairs(callback, dispatcher); + } virtual btBroadphasePair* findPair(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) = 0; virtual bool hasDeferredRemoval() = 0; @@ -129,8 +129,6 @@ public: // no new pair is created and the old one is returned. virtual btBroadphasePair* addOverlappingPair(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) { - gAddedPairs++; - if (!needsBroadphaseCollision(proxy0,proxy1)) return 0; @@ -144,6 +142,8 @@ public: virtual void processAllOverlappingPairs(btOverlapCallback*,btDispatcher* dispatcher); + virtual void processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher, const struct btDispatcherInfo& dispatchInfo); + virtual btBroadphasePair* getOverlappingPairArrayPtr() { return &m_overlappingPairArray[0]; diff --git a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp index f1d5f5476e..5f89f960e8 100644 --- a/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +++ b/thirdparty/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp @@ -24,8 +24,6 @@ subject to the following restrictions: #include <new> -extern int gOverlappingPairs; - void btSimpleBroadphase::validate() { for (int i=0;i<m_numHandles;i++) @@ -315,8 +313,7 @@ void btSimpleBroadphase::calculateOverlappingPairs(btDispatcher* dispatcher) pair.m_pProxy0 = 0; pair.m_pProxy1 = 0; m_invalidPair++; - gOverlappingPairs--; - } + } } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp index c81af95672..e5bac8438e 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp @@ -132,6 +132,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po else { // Could be inside one of the contact capsules btScalar contactCapsuleRadiusSqr = radiusWithThreshold*radiusWithThreshold; + btScalar minDistSqr = contactCapsuleRadiusSqr; btVector3 nearestOnEdge; for (int i = 0; i < m_triangle->getNumEdges(); i++) { @@ -141,8 +142,9 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po m_triangle->getEdge(i, pa, pb); btScalar distanceSqr = SegmentSqrDistance(pa, pb, sphereCenter, nearestOnEdge); - if (distanceSqr < contactCapsuleRadiusSqr) { - // Yep, we're inside a capsule + if (distanceSqr < minDistSqr) { + // Yep, we're inside a capsule, and record the capsule with smallest distance + minDistSqr = distanceSqr; hasContact = true; contactPoint = nearestOnEdge; } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp index 2c36277821..cabbb0bf6a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp @@ -151,8 +151,8 @@ static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1 int index = 0; btScalar minDot = BT_LARGE_FLOAT; - if( count2 > 0 ) - index = (int) normal1.minDot( vertices2, count2, minDot); + if( count2 > 0 ) + index = (int) normal1.minDot( vertices2, count2, minDot); btVector3 v1 = b2Mul(xf1, vertices1[edge1]); btVector3 v2 = b2Mul(xf2, vertices2[index]); @@ -175,8 +175,8 @@ static btScalar FindMaxSeparation(int* edgeIndex, // Find edge normal on poly1 that has the largest projection onto d. int edge = 0; btScalar maxDot; - if( count1 > 0 ) - edge = (int) dLocal1.maxDot( normals1, count1, maxDot); + if( count1 > 0 ) + edge = (int) dLocal1.maxDot( normals1, count1, maxDot); // Get the separation for the edge normal. btScalar s = EdgeSeparation(poly1, xf1, edge, poly2, xf2); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp index 5739a1ef01..f8794dec47 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -27,8 +27,6 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionConfiguration.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" -int gNumManifold = 0; - #ifdef BT_DEBUG #include <stdio.h> #endif @@ -77,8 +75,6 @@ btCollisionDispatcher::~btCollisionDispatcher() btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObject* body0,const btCollisionObject* body1) { - gNumManifold++; - //btAssert(gNumManifold < 65535); @@ -121,7 +117,6 @@ void btCollisionDispatcher::clearManifold(btPersistentManifold* manifold) void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold) { - gNumManifold--; //printf("releaseManifold: gNumManifold %d\n",gNumManifold); clearManifold(manifold); @@ -246,13 +241,17 @@ public: + void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) { //m_blockedForChanges = true; btCollisionPairCallback collisionCallback(dispatchInfo,this); - pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher); + { + BT_PROFILE("processAllOverlappingPairs"); + pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher, dispatchInfo); + } //m_blockedForChanges = false; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp index b595c56bc5..05f96a14bc 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.cpp @@ -16,6 +16,7 @@ subject to the following restrictions: #include "btCollisionObject.h" #include "LinearMath/btSerializer.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" btCollisionObject::btCollisionObject() : m_interpolationLinearVelocity(0.f, 0.f, 0.f), @@ -38,7 +39,7 @@ btCollisionObject::btCollisionObject() m_rollingFriction(0.0f), m_spinningFriction(0.f), m_contactDamping(.1), - m_contactStiffness(1e4), + m_contactStiffness(BT_LARGE_FLOAT), m_internalType(CO_COLLISION_OBJECT), m_userObjectPointer(0), m_userIndex2(-1), @@ -114,10 +115,18 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius; dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold; dataOut->m_checkCollideWith = m_checkCollideWith; - - // Fill padding with zeros to appease msan. - memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding)); - + if (m_broadphaseHandle) + { + dataOut->m_collisionFilterGroup = m_broadphaseHandle->m_collisionFilterGroup; + dataOut->m_collisionFilterMask = m_broadphaseHandle->m_collisionFilterMask; + dataOut->m_uniqueId = m_broadphaseHandle->m_uniqueId; + } + else + { + dataOut->m_collisionFilterGroup = 0; + dataOut->m_collisionFilterMask = 0; + dataOut->m_uniqueId = -1; + } return btCollisionObjectDataName; } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h index fec831bffc..135f8a033c 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -621,7 +621,6 @@ struct btCollisionObjectDoubleData double m_hitFraction; double m_ccdSweptSphereRadius; double m_ccdMotionThreshold; - int m_hasAnisotropicFriction; int m_collisionFlags; int m_islandTag1; @@ -629,8 +628,9 @@ struct btCollisionObjectDoubleData int m_activationState1; int m_internalType; int m_checkCollideWith; - - char m_padding[4]; + int m_collisionFilterGroup; + int m_collisionFilterMask; + int m_uniqueId;//m_uniqueId is introduced for paircache. could get rid of this, by calculating the address offset etc. }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 @@ -650,13 +650,12 @@ struct btCollisionObjectFloatData float m_deactivationTime; float m_friction; float m_rollingFriction; - float m_contactDamping; + float m_contactDamping; float m_contactStiffness; float m_restitution; float m_hitFraction; float m_ccdSweptSphereRadius; float m_ccdMotionThreshold; - int m_hasAnisotropicFriction; int m_collisionFlags; int m_islandTag1; @@ -664,7 +663,9 @@ struct btCollisionObjectFloatData int m_activationState1; int m_internalType; int m_checkCollideWith; - char m_padding[4]; + int m_collisionFilterGroup; + int m_collisionFilterMask; + int m_uniqueId; }; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index c3e912fdca..3de8d6995e 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -1646,7 +1646,7 @@ void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer) for (i=0;i<m_collisionObjects.size();i++) { btCollisionObject* colObj = m_collisionObjects[i]; - if ((colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT) || (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)) + if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT) { colObj->serializeSingleObject(serializer); } @@ -1654,12 +1654,36 @@ void btCollisionWorld::serializeCollisionObjects(btSerializer* serializer) } + +void btCollisionWorld::serializeContactManifolds(btSerializer* serializer) +{ + if (serializer->getSerializationFlags() & BT_SERIALIZE_CONTACT_MANIFOLDS) + { + int numManifolds = getDispatcher()->getNumManifolds(); + for (int i = 0; i < numManifolds; i++) + { + const btPersistentManifold* manifold = getDispatcher()->getInternalManifoldPointer()[i]; + //don't serialize empty manifolds, they just take space + //(may have to do it anyway if it destroys determinism) + if (manifold->getNumContacts() == 0) + continue; + + btChunk* chunk = serializer->allocate(manifold->calculateSerializeBufferSize(), 1); + const char* structType = manifold->serialize(manifold, chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk, structType, BT_CONTACTMANIFOLD_CODE, (void*)manifold); + } + } +} + + void btCollisionWorld::serialize(btSerializer* serializer) { serializer->startSerialization(); serializeCollisionObjects(serializer); + + serializeContactManifolds(serializer); serializer->finishSerialization(); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h index eede2b28ca..886476e8ad 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -107,6 +107,9 @@ protected: void serializeCollisionObjects(btSerializer* serializer); + void serializeContactManifolds(btSerializer* serializer); + + public: //this constructor doesn't own the dispatcher and paircache/broadphase diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 7f4dea1c6d..91b7809c17 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -156,10 +156,12 @@ public: btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index); btCollisionAlgorithm* algo = 0; + bool allocatedAlgorithm = false; if (m_resultOut->m_closestPointDistanceThreshold > 0) { algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS); + allocatedAlgorithm = true; } else { @@ -204,7 +206,11 @@ public: { m_resultOut->setBody1Wrap(tmpWrap); } - + if(allocatedAlgorithm) + { + algo->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(algo); + } } } void Process(const btDbvtNode* leaf) @@ -253,9 +259,9 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap m_compoundShapeRevision = compoundShape->getUpdateRevision(); } - if (m_childCollisionAlgorithms.size()==0) - return; - + if (m_childCollisionAlgorithms.size()==0) + return; + const btDbvt* tree = compoundShape->getDynamicAabbTree(); //use a dynamic aabb tree to cull potential child-overlaps btCompoundLeafCallback callback(colObjWrap,otherObjWrap,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold); diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp index d4a1aa78e4..20b542f670 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp @@ -181,11 +181,12 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1); - + bool removePair = false; btCollisionAlgorithm* colAlgo = 0; if (m_resultOut->m_closestPointDistanceThreshold > 0) { colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS); + removePair = true; } else { @@ -223,7 +224,11 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide m_resultOut->setBody0Wrap(tmpWrap0); m_resultOut->setBody1Wrap(tmpWrap1); - + if (removePair) + { + colAlgo->~btCollisionAlgorithm(); + m_dispatcher->freeCollisionAlgorithm(colAlgo); + } } } @@ -396,32 +401,24 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer; { - btTransform orgTrans0; const btCollisionShape* childShape0 = 0; btTransform newChildWorldTrans0; - btTransform orgInterpolationTrans0; childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA); - orgTrans0 = col0ObjWrap->getWorldTransform(); - orgInterpolationTrans0 = col0ObjWrap->getWorldTransform(); const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA); - newChildWorldTrans0 = orgTrans0*childTrans0 ; + newChildWorldTrans0 = col0ObjWrap->getWorldTransform()*childTrans0 ; childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0); } btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold); aabbMin0 -= thresholdVec; aabbMax0 += thresholdVec; { - btTransform orgInterpolationTrans1; const btCollisionShape* childShape1 = 0; - btTransform orgTrans1; btTransform newChildWorldTrans1; childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB); - orgTrans1 = col1ObjWrap->getWorldTransform(); - orgInterpolationTrans1 = col1ObjWrap->getWorldTransform(); const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB); - newChildWorldTrans1 = orgTrans1*childTrans1 ; + newChildWorldTrans1 = col1ObjWrap->getWorldTransform()*childTrans1 ; childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp index 39ff7934d9..d8cbe96142 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -27,6 +27,7 @@ subject to the following restrictions: #include "LinearMath/btIDebugDraw.h" #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h" #include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h" +#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h" btConvexConcaveCollisionAlgorithm::btConvexConcaveCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped) : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), @@ -152,7 +153,7 @@ partId, int triangleIndex) { m_resultOut->setBody1Wrap(tmpWrap); } - + colAlgo->~btCollisionAlgorithm(); @@ -163,7 +164,7 @@ partId, int triangleIndex) -void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle,const btDispatcherInfo& dispatchInfo,const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut) +void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTriangle, const btDispatcherInfo& dispatchInfo, const btCollisionObjectWrapper* convexBodyWrap, const btCollisionObjectWrapper* triBodyWrap, btManifoldResult* resultOut) { m_convexBodyWrap = convexBodyWrap; m_triBodyWrap = triBodyWrap; @@ -177,14 +178,14 @@ void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTr convexInTriangleSpace = m_triBodyWrap->getWorldTransform().inverse() * m_convexBodyWrap->getWorldTransform(); const btCollisionShape* convexShape = static_cast<const btCollisionShape*>(m_convexBodyWrap->getCollisionShape()); //CollisionShape* triangleShape = static_cast<btCollisionShape*>(triBody->m_collisionShape); - convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax); - btScalar extraMargin = collisionMarginTriangle+ resultOut->m_closestPointDistanceThreshold; - - btVector3 extra(extraMargin,extraMargin,extraMargin); + convexShape->getAabb(convexInTriangleSpace, m_aabbMin, m_aabbMax); + btScalar extraMargin = collisionMarginTriangle + resultOut->m_closestPointDistanceThreshold; + + btVector3 extra(extraMargin, extraMargin, extraMargin); m_aabbMax += extra; m_aabbMin -= extra; - + } void btConvexConcaveCollisionAlgorithm::clearCache() @@ -193,35 +194,99 @@ void btConvexConcaveCollisionAlgorithm::clearCache() } -void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut) +void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap, const btCollisionObjectWrapper* body1Wrap, const btDispatcherInfo& dispatchInfo, btManifoldResult* resultOut) { BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision"); - + const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap; const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap; if (triBodyWrap->getCollisionShape()->isConcave()) { + if (triBodyWrap->getCollisionShape()->getShapeType() == SDF_SHAPE_PROXYTYPE) + { + btSdfCollisionShape* sdfShape = (btSdfCollisionShape*)triBodyWrap->getCollisionShape(); + if (convexBodyWrap->getCollisionShape()->isConvex()) + { + btConvexShape* convex = (btConvexShape*)convexBodyWrap->getCollisionShape(); + btAlignedObjectArray<btVector3> queryVertices; + + if (convex->isPolyhedral()) + { + btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex; + for (int v = 0; v < poly->getNumVertices(); v++) + { + btVector3 vtx; + poly->getVertex(v, vtx); + queryVertices.push_back(vtx); + } + } + btScalar maxDist = SIMD_EPSILON; + + if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE) + { + queryVertices.push_back(btVector3(0, 0, 0)); + btSphereShape* sphere = (btSphereShape*)convex; + maxDist = sphere->getRadius() + SIMD_EPSILON; + + } + if (queryVertices.size()) + { + resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); + //m_btConvexTriangleCallback.m_manifoldPtr->clearManifold(); + + btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex; + for (int v = 0; v < queryVertices.size(); v++) + { + const btVector3& vtx = queryVertices[v]; + btVector3 vtxWorldSpace = convexBodyWrap->getWorldTransform()*vtx; + btVector3 vtxInSdf = triBodyWrap->getWorldTransform().invXform(vtxWorldSpace); + + btVector3 normalLocal; + btScalar dist; + if (sdfShape->queryPoint(vtxInSdf, dist, normalLocal)) + { + if (dist <= maxDist) + { + normalLocal.safeNormalize(); + btVector3 normal = triBodyWrap->getWorldTransform().getBasis()*normalLocal; + + if (convex->getShapeType() == SPHERE_SHAPE_PROXYTYPE) + { + btSphereShape* sphere = (btSphereShape*)convex; + dist -= sphere->getRadius(); + vtxWorldSpace -= sphere->getRadius()*normal; + + } + resultOut->addContactPoint(normal,vtxWorldSpace-normal*dist, dist); + } + } + } + resultOut->refreshContactPoints(); + } - - const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape()); - - if (convexBodyWrap->getCollisionShape()->isConvex()) + } + } else { - btScalar collisionMarginTriangle = concaveShape->getMargin(); + const btConcaveShape* concaveShape = static_cast<const btConcaveShape*>( triBodyWrap->getCollisionShape()); + + if (convexBodyWrap->getCollisionShape()->isConvex()) + { + btScalar collisionMarginTriangle = concaveShape->getMargin(); - resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); - m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut); + resultOut->setPersistentManifold(m_btConvexTriangleCallback.m_manifoldPtr); + m_btConvexTriangleCallback.setTimeStepAndCounters(collisionMarginTriangle,dispatchInfo,convexBodyWrap,triBodyWrap,resultOut); - m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject()); + m_btConvexTriangleCallback.m_manifoldPtr->setBodies(convexBodyWrap->getCollisionObject(),triBodyWrap->getCollisionObject()); - concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax()); + concaveShape->processAllTriangles( &m_btConvexTriangleCallback,m_btConvexTriangleCallback.getAabbMin(),m_btConvexTriangleCallback.getAabbMax()); - resultOut->refreshContactPoints(); + resultOut->refreshContactPoints(); - m_btConvexTriangleCallback.clearWrapperData(); + m_btConvexTriangleCallback.clearWrapperData(); + } } } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index b54bd48932..3e8bc6e426 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -28,6 +28,7 @@ subject to the following restrictions: #include "BulletCollision/CollisionShapes/btConvexShape.h" #include "BulletCollision/CollisionShapes/btCapsuleShape.h" #include "BulletCollision/CollisionShapes/btTriangleShape.h" +#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h" @@ -259,7 +260,7 @@ struct btPerturbedContactResult : public btManifoldResult btVector3 endPtOrg = pointInWorld + normalOnBInWorld*orgDepth; endPt = (m_unPerturbedTransform*m_transformA.inverse())(endPtOrg); newDepth = (endPt - pointInWorld).dot(normalOnBInWorld); - startPt = endPt+normalOnBInWorld*newDepth; + startPt = endPt - normalOnBInWorld*newDepth; } else { endPt = pointInWorld + normalOnBInWorld*orgDepth; @@ -442,10 +443,26 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* struct btDummyResult : public btDiscreteCollisionDetectorInterface::Result { + btVector3 m_normalOnBInWorld; + btVector3 m_pointInWorld; + btScalar m_depth; + bool m_hasContact; + + + btDummyResult() + : m_hasContact(false) + { + } + + virtual void setShapeIdentifiersA(int partId0,int index0){} virtual void setShapeIdentifiersB(int partId1,int index1){} virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth) { + m_hasContact = true; + m_normalOnBInWorld = normalOnBInWorld; + m_pointInWorld = pointInWorld; + m_depth = depth; } }; @@ -560,15 +577,18 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* } else { + + //we can also deal with convex versus triangle (without connectivity data) - if (polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE) + if (dispatchInfo.m_enableSatConvex && polyhedronA->getConvexPolyhedron() && polyhedronB->getShapeType()==TRIANGLE_SHAPE_PROXYTYPE) { - btVertexArray vertices; + + btVertexArray worldSpaceVertices; btTriangleShape* tri = (btTriangleShape*)polyhedronB; - vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]); - vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]); - vertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]); + worldSpaceVertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[0]); + worldSpaceVertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[1]); + worldSpaceVertices.push_back( body1Wrap->getWorldTransform()*tri->m_vertices1[2]); //tri->initializePolyhedralFeatures(); @@ -579,17 +599,99 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* btScalar maxDist = threshold; bool foundSepAxis = false; - if (0) + bool useSatSepNormal = true; + + if (useSatSepNormal) { - polyhedronB->initializePolyhedralFeatures(); +#if 0 + if (0) + { + //initializePolyhedralFeatures performs a convex hull computation, not needed for a single triangle + polyhedronB->initializePolyhedralFeatures(); + } else +#endif + { + + btVector3 uniqueEdges[3] = {tri->m_vertices1[1]-tri->m_vertices1[0], + tri->m_vertices1[2]-tri->m_vertices1[1], + tri->m_vertices1[0]-tri->m_vertices1[2]}; + + uniqueEdges[0].normalize(); + uniqueEdges[1].normalize(); + uniqueEdges[2].normalize(); + + btConvexPolyhedron polyhedron; + polyhedron.m_vertices.push_back(tri->m_vertices1[2]); + polyhedron.m_vertices.push_back(tri->m_vertices1[0]); + polyhedron.m_vertices.push_back(tri->m_vertices1[1]); + + + { + btFace combinedFaceA; + combinedFaceA.m_indices.push_back(0); + combinedFaceA.m_indices.push_back(1); + combinedFaceA.m_indices.push_back(2); + btVector3 faceNormal = uniqueEdges[0].cross(uniqueEdges[1]); + faceNormal.normalize(); + btScalar planeEq=1e30f; + for (int v=0;v<combinedFaceA.m_indices.size();v++) + { + btScalar eq = tri->m_vertices1[combinedFaceA.m_indices[v]].dot(faceNormal); + if (planeEq>eq) + { + planeEq=eq; + } + } + combinedFaceA.m_plane[0] = faceNormal[0]; + combinedFaceA.m_plane[1] = faceNormal[1]; + combinedFaceA.m_plane[2] = faceNormal[2]; + combinedFaceA.m_plane[3] = -planeEq; + polyhedron.m_faces.push_back(combinedFaceA); + } + { + btFace combinedFaceB; + combinedFaceB.m_indices.push_back(0); + combinedFaceB.m_indices.push_back(2); + combinedFaceB.m_indices.push_back(1); + btVector3 faceNormal = -uniqueEdges[0].cross(uniqueEdges[1]); + faceNormal.normalize(); + btScalar planeEq=1e30f; + for (int v=0;v<combinedFaceB.m_indices.size();v++) + { + btScalar eq = tri->m_vertices1[combinedFaceB.m_indices[v]].dot(faceNormal); + if (planeEq>eq) + { + planeEq=eq; + } + } + + combinedFaceB.m_plane[0] = faceNormal[0]; + combinedFaceB.m_plane[1] = faceNormal[1]; + combinedFaceB.m_plane[2] = faceNormal[2]; + combinedFaceB.m_plane[3] = -planeEq; + polyhedron.m_faces.push_back(combinedFaceB); + } + + + polyhedron.m_uniqueEdges.push_back(uniqueEdges[0]); + polyhedron.m_uniqueEdges.push_back(uniqueEdges[1]); + polyhedron.m_uniqueEdges.push_back(uniqueEdges[2]); + polyhedron.initialize2(); + + polyhedronB->setPolyhedralFeatures(polyhedron); + } + + + foundSepAxis = btPolyhedralContactClipping::findSeparatingAxis( - *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(), - body0Wrap->getWorldTransform(), - body1Wrap->getWorldTransform(), - sepNormalWorldSpace,*resultOut); + *polyhedronA->getConvexPolyhedron(), *polyhedronB->getConvexPolyhedron(), + body0Wrap->getWorldTransform(), + body1Wrap->getWorldTransform(), + sepNormalWorldSpace,*resultOut); // printf("sepNormalWorldSpace=%f,%f,%f\n",sepNormalWorldSpace.getX(),sepNormalWorldSpace.getY(),sepNormalWorldSpace.getZ()); - } else + } + else { #ifdef ZERO_MARGIN gjkPairDetector.setIgnoreMargin(true); @@ -598,6 +700,24 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* gjkPairDetector.getClosestPoints(input,dummy,dispatchInfo.m_debugDraw); #endif//ZERO_MARGIN + if (dummy.m_hasContact && dummy.m_depth<0) + { + + if (foundSepAxis) + { + if (dummy.m_normalOnBInWorld.dot(sepNormalWorldSpace)<0.99) + { + printf("?\n"); + } + } else + { + printf("!\n"); + } + sepNormalWorldSpace.setValue(0,0,1);// = dummy.m_normalOnBInWorld; + //minDist = dummy.m_depth; + foundSepAxis = true; + } +#if 0 btScalar l2 = gjkPairDetector.getCachedSeparatingAxis().length2(); if (l2>SIMD_EPSILON) { @@ -607,6 +727,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* minDist = gjkPairDetector.getCachedSeparatingDistance()-min0->getMargin()-min1->getMargin(); foundSepAxis = true; } +#endif } @@ -614,7 +735,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* { worldVertsB2.resize(0); btPolyhedralContactClipping::clipFaceAgainstHull(sepNormalWorldSpace, *polyhedronA->getConvexPolyhedron(), - body0Wrap->getWorldTransform(), vertices, worldVertsB2,minDist-threshold, maxDist, *resultOut); + body0Wrap->getWorldTransform(), worldSpaceVertices, worldVertsB2,minDist-threshold, maxDist, *resultOut); } @@ -625,6 +746,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* return; } + } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp index 8c8a7c3c1e..8271981b29 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp @@ -20,11 +20,12 @@ subject to the following restrictions: #include <stdio.h> +#ifdef BT_DEBUG_COLLISION_PAIRS int gOverlappingSimplePairs = 0; int gRemoveSimplePairs =0; int gAddedSimplePairs =0; int gFindSimplePairs =0; - +#endif //BT_DEBUG_COLLISION_PAIRS @@ -61,7 +62,9 @@ void btHashedSimplePairCache::removeAllPairs() btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB) { +#ifdef BT_DEBUG_COLLISION_PAIRS gFindSimplePairs++; +#endif /*if (indexA > indexB) @@ -172,7 +175,9 @@ btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB) void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB) { +#ifdef BT_DEBUG_COLLISION_PAIRS gRemoveSimplePairs++; +#endif /*if (indexA > indexB) diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h index 2aaf6201f3..318981cda1 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h @@ -43,12 +43,12 @@ struct btSimplePair typedef btAlignedObjectArray<btSimplePair> btSimplePairArray; - +#ifdef BT_DEBUG_COLLISION_PAIRS extern int gOverlappingSimplePairs; extern int gRemoveSimplePairs; extern int gAddedSimplePairs; extern int gFindSimplePairs; - +#endif //BT_DEBUG_COLLISION_PAIRS @@ -75,7 +75,9 @@ public: // no new pair is created and the old one is returned. virtual btSimplePair* addOverlappingPair(int indexA,int indexB) { +#ifdef BT_DEBUG_COLLISION_PAIRS gAddedSimplePairs++; +#endif return internalAddPair(indexA,indexB); } diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp index 6cba442ca5..898320ee1a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp @@ -455,11 +455,20 @@ void btAdjustInternalEdgeContacts(btManifoldPoint& cp, const btCollisionObjectWr btBvhTriangleMeshShape* trimesh = 0; if( colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType() == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE ) - trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape(); - else - trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); - - btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap(); + { + trimesh = ((btScaledBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape())->getChildShape(); + } + else + { + if (colObj0Wrap->getCollisionObject()->getCollisionShape()->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE) + { + trimesh = (btBvhTriangleMeshShape*)colObj0Wrap->getCollisionObject()->getCollisionShape(); + } + } + if (trimesh==0) + return; + + btTriangleInfoMap* triangleInfoMapPtr = (btTriangleInfoMap*) trimesh->getTriangleInfoMap(); if (!triangleInfoMapPtr) return; diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp index 1344782257..91c76a8dac 100644 --- a/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp @@ -199,6 +199,22 @@ class btPersistentManifoldSortPredicate } }; +class btPersistentManifoldSortPredicateDeterministic +{ +public: + + SIMD_FORCE_INLINE bool operator() (const btPersistentManifold* lhs, const btPersistentManifold* rhs) const + { + return ( + (getIslandId(lhs) < getIslandId(rhs)) + || ((getIslandId(lhs) == getIslandId(rhs)) && lhs->getBody0()->getBroadphaseHandle()->m_uniqueId < rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) + ||((getIslandId(lhs) == getIslandId(rhs)) && (lhs->getBody0()->getBroadphaseHandle()->m_uniqueId == rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) && + (lhs->getBody1()->getBroadphaseHandle()->m_uniqueId < rhs->getBody1()->getBroadphaseHandle()->m_uniqueId)) + ); + + } +}; + void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld) { @@ -245,13 +261,11 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { - if (colObj0->getActivationState()== ACTIVE_TAG) - { - allSleeping = false; - } - if (colObj0->getActivationState()== DISABLE_DEACTIVATION) + if (colObj0->getActivationState()== ACTIVE_TAG || + colObj0->getActivationState()== DISABLE_DEACTIVATION) { allSleeping = false; + break; } } } @@ -318,7 +332,12 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio for (i=0;i<maxNumManifolds ;i++) { btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i); - + if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs) + { + if (manifold->getNumContacts() == 0) + continue; + } + const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0()); const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1()); @@ -379,7 +398,16 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher, //tried a radix sort, but quicksort/heapsort seems still faster //@todo rewrite island management - m_islandmanifold.quickSort(btPersistentManifoldSortPredicate()); + //btPersistentManifoldSortPredicateDeterministic sorts contact manifolds based on islandid, + //but also based on object0 unique id and object1 unique id + if (collisionWorld->getDispatchInfo().m_deterministicOverlappingPairs) + { + m_islandmanifold.quickSort(btPersistentManifoldSortPredicateDeterministic()); + } else + { + m_islandmanifold.quickSort(btPersistentManifoldSortPredicate()); + } + //m_islandmanifold.heapSort(btPersistentManifoldSortPredicate()); //now process all active islands (sets of manifolds for now) diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h index 7d64b46abf..5a3362834a 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -49,6 +49,7 @@ public: virtual void setMargin(btScalar collisionMargin) { //don't override the margin for capsules, their entire radius == margin + (void)collisionMargin; } virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp index e8c8c336cd..85572da307 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp @@ -213,7 +213,7 @@ void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) co -void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const +void btCompoundShape::calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const { int n = m_children.size(); diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h index 4eef8dba30..2cbcd1bfca 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCompoundShape.h @@ -160,7 +160,7 @@ public: ///"principal" has to be applied inversely to all children transforms in order for the local coordinate system of the compound ///shape to be centered at the center of mass and to coincide with the principal axes. This also necessitates a correction of the world transform ///of the collision object by the principal transform. - void calculatePrincipalAxisTransform(btScalar* masses, btTransform& principal, btVector3& inertia) const; + void calculatePrincipalAxisTransform(const btScalar* masses, btTransform& principal, btVector3& inertia) const; int getUpdateRevision() const { diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp index 4f45319a83..0fea00df5c 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp @@ -104,9 +104,9 @@ void btConvexPolyhedron::initialize() btHashMap<btInternalVertexPair,btInternalEdge> edges; - btScalar TotalArea = 0.0f; - m_localCenter.setValue(0, 0, 0); + + for(int i=0;i<m_faces.size();i++) { int numVertices = m_faces[i].m_indices.size(); @@ -172,6 +172,13 @@ void btConvexPolyhedron::initialize() } #endif//USE_CONNECTED_FACES + initialize2(); +} + +void btConvexPolyhedron::initialize2() +{ + m_localCenter.setValue(0, 0, 0); + btScalar TotalArea = 0.0f; for(int i=0;i<m_faces.size();i++) { int numVertices = m_faces[i].m_indices.size(); @@ -274,7 +281,6 @@ void btConvexPolyhedron::initialize() } #endif } - void btConvexPolyhedron::project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const { minProj = FLT_MAX; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h index d3cd066ac8..c5aa20f453 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h @@ -54,6 +54,7 @@ ATTRIBUTE_ALIGNED16(class) btConvexPolyhedron btVector3 mE; void initialize(); + void initialize2(); bool testContainment() const; void project(const btTransform& trans, const btVector3& dir, btScalar& minProj, btScalar& maxProj, btVector3& witnesPtMin,btVector3& witnesPtMax) const; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp index 8d7fb054d6..2f84858598 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -118,9 +118,13 @@ static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector return supVec; #else - btScalar maxDot; - long ptIndex = vec.maxDot( points, numPoints, maxDot); + btScalar maxDot; + long ptIndex = vec.maxDot( points, numPoints, maxDot); btAssert(ptIndex >= 0); + if (ptIndex<0) + { + ptIndex = 0; + } btVector3 supVec = points[ptIndex] * localScaling; return supVec; #endif //__SPU__ diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp new file mode 100644 index 0000000000..afe45e1d2d --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.cpp @@ -0,0 +1,532 @@ +#include "btMiniSDF.h" + +// +//Based on code from DiscreGrid, https://github.com/InteractiveComputerGraphics/Discregrid +//example: +//GenerateSDF.exe -r "32 32 32" -d "-1.6 -1.6 -.6 1.6 1.6 .6" concave_box.obj +//The MIT License (MIT) +// +//Copyright (c) 2017 Dan Koschier +// + +#include <limits.h> +#include <string.h> //memcpy + +struct btSdfDataStream +{ + const char* m_data; + int m_size; + + int m_currentOffset; + + btSdfDataStream(const char* data, int size) + :m_data(data), + m_size(size), + m_currentOffset(0) + { + + } + + template<class T> bool read(T& val) + { + int bytes = sizeof(T); + if (m_currentOffset+bytes<=m_size) + { + char* dest = (char*)&val; + memcpy(dest,&m_data[m_currentOffset],bytes); + m_currentOffset+=bytes; + return true; + } + btAssert(0); + return false; + } +}; + + +bool btMiniSDF::load(const char* data, int size) +{ + int fileSize = -1; + + btSdfDataStream ds(data,size); + { + double buf[6]; + ds.read(buf); + m_domain.m_min[0] = buf[0]; + m_domain.m_min[1] = buf[1]; + m_domain.m_min[2] = buf[2]; + m_domain.m_min[3] = 0; + m_domain.m_max[0] = buf[3]; + m_domain.m_max[1] = buf[4]; + m_domain.m_max[2] = buf[5]; + m_domain.m_max[3] = 0; + } + { + unsigned int buf2[3]; + ds.read(buf2); + m_resolution[0] = buf2[0]; + m_resolution[1] = buf2[1]; + m_resolution[2] = buf2[2]; + } + { + double buf[3]; + ds.read(buf); + m_cell_size[0] = buf[0]; + m_cell_size[1] = buf[1]; + m_cell_size[2] = buf[2]; + } + { + double buf[3]; + ds.read(buf); + m_inv_cell_size[0] = buf[0]; + m_inv_cell_size[1] = buf[1]; + m_inv_cell_size[2] = buf[2]; + } + { + unsigned long long int cells; + ds.read(cells); + m_n_cells = cells; + } + { + unsigned long long int fields; + ds.read(fields); + m_n_fields = fields; + } + + + unsigned long long int nodes0; + std::size_t n_nodes0; + ds.read(nodes0); + n_nodes0 = nodes0; + if (n_nodes0 > 1024 * 1024 * 1024) + { + return m_isValid; + } + m_nodes.resize(n_nodes0); + for (unsigned int i=0;i<n_nodes0;i++) + { + unsigned long long int n_nodes1; + ds.read(n_nodes1); + btAlignedObjectArray<double>& nodes = m_nodes[i]; + nodes.resize(n_nodes1); + for ( int j=0;j<nodes.size();j++) + { + double& node = nodes[j]; + ds.read(node); + } + } + + unsigned long long int n_cells0; + ds.read(n_cells0); + m_cells.resize(n_cells0); + for (int i=0;i<n_cells0;i++) + { + unsigned long long int n_cells1; + btAlignedObjectArray<btCell32 >& cells = m_cells[i]; + ds.read(n_cells1); + cells.resize(n_cells1); + for (int j=0;j<n_cells1;j++) + { + btCell32& cell = cells[j]; + ds.read(cell); + } + } + + { + unsigned long long int n_cell_maps0; + ds.read(n_cell_maps0); + + m_cell_map.resize(n_cell_maps0); + for (int i=0;i<n_cell_maps0;i++) + { + unsigned long long int n_cell_maps1; + btAlignedObjectArray<unsigned int>& cell_maps = m_cell_map[i]; + ds.read(n_cell_maps1); + cell_maps.resize(n_cell_maps1); + for (int j=0;j<n_cell_maps1;j++) + { + unsigned int& cell_map = cell_maps[j]; + ds.read(cell_map); + } + } + } + + m_isValid = (ds.m_currentOffset == ds.m_size); + return m_isValid; +} + + +unsigned int btMiniSDF::multiToSingleIndex(btMultiIndex const & ijk) const +{ + return m_resolution[1] * m_resolution[0] * ijk.ijk[2] + m_resolution[0] * ijk.ijk[1] + ijk.ijk[0]; +} + +btAlignedBox3d +btMiniSDF::subdomain(btMultiIndex const& ijk) const +{ + btAssert(m_isValid); + btVector3 tmp; + tmp.m_floats[0] = m_cell_size[0]*(double)ijk.ijk[0]; + tmp.m_floats[1] = m_cell_size[1]*(double)ijk.ijk[1]; + tmp.m_floats[2] = m_cell_size[2]*(double)ijk.ijk[2]; + + + btVector3 origin = m_domain.min() + tmp; + + btAlignedBox3d box = btAlignedBox3d (origin, origin + m_cell_size); + return box; +} + +btMultiIndex +btMiniSDF::singleToMultiIndex(unsigned int l) const +{ + btAssert(m_isValid); + unsigned int n01 = m_resolution[0] * m_resolution[1]; + unsigned int k = l / n01; + unsigned int temp = l % n01; + unsigned int j = temp / m_resolution[0]; + unsigned int i = temp % m_resolution[0]; + btMultiIndex mi; + mi.ijk[0] = i; + mi.ijk[1] = j; + mi.ijk[2] = k; + return mi; +} + +btAlignedBox3d +btMiniSDF::subdomain(unsigned int l) const +{ + btAssert(m_isValid); + return subdomain(singleToMultiIndex(l)); +} + + +btShapeMatrix +btMiniSDF::shape_function_(btVector3 const& xi, btShapeGradients* gradient) const +{ + btAssert(m_isValid); + btShapeMatrix res; + + btScalar x = xi[0]; + btScalar y = xi[1]; + btScalar z = xi[2]; + + btScalar x2 = x*x; + btScalar y2 = y*y; + btScalar z2 = z*z; + + btScalar _1mx = 1.0 - x; + btScalar _1my = 1.0 - y; + btScalar _1mz = 1.0 - z; + + btScalar _1px = 1.0 + x; + btScalar _1py = 1.0 + y; + btScalar _1pz = 1.0 + z; + + btScalar _1m3x = 1.0 - 3.0 * x; + btScalar _1m3y = 1.0 - 3.0 * y; + btScalar _1m3z = 1.0 - 3.0 * z; + + btScalar _1p3x = 1.0 + 3.0 * x; + btScalar _1p3y = 1.0 + 3.0 * y; + btScalar _1p3z = 1.0 + 3.0 * z; + + btScalar _1mxt1my = _1mx * _1my; + btScalar _1mxt1py = _1mx * _1py; + btScalar _1pxt1my = _1px * _1my; + btScalar _1pxt1py = _1px * _1py; + + btScalar _1mxt1mz = _1mx * _1mz; + btScalar _1mxt1pz = _1mx * _1pz; + btScalar _1pxt1mz = _1px * _1mz; + btScalar _1pxt1pz = _1px * _1pz; + + btScalar _1myt1mz = _1my * _1mz; + btScalar _1myt1pz = _1my * _1pz; + btScalar _1pyt1mz = _1py * _1mz; + btScalar _1pyt1pz = _1py * _1pz; + + btScalar _1mx2 = 1.0 - x2; + btScalar _1my2 = 1.0 - y2; + btScalar _1mz2 = 1.0 - z2; + + + // Corner nodes. + btScalar fac = 1.0 / 64.0 * (9.0 * (x2 + y2 + z2) - 19.0); + res[0] = fac * _1mxt1my * _1mz; + res[1] = fac * _1pxt1my * _1mz; + res[2] = fac * _1mxt1py * _1mz; + res[3] = fac * _1pxt1py * _1mz; + res[4] = fac * _1mxt1my * _1pz; + res[5] = fac * _1pxt1my * _1pz; + res[6] = fac * _1mxt1py * _1pz; + res[7] = fac * _1pxt1py * _1pz; + + // Edge nodes. + + fac = 9.0 / 64.0 * _1mx2; + btScalar fact1m3x = fac * _1m3x; + btScalar fact1p3x = fac * _1p3x; + res[ 8] = fact1m3x * _1myt1mz; + res[ 9] = fact1p3x * _1myt1mz; + res[10] = fact1m3x * _1myt1pz; + res[11] = fact1p3x * _1myt1pz; + res[12] = fact1m3x * _1pyt1mz; + res[13] = fact1p3x * _1pyt1mz; + res[14] = fact1m3x * _1pyt1pz; + res[15] = fact1p3x * _1pyt1pz; + + fac = 9.0 / 64.0 * _1my2; + btScalar fact1m3y = fac * _1m3y; + btScalar fact1p3y = fac * _1p3y; + res[16] = fact1m3y * _1mxt1mz; + res[17] = fact1p3y * _1mxt1mz; + res[18] = fact1m3y * _1pxt1mz; + res[19] = fact1p3y * _1pxt1mz; + res[20] = fact1m3y * _1mxt1pz; + res[21] = fact1p3y * _1mxt1pz; + res[22] = fact1m3y * _1pxt1pz; + res[23] = fact1p3y * _1pxt1pz; + + fac = 9.0 / 64.0 * _1mz2; + btScalar fact1m3z = fac * _1m3z; + btScalar fact1p3z = fac * _1p3z; + res[24] = fact1m3z * _1mxt1my; + res[25] = fact1p3z * _1mxt1my; + res[26] = fact1m3z * _1mxt1py; + res[27] = fact1p3z * _1mxt1py; + res[28] = fact1m3z * _1pxt1my; + res[29] = fact1p3z * _1pxt1my; + res[30] = fact1m3z * _1pxt1py; + res[31] = fact1p3z * _1pxt1py; + + if (gradient) + { + btShapeGradients& dN = *gradient; + + btScalar _9t3x2py2pz2m19 = 9.0 * (3.0 * x2 + y2 + z2) - 19.0; + btScalar _9tx2p3y2pz2m19 = 9.0 * (x2 + 3.0 * y2 + z2) - 19.0; + btScalar _9tx2py2p3z2m19 = 9.0 * (x2 + y2 + 3.0 * z2) - 19.0; + btScalar _18x = 18.0 * x; + btScalar _18y = 18.0 * y; + btScalar _18z = 18.0 * z; + + btScalar _3m9x2 = 3.0 - 9.0 * x2; + btScalar _3m9y2 = 3.0 - 9.0 * y2; + btScalar _3m9z2 = 3.0 - 9.0 * z2; + + btScalar _2x = 2.0 * x; + btScalar _2y = 2.0 * y; + btScalar _2z = 2.0 * z; + + btScalar _18xm9t3x2py2pz2m19 = _18x - _9t3x2py2pz2m19; + btScalar _18xp9t3x2py2pz2m19 = _18x + _9t3x2py2pz2m19; + btScalar _18ym9tx2p3y2pz2m19 = _18y - _9tx2p3y2pz2m19; + btScalar _18yp9tx2p3y2pz2m19 = _18y + _9tx2p3y2pz2m19; + btScalar _18zm9tx2py2p3z2m19 = _18z - _9tx2py2p3z2m19; + btScalar _18zp9tx2py2p3z2m19 = _18z + _9tx2py2p3z2m19; + + dN(0,0) =_18xm9t3x2py2pz2m19 * _1myt1mz; + dN(0,1) =_1mxt1mz * _18ym9tx2p3y2pz2m19; + dN(0,2) =_1mxt1my * _18zm9tx2py2p3z2m19; + dN(1,0) =_18xp9t3x2py2pz2m19 * _1myt1mz; + dN(1,1) =_1pxt1mz * _18ym9tx2p3y2pz2m19; + dN(1,2) =_1pxt1my * _18zm9tx2py2p3z2m19; + dN(2,0) =_18xm9t3x2py2pz2m19 * _1pyt1mz; + dN(2,1) =_1mxt1mz * _18yp9tx2p3y2pz2m19; + dN(2,2) =_1mxt1py * _18zm9tx2py2p3z2m19; + dN(3,0) =_18xp9t3x2py2pz2m19 * _1pyt1mz; + dN(3,1) =_1pxt1mz * _18yp9tx2p3y2pz2m19; + dN(3,2) =_1pxt1py * _18zm9tx2py2p3z2m19; + dN(4,0) =_18xm9t3x2py2pz2m19 * _1myt1pz; + dN(4,1) =_1mxt1pz * _18ym9tx2p3y2pz2m19; + dN(4,2) =_1mxt1my * _18zp9tx2py2p3z2m19; + dN(5,0) =_18xp9t3x2py2pz2m19 * _1myt1pz; + dN(5,1) =_1pxt1pz * _18ym9tx2p3y2pz2m19; + dN(5,2) =_1pxt1my * _18zp9tx2py2p3z2m19; + dN(6,0) =_18xm9t3x2py2pz2m19 * _1pyt1pz; + dN(6,1) =_1mxt1pz * _18yp9tx2p3y2pz2m19; + dN(6,2) =_1mxt1py * _18zp9tx2py2p3z2m19; + dN(7,0) =_18xp9t3x2py2pz2m19 * _1pyt1pz; + dN(7,1) =_1pxt1pz * _18yp9tx2p3y2pz2m19; + dN(7,2) =_1pxt1py * _18zp9tx2py2p3z2m19; + + dN.topRowsDivide(8, 64.0); + + btScalar _m3m9x2m2x = -_3m9x2 - _2x; + btScalar _p3m9x2m2x = _3m9x2 - _2x; + btScalar _1mx2t1m3x = _1mx2 * _1m3x; + btScalar _1mx2t1p3x = _1mx2 * _1p3x; + dN( 8,0) = _m3m9x2m2x * _1myt1mz, + dN( 8,1) = -_1mx2t1m3x * _1mz, + dN( 8,2) = -_1mx2t1m3x * _1my; + dN( 9,0) = _p3m9x2m2x * _1myt1mz, + dN( 9,1) = -_1mx2t1p3x * _1mz, + dN( 9,2) = -_1mx2t1p3x * _1my; + dN(10,0) = _m3m9x2m2x * _1myt1pz, + dN(10,1) = -_1mx2t1m3x * _1pz, + dN(10,2) = _1mx2t1m3x * _1my; + dN(11,0) = _p3m9x2m2x * _1myt1pz, + dN(11,1) = -_1mx2t1p3x * _1pz, + dN(11,2) = _1mx2t1p3x * _1my; + dN(12,0) = _m3m9x2m2x * _1pyt1mz, + dN(12,1) = _1mx2t1m3x * _1mz, + dN(12,2) = -_1mx2t1m3x * _1py; + dN(13,0) = _p3m9x2m2x * _1pyt1mz, + dN(13,1) = _1mx2t1p3x * _1mz, + dN(13,2) = -_1mx2t1p3x * _1py; + dN(14,0) = _m3m9x2m2x * _1pyt1pz, + dN(14,1) = _1mx2t1m3x * _1pz, + dN(14,2) = _1mx2t1m3x * _1py; + dN(15,0) = _p3m9x2m2x * _1pyt1pz, + dN(15,1) = _1mx2t1p3x * _1pz, + dN(15,2) = _1mx2t1p3x * _1py; + + btScalar _m3m9y2m2y = -_3m9y2 - _2y; + btScalar _p3m9y2m2y = _3m9y2 - _2y; + btScalar _1my2t1m3y = _1my2 * _1m3y; + btScalar _1my2t1p3y = _1my2 * _1p3y; + dN(16,0) = -_1my2t1m3y * _1mz, + dN(16,1) = _m3m9y2m2y * _1mxt1mz, + dN(16,2) = -_1my2t1m3y * _1mx; + dN(17,0) = -_1my2t1p3y * _1mz, + dN(17,1) = _p3m9y2m2y * _1mxt1mz, + dN(17,2) = -_1my2t1p3y * _1mx; + dN(18,0) = _1my2t1m3y * _1mz, + dN(18,1) = _m3m9y2m2y * _1pxt1mz, + dN(18,2) = -_1my2t1m3y * _1px; + dN(19,0) = _1my2t1p3y * _1mz, + dN(19,1) = _p3m9y2m2y * _1pxt1mz, + dN(19,2) = -_1my2t1p3y * _1px; + dN(20,0) = -_1my2t1m3y * _1pz, + dN(20,1) = _m3m9y2m2y * _1mxt1pz, + dN(20,2) = _1my2t1m3y * _1mx; + dN(21,0) = -_1my2t1p3y * _1pz, + dN(21,1) = _p3m9y2m2y * _1mxt1pz, + dN(21,2) = _1my2t1p3y * _1mx; + dN(22,0) = _1my2t1m3y * _1pz, + dN(22,1) = _m3m9y2m2y * _1pxt1pz, + dN(22,2) = _1my2t1m3y * _1px; + dN(23,0) = _1my2t1p3y * _1pz, + dN(23,1) = _p3m9y2m2y * _1pxt1pz, + dN(23,2) = _1my2t1p3y * _1px; + + + btScalar _m3m9z2m2z = -_3m9z2 - _2z; + btScalar _p3m9z2m2z = _3m9z2 - _2z; + btScalar _1mz2t1m3z = _1mz2 * _1m3z; + btScalar _1mz2t1p3z = _1mz2 * _1p3z; + dN(24,0) = -_1mz2t1m3z * _1my, + dN(24,1) = -_1mz2t1m3z * _1mx, + dN(24,2) = _m3m9z2m2z * _1mxt1my; + dN(25,0) = -_1mz2t1p3z * _1my, + dN(25,1) = -_1mz2t1p3z * _1mx, + dN(25,2) = _p3m9z2m2z * _1mxt1my; + dN(26,0) = -_1mz2t1m3z * _1py, + dN(26,1) = _1mz2t1m3z * _1mx, + dN(26,2) = _m3m9z2m2z * _1mxt1py; + dN(27,0) = -_1mz2t1p3z * _1py, + dN(27,1) = _1mz2t1p3z * _1mx, + dN(27,2) = _p3m9z2m2z * _1mxt1py; + dN(28,0) = _1mz2t1m3z * _1my, + dN(28,1) = -_1mz2t1m3z * _1px, + dN(28,2) = _m3m9z2m2z * _1pxt1my; + dN(29,0) = _1mz2t1p3z * _1my, + dN(29,1) = -_1mz2t1p3z * _1px, + dN(29,2) = _p3m9z2m2z * _1pxt1my; + dN(30,0) = _1mz2t1m3z * _1py, + dN(30,1) = _1mz2t1m3z * _1px, + dN(30,2) = _m3m9z2m2z * _1pxt1py; + dN(31,0) = _1mz2t1p3z * _1py, + dN(31,1) = _1mz2t1p3z * _1px, + dN(31,2) = _p3m9z2m2z * _1pxt1py; + + dN.bottomRowsMul(32u - 8u, 9.0 / 64.0); + + } + + return res; +} + + + +bool btMiniSDF::interpolate(unsigned int field_id, double& dist, btVector3 const& x, + btVector3* gradient) const +{ + btAssert(m_isValid); + if (!m_isValid) + return false; + + if (!m_domain.contains(x)) + return false; + + btVector3 tmpmi = ((x - m_domain.min())*(m_inv_cell_size));//.cast<unsigned int>().eval(); + unsigned int mi[3] = {(unsigned int )tmpmi[0],(unsigned int )tmpmi[1],(unsigned int )tmpmi[2]}; + if (mi[0] >= m_resolution[0]) + mi[0] = m_resolution[0]-1; + if (mi[1] >= m_resolution[1]) + mi[1] = m_resolution[1]-1; + if (mi[2] >= m_resolution[2]) + mi[2] = m_resolution[2]-1; + btMultiIndex mui; + mui.ijk[0] = mi[0]; + mui.ijk[1] = mi[1]; + mui.ijk[2] = mi[2]; + int i = multiToSingleIndex(mui); + unsigned int i_ = m_cell_map[field_id][i]; + if (i_ == UINT_MAX) + return false; + + btAlignedBox3d sd = subdomain(i); + i = i_; + btVector3 d = sd.m_max-sd.m_min;//.diagonal().eval(); + + btVector3 denom = (sd.max() - sd.min()); + btVector3 c0 = btVector3(2.0,2.0,2.0)/denom; + btVector3 c1 = (sd.max() + sd.min())/denom; + btVector3 xi = (c0*x - c1); + + btCell32 const& cell = m_cells[field_id][i]; + if (!gradient) + { + //auto phi = m_coefficients[field_id][i].dot(shape_function_(xi, 0)); + double phi = 0.0; + btShapeMatrix N = shape_function_(xi, 0); + for (unsigned int j = 0u; j < 32u; ++j) + { + unsigned int v = cell.m_cells[j]; + double c = m_nodes[field_id][v]; + if (c == DBL_MAX) + { + return false;; + } + phi += c * N[j]; + } + + dist = phi; + return true; + } + + btShapeGradients dN; + btShapeMatrix N = shape_function_(xi, &dN); + + double phi = 0.0; + gradient->setZero(); + for (unsigned int j = 0u; j < 32u; ++j) + { + unsigned int v = cell.m_cells[j]; + double c = m_nodes[field_id][v]; + if (c == DBL_MAX) + { + gradient->setZero(); + return false; + } + phi += c * N[j]; + (*gradient)[0] += c * dN(j, 0); + (*gradient)[1] += c * dN(j, 1); + (*gradient)[2] += c * dN(j, 2); + } + (*gradient) *= c0; + dist = phi; + return true; +} + diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h new file mode 100644 index 0000000000..3de90e4f8a --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btMiniSDF.h @@ -0,0 +1,134 @@ +#ifndef MINISDF_H +#define MINISDF_H + +#include "LinearMath/btVector3.h" +#include "LinearMath/btAabbUtil2.h" +#include "LinearMath/btAlignedObjectArray.h" + + +struct btMultiIndex +{ + unsigned int ijk[3]; +}; + +struct btAlignedBox3d +{ + btVector3 m_min; + btVector3 m_max; + + const btVector3& min() const + { + return m_min; + } + + const btVector3& max() const + { + return m_max; + } + + + bool contains(const btVector3& x) const + { + return TestPointAgainstAabb2(m_min, m_max, x); + } + + btAlignedBox3d(const btVector3& mn, const btVector3& mx) + :m_min(mn), + m_max(mx) + { + } + + btAlignedBox3d() + { + } +}; + +struct btShapeMatrix +{ + double m_vec[32]; + + inline double& operator[](int i) + { + return m_vec[i]; + } + + inline const double& operator[](int i) const + { + return m_vec[i]; + } + +}; + +struct btShapeGradients +{ + btVector3 m_vec[32]; + + void topRowsDivide(int row, double denom) + { + for (int i=0;i<row;i++) + { + m_vec[i] /= denom; + } + } + + void bottomRowsMul(int row, double val) + { + for (int i=32-row;i<32;i++) + { + m_vec[i] *= val; + } + } + + inline btScalar& operator()(int i, int j) + { + return m_vec[i][j]; + } +}; + +struct btCell32 +{ + unsigned int m_cells[32]; +}; + +struct btMiniSDF +{ + + btAlignedBox3d m_domain; + unsigned int m_resolution[3]; + btVector3 m_cell_size; + btVector3 m_inv_cell_size; + std::size_t m_n_cells; + std::size_t m_n_fields; + bool m_isValid; + + + btAlignedObjectArray<btAlignedObjectArray<double> > m_nodes; + btAlignedObjectArray<btAlignedObjectArray<btCell32 > > m_cells; + btAlignedObjectArray<btAlignedObjectArray<unsigned int> > m_cell_map; + + btMiniSDF() + :m_isValid(false) + { + } + bool load(const char* data, int size); + bool isValid() const + { + return m_isValid; + } + unsigned int multiToSingleIndex(btMultiIndex const & ijk) const; + + btAlignedBox3d subdomain(btMultiIndex const& ijk) const; + + btMultiIndex singleToMultiIndex(unsigned int l) const; + + btAlignedBox3d subdomain(unsigned int l) const; + + + btShapeMatrix + shape_function_(btVector3 const& xi, btShapeGradients* gradient = 0) const; + + bool interpolate(unsigned int field_id, double& dist, btVector3 const& x, btVector3* gradient) const; +}; + + +#endif //MINISDF_H diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp index 4854f370f7..d51b6760fc 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp @@ -39,6 +39,17 @@ btPolyhedralConvexShape::~btPolyhedralConvexShape() } } +void btPolyhedralConvexShape::setPolyhedralFeatures(btConvexPolyhedron& polyhedron) +{ + if (m_polyhedron) + { + *m_polyhedron = polyhedron; + } else + { + void* mem = btAlignedAlloc(sizeof(btConvexPolyhedron),16); + m_polyhedron = new (mem) btConvexPolyhedron(polyhedron); + } +} bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMargin) { @@ -87,8 +98,72 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa conv.compute(&orgVertices[0].getX(), sizeof(btVector3),orgVertices.size(),0.f,0.f); } +#ifndef BT_RECONSTRUCT_FACES + + int numVertices = conv.vertices.size(); + m_polyhedron->m_vertices.resize(numVertices); + for (int p=0;p<numVertices;p++) + { + m_polyhedron->m_vertices[p] = conv.vertices[p]; + } + + int v0, v1; + for (int j = 0; j < conv.faces.size(); j++) + { + btVector3 edges[3]; + int numEdges = 0; + btFace combinedFace; + const btConvexHullComputer::Edge* edge = &conv.edges[conv.faces[j]]; + v0 = edge->getSourceVertex(); + int prevVertex=v0; + combinedFace.m_indices.push_back(v0); + v1 = edge->getTargetVertex(); + while (v1 != v0) + { + + btVector3 wa = conv.vertices[prevVertex]; + btVector3 wb = conv.vertices[v1]; + btVector3 newEdge = wb-wa; + newEdge.normalize(); + if (numEdges<2) + edges[numEdges++] = newEdge; + //face->addIndex(v1); + combinedFace.m_indices.push_back(v1); + edge = edge->getNextEdgeOfFace(); + prevVertex = v1; + int v01 = edge->getSourceVertex(); + v1 = edge->getTargetVertex(); + + } + + btAssert(combinedFace.m_indices.size() > 2); + + btVector3 faceNormal = edges[0].cross(edges[1]); + faceNormal.normalize(); + + btScalar planeEq=1e30f; + + for (int v=0;v<combinedFace.m_indices.size();v++) + { + btScalar eq = m_polyhedron->m_vertices[combinedFace.m_indices[v]].dot(faceNormal); + if (planeEq>eq) + { + planeEq=eq; + } + } + combinedFace.m_plane[0] = faceNormal.getX(); + combinedFace.m_plane[1] = faceNormal.getY(); + combinedFace.m_plane[2] = faceNormal.getZ(); + combinedFace.m_plane[3] = -planeEq; + + m_polyhedron->m_faces.push_back(combinedFace); + } + + +#else//BT_RECONSTRUCT_FACES + btAlignedObjectArray<btVector3> faceNormals; int numFaces = conv.faces.size(); faceNormals.resize(numFaces); @@ -311,7 +386,9 @@ bool btPolyhedralConvexShape::initializePolyhedralFeatures(int shiftVerticesByMa } - + +#endif //BT_RECONSTRUCT_FACES + m_polyhedron->initialize(); return true; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h index 7bf8e01c1f..b7ddb6e060 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h @@ -43,6 +43,9 @@ public: ///experimental/work-in-progress virtual bool initializePolyhedralFeatures(int shiftVerticesByMargin=0); + virtual void setPolyhedralFeatures(btConvexPolyhedron& polyhedron); + + const btConvexPolyhedron* getConvexPolyhedron() const { return m_polyhedron; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp new file mode 100644 index 0000000000..828acda470 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp @@ -0,0 +1,99 @@ +#include "btSdfCollisionShape.h" +#include "btMiniSDF.h" +#include "LinearMath/btAabbUtil2.h" + +struct btSdfCollisionShapeInternalData +{ + btVector3 m_localScaling; + btScalar m_margin; + btMiniSDF m_sdf; + + btSdfCollisionShapeInternalData() + :m_localScaling(1,1,1), + m_margin(0) + { + + } +}; + +bool btSdfCollisionShape::initializeSDF(const char* sdfData, int sizeInBytes) +{ + bool valid = m_data->m_sdf.load(sdfData, sizeInBytes); + return valid; +} +btSdfCollisionShape::btSdfCollisionShape() +{ + m_shapeType = SDF_SHAPE_PROXYTYPE; + m_data = new btSdfCollisionShapeInternalData(); + + + + //"E:/develop/bullet3/data/toys/ground_hole64_64_8.cdf");//ground_cube.cdf"); + /*unsigned int field_id=0; + Eigen::Vector3d x (1,10,1); + Eigen::Vector3d gradient; + double dist = m_data->m_sdf.interpolate(field_id, x, &gradient); + printf("dist=%g\n", dist); + */ + +} +btSdfCollisionShape::~btSdfCollisionShape() +{ + delete m_data; +} + +void btSdfCollisionShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btAssert(m_data->m_sdf.isValid()); + btVector3 localAabbMin = m_data->m_sdf.m_domain.m_min; + btVector3 localAabbMax = m_data->m_sdf.m_domain.m_max; + btScalar margin(0); + btTransformAabb(localAabbMin,localAabbMax,margin,t,aabbMin,aabbMax); + +} + + +void btSdfCollisionShape::setLocalScaling(const btVector3& scaling) +{ + m_data->m_localScaling = scaling; +} +const btVector3& btSdfCollisionShape::getLocalScaling() const +{ + return m_data->m_localScaling; +} +void btSdfCollisionShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + inertia.setValue(0,0,0); +} +const char* btSdfCollisionShape::getName()const +{ + return "btSdfCollisionShape"; +} +void btSdfCollisionShape::setMargin(btScalar margin) +{ + m_data->m_margin = margin; +} +btScalar btSdfCollisionShape::getMargin() const +{ + return m_data->m_margin; +} + +void btSdfCollisionShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const +{ + //not yet +} + + +bool btSdfCollisionShape::queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal) +{ + int field = 0; + btVector3 grad; + double dist; + bool hasResult = m_data->m_sdf.interpolate(field,dist, ptInSDF,&grad); + if (hasResult) + { + normal.setValue(grad[0],grad[1],grad[2]); + distOut= dist; + } + return hasResult; +} diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h new file mode 100644 index 0000000000..6e32db9cd8 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSdfCollisionShape.h @@ -0,0 +1,30 @@ +#ifndef BT_SDF_COLLISION_SHAPE_H +#define BT_SDF_COLLISION_SHAPE_H + +#include "btConcaveShape.h" + +class btSdfCollisionShape : public btConcaveShape +{ + struct btSdfCollisionShapeInternalData* m_data; + +public: + + btSdfCollisionShape(); + virtual ~btSdfCollisionShape(); + + bool initializeSDF(const char* sdfData, int sizeInBytes); + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + virtual void setLocalScaling(const btVector3& scaling); + virtual const btVector3& getLocalScaling() const; + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + virtual const char* getName()const; + virtual void setMargin(btScalar margin); + virtual btScalar getMargin() const; + + virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const; + + bool queryPoint(const btVector3& ptInSDF, btScalar& distOut, btVector3& normal); +}; + +#endif //BT_SDF_COLLISION_SHAPE_H diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp index 3beaf86580..9f712fe555 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.cpp @@ -20,6 +20,8 @@ subject to the following restrictions: #include "LinearMath/btConvexHull.h" #define NUM_UNITSPHERE_POINTS 42 +#define NUM_UNITSPHERE_POINTS_HIGHRES 256 + btShapeHull::btShapeHull (const btConvexShape* shape) { @@ -36,9 +38,9 @@ btShapeHull::~btShapeHull () } bool -btShapeHull::buildHull (btScalar /*margin*/) +btShapeHull::buildHull (btScalar /*margin*/, int highres) { - int numSampleDirections = NUM_UNITSPHERE_POINTS; + int numSampleDirections = highres? NUM_UNITSPHERE_POINTS_HIGHRES:NUM_UNITSPHERE_POINTS; { int numPDA = m_shape->getNumPreferredPenetrationDirections(); if (numPDA) @@ -47,17 +49,17 @@ btShapeHull::buildHull (btScalar /*margin*/) { btVector3 norm; m_shape->getPreferredPenetrationDirection(i,norm); - getUnitSpherePoints()[numSampleDirections] = norm; + getUnitSpherePoints(highres)[numSampleDirections] = norm; numSampleDirections++; } } } - btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; + btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; int i; for (i = 0; i < numSampleDirections; i++) { - supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]); + supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]); } HullDesc hd; @@ -118,9 +120,268 @@ btShapeHull::numIndices () const } -btVector3* btShapeHull::getUnitSpherePoints() +btVector3* btShapeHull::getUnitSpherePoints(int highres) { - static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = + static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] = + { + btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)), + btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)), + btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)), + btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)), + btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)), + btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)), + btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)), + btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)), + btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)), + btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)), + btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)), + btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)), + btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)), + btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)), + btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)), + btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)), + btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)), + btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)), + btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)), + btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)), + btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)), + btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)), + btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)), + btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)), + btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)), + btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)), + btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)), + btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)), + btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)), + btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)), + btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)), + btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)), + btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)), + btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)), + btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)), + btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)), + btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)), + btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)), + btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)), + btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)), + btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)), + btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)), + btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)), + btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)), + btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)), + btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)), + btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)), + btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)), + btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)), + btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)), + btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)), + btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)), + btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)), + btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)), + btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)), + btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)), + btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)), + btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)), + btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)), + btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)), + btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)), + btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)), + btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)), + btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)), + btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)), + btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)), + btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)), + btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)), + btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)), + btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)), + btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)), + btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)), + btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)), + btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)), + btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)), + btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)), + btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)), + btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)), + btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)), + btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)), + btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)), + btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)), + btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)), + btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)), + btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)), + btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)), + btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)), + btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)), + btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)), + btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)), + btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)), + btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)), + btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)), + btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)), + btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)), + btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)), + btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)), + btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)), + btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)), + btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)), + btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)), + btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)), + btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)), + btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)), + btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)), + btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)), + btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)), + btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)), + btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)), + btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)), + btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)), + btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)), + btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)), + btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)), + btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)), + btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)), + btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)), + btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)), + btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)), + btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)), + btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)), + btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)), + btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)), + btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)), + btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)), + btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)), + btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)), + btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)), + btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)), + btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)), + btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)), + btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)), + btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)), + btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)), + btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)), + btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)), + btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)), + btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)), + btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)), + btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)), + btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)), + btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)), + btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)), + btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)), + btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)), + btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)), + btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)), + btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)), + btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)), + btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)), + btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)), + btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)), + btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)), + btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)), + btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)), + btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)), + btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)), + btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)), + btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)), + btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)), + btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)), + btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)), + btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)), + btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)), + btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)), + btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)), + btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)), + btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)), + btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)), + btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)), + btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)), + btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)), + btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)), + btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)), + btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)), + btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)), + btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)), + btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)), + btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)), + btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)), + btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)), + btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)), + btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)), + btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)), + btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)), + btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)), + btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)), + btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)), + btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)), + btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)), + btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)), + btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)), + btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)), + btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)), + btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)), + btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)), + btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)), + btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)), + btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)), + btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)), + btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)), + btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)), + btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)), + btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)), + btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)), + btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)), + btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)), + btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)), + btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)), + btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)), + btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)), + btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)), + btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)), + btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)), + btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)), + btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)), + btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)), + btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)), + btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)), + btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)), + btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)), + btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)), + btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)), + btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)), + btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)), + btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)), + btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)), + btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)), + btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)), + btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)), + btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)), + btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)), + btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)), + btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)), + btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)), + btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)), + btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)), + btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)), + btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)), + btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)), + btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)), + btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)), + btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)), + btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)), + btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)), + btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)), + btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)), + btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)), + btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)), + btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)), + btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)), + btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)), + btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)), + btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)), + btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)), + btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)), + }; + static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] = { btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)), btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)), @@ -165,6 +426,8 @@ btVector3* btShapeHull::getUnitSpherePoints() btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)), btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654)) }; + if (highres) + return sUnitSpherePointsHighres; return sUnitSpherePoints; } diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h index e959f198b6..78ea4b6501 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btShapeHull.h @@ -34,7 +34,7 @@ protected: unsigned int m_numIndices; const btConvexShape* m_shape; - static btVector3* getUnitSpherePoints(); + static btVector3* getUnitSpherePoints(int highres=0); public: BT_DECLARE_ALIGNED_ALLOCATOR(); @@ -42,7 +42,7 @@ public: btShapeHull (const btConvexShape* shape); ~btShapeHull (); - bool buildHull (btScalar margin); + bool buildHull (btScalar margin, int highres=0); int numTriangles () const; int numVertices () const; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp index d17141e3f2..b5e0e716d4 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp @@ -69,8 +69,6 @@ void btStaticPlaneShape::processAllTriangles(btTriangleCallback* callback,const //tangentDir0/tangentDir1 can be precalculated btPlaneSpace1(m_planeNormal,tangentDir0,tangentDir1); - btVector3 supVertex0,supVertex1; - btVector3 projectedCenter = center - (m_planeNormal.dot(center) - m_planeConstant)*m_planeNormal; btVector3 triangle[3]; diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h index 9e1544e87a..b7a6f74361 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h @@ -63,7 +63,7 @@ typedef btAlignedObjectArray<btIndexedMesh> IndexedMeshArray; ///The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing triangle/index arrays. ///Additional meshes can be added using addIndexedMesh -///No duplcate is made of the vertex/index data, it only indexes into external vertex/index arrays. +///No duplicate is made of the vertex/index data, it only indexes into external vertex/index arrays. ///So keep those arrays around during the lifetime of this btTriangleIndexVertexArray. ATTRIBUTE_ALIGNED16( class) btTriangleIndexVertexArray : public btStridingMeshInterface { diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp index 940282f576..3481fec850 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp @@ -113,12 +113,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( if ((relLinVelocLength+maxAngularProjectedVelocity) == 0.f) return false; - - btScalar lambda = btScalar(0.); - btVector3 v(1,0,0); - - int maxIter = MAX_ITERATIONS; btVector3 n; n.setValue(btScalar(0.),btScalar(0.),btScalar(0.)); @@ -137,8 +132,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( btPointCollector pointCollector1; - { - + { computeClosestPoints(fromA,fromB,pointCollector1); hasResult = pointCollector1.m_hasResult; @@ -172,28 +166,20 @@ bool btContinuousConvexCollision::calcTimeOfImpact( dLambda = dist / (projectedLinearVelocity+ maxAngularProjectedVelocity); - - - lambda = lambda + dLambda; + lambda += dLambda; - if (lambda > btScalar(1.)) + if (lambda > btScalar(1.) || lambda < btScalar(0.)) return false; - if (lambda < btScalar(0.)) - return false; - - //todo: next check with relative epsilon if (lambda <= lastLambda) { return false; //n.setValue(0,0,0); - break; + //break; } lastLambda = lambda; - - //interpolate to next lambda btTransform interpolatedTransA,interpolatedTransB,relativeTrans; @@ -223,7 +209,7 @@ bool btContinuousConvexCollision::calcTimeOfImpact( } numIter++; - if (numIter > maxIter) + if (numIter > MAX_ITERATIONS) { result.reportFailure(-2, numIter); return false; @@ -237,6 +223,5 @@ bool btContinuousConvexCollision::calcTimeOfImpact( } return false; - } diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h index bdc0572f75..528b5e0101 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h @@ -25,7 +25,7 @@ class btStaticPlaneShape; /// btContinuousConvexCollision implements angular and linear time of impact for convex objects. /// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis). -/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent. +/// Algorithm operates in worldspace, in order to keep in between motion globally consistent. /// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops class btContinuousConvexCollision : public btConvexCast { diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp index 572ec36f56..b79f49d611 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp @@ -21,46 +21,64 @@ subject to the following restrictions: #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" -bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver, - const btConvexShape* pConvexA, const btConvexShape* pConvexB, - const btTransform& transformA, const btTransform& transformB, - btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB, - class btIDebugDraw* debugDraw) +bool btGjkEpaPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& simplexSolver, + const btConvexShape* pConvexA, const btConvexShape* pConvexB, + const btTransform& transformA, const btTransform& transformB, + btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB, + class btIDebugDraw* debugDraw) { (void)debugDraw; (void)v; (void)simplexSolver; -// const btScalar radialmargin(btScalar(0.)); - - btVector3 guessVector(transformB.getOrigin()-transformA.getOrigin()); - btGjkEpaSolver2::sResults results; - + btVector3 guessVectors[] = { + btVector3(transformB.getOrigin() - transformA.getOrigin()).normalized(), + btVector3(transformA.getOrigin() - transformB.getOrigin()).normalized(), + btVector3(0, 0, 1), + btVector3(0, 1, 0), + btVector3(1, 0, 0), + btVector3(1, 1, 0), + btVector3(1, 1, 1), + btVector3(0, 1, 1), + btVector3(1, 0, 1), + }; - if(btGjkEpaSolver2::Penetration(pConvexA,transformA, - pConvexB,transformB, - guessVector,results)) - - { - // debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0)); - //resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth); - wWitnessOnA = results.witnesses[0]; - wWitnessOnB = results.witnesses[1]; - v = results.normal; - return true; - } else + int numVectors = sizeof(guessVectors) / sizeof(btVector3); + + for (int i = 0; i < numVectors; i++) { - if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results)) + simplexSolver.reset(); + btVector3 guessVector = guessVectors[i]; + + btGjkEpaSolver2::sResults results; + + if (btGjkEpaSolver2::Penetration(pConvexA, transformA, + pConvexB, transformB, + guessVector, results)) + { wWitnessOnA = results.witnesses[0]; wWitnessOnB = results.witnesses[1]; v = results.normal; - return false; + return true; + } + else + { + if (btGjkEpaSolver2::Distance(pConvexA, transformA, pConvexB, transformB, guessVector, results)) + { + wWitnessOnA = results.witnesses[0]; + wWitnessOnB = results.witnesses[1]; + v = results.normal; + return false; + } } } + //failed to find a distance/penetration + wWitnessOnA.setValue(0, 0, 0); + wWitnessOnB.setValue(0, 0, 0); + v.setValue(0, 0, 0); return false; } - diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp index 257b026d9b..a0b825f0e8 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp @@ -1,4 +1,4 @@ -/* +/* Bullet Continuous Collision Detection and Physics Library Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ @@ -32,7 +32,7 @@ subject to the following restrictions: //must be above the machine epsilon #ifdef BT_USE_DOUBLE_PRECISION #define REL_ERROR2 btScalar(1.0e-12) - btScalar gGjkEpaPenetrationTolerance = 1e-7; + btScalar gGjkEpaPenetrationTolerance = 1.0e-12; #else #define REL_ERROR2 btScalar(1.0e-6) btScalar gGjkEpaPenetrationTolerance = 0.001; @@ -83,6 +83,593 @@ void btGjkPairDetector::getClosestPoints(const ClosestPointInput& input,Result& getClosestPointsNonVirtual(input,output,debugDraw); } +static void btComputeSupport(const btConvexShape* convexA, const btTransform& localTransA, const btConvexShape* convexB, const btTransform& localTransB, const btVector3& dir, bool check2d, btVector3& supAworld, btVector3& supBworld, btVector3& aMinb) +{ + btVector3 seperatingAxisInA = (dir)* localTransA.getBasis(); + btVector3 seperatingAxisInB = (-dir)* localTransB.getBasis(); + + btVector3 pInANoMargin = convexA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); + btVector3 qInBNoMargin = convexB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + + btVector3 pInA = pInANoMargin; + btVector3 qInB = qInBNoMargin; + + supAworld = localTransA(pInA); + supBworld = localTransB(qInB); + + if (check2d) + { + supAworld[2] = 0.f; + supBworld[2] = 0.f; + } + + aMinb = supAworld - supBworld; +} + +struct btSupportVector +{ + btVector3 v; //!< Support point in minkowski sum + btVector3 v1; //!< Support point in obj1 + btVector3 v2; //!< Support point in obj2 +}; + +struct btSimplex +{ + btSupportVector ps[4]; + int last; //!< index of last added point +}; + +static btVector3 ccd_vec3_origin(0, 0, 0); + + +inline void btSimplexInit(btSimplex *s) +{ + s->last = -1; +} + +inline int btSimplexSize(const btSimplex *s) +{ + return s->last + 1; +} + +inline const btSupportVector *btSimplexPoint(const btSimplex *s, int idx) +{ + // here is no check on boundaries + return &s->ps[idx]; +} +inline void btSupportCopy(btSupportVector *d, const btSupportVector *s) +{ + *d = *s; +} + +inline void btVec3Copy(btVector3 *v, const btVector3* w) +{ + *v = *w; +} + +inline void ccdVec3Add(btVector3*v, const btVector3*w) +{ + v->m_floats[0] += w->m_floats[0]; + v->m_floats[1] += w->m_floats[1]; + v->m_floats[2] += w->m_floats[2]; +} + + +inline void ccdVec3Sub(btVector3 *v, const btVector3 *w) +{ + *v -= *w; +} +inline void btVec3Sub2(btVector3 *d, const btVector3 *v, const btVector3 *w) +{ + *d = (*v) - (*w); + +} +inline btScalar btVec3Dot(const btVector3 *a, const btVector3 *b) +{ + btScalar dot; + dot = a->dot(*b); + + return dot; +} + +inline btScalar ccdVec3Dist2(const btVector3 *a, const btVector3*b) +{ + btVector3 ab; + btVec3Sub2(&ab, a, b); + return btVec3Dot(&ab, &ab); +} + + +inline void btVec3Scale(btVector3 *d, btScalar k) +{ + d->m_floats[0] *= k; + d->m_floats[1] *= k; + d->m_floats[2] *= k; +} + +inline void btVec3Cross(btVector3 *d, const btVector3 *a, const btVector3 *b) +{ + d->m_floats[0] = (a->m_floats[1] * b->m_floats[2]) - (a->m_floats[2] * b->m_floats[1]); + d->m_floats[1] = (a->m_floats[2] * b->m_floats[0]) - (a->m_floats[0] * b->m_floats[2]); + d->m_floats[2] = (a->m_floats[0] * b->m_floats[1]) - (a->m_floats[1] * b->m_floats[0]); +} + +inline void btTripleCross(const btVector3 *a, const btVector3 *b, + const btVector3 *c, btVector3 *d) +{ + btVector3 e; + btVec3Cross(&e, a, b); + btVec3Cross(d, &e, c); +} + +inline int ccdEq(btScalar _a, btScalar _b) +{ + btScalar ab; + btScalar a, b; + + ab = btFabs(_a - _b); + if (btFabs(ab) < SIMD_EPSILON) + return 1; + + a = btFabs(_a); + b = btFabs(_b); + if (b > a) { + return ab < SIMD_EPSILON * b; + } + else { + return ab < SIMD_EPSILON * a; + } +} + +btScalar ccdVec3X(const btVector3* v) +{ + return v->x(); +} + +btScalar ccdVec3Y(const btVector3* v) +{ + return v->y(); +} + +btScalar ccdVec3Z(const btVector3* v) +{ + return v->z(); +} +inline int btVec3Eq(const btVector3 *a, const btVector3 *b) +{ + return ccdEq(ccdVec3X(a), ccdVec3X(b)) + && ccdEq(ccdVec3Y(a), ccdVec3Y(b)) + && ccdEq(ccdVec3Z(a), ccdVec3Z(b)); +} + + +inline void btSimplexAdd(btSimplex *s, const btSupportVector *v) +{ + // here is no check on boundaries in sake of speed + ++s->last; + btSupportCopy(s->ps + s->last, v); +} + + +inline void btSimplexSet(btSimplex *s, size_t pos, const btSupportVector *a) +{ + btSupportCopy(s->ps + pos, a); +} + +inline void btSimplexSetSize(btSimplex *s, int size) +{ + s->last = size - 1; +} + +inline const btSupportVector *ccdSimplexLast(const btSimplex *s) +{ + return btSimplexPoint(s, s->last); +} + +inline int ccdSign(btScalar val) +{ + if (btFuzzyZero(val)) { + return 0; + } + else if (val < btScalar(0)) { + return -1; + } + return 1; +} + + +inline btScalar btVec3PointSegmentDist2(const btVector3 *P, + const btVector3 *x0, + const btVector3 *b, + btVector3 *witness) +{ + // The computation comes from solving equation of segment: + // S(t) = x0 + t.d + // where - x0 is initial point of segment + // - d is direction of segment from x0 (|d| > 0) + // - t belongs to <0, 1> interval + // + // Than, distance from a segment to some point P can be expressed: + // D(t) = |x0 + t.d - P|^2 + // which is distance from any point on segment. Minimization + // of this function brings distance from P to segment. + // Minimization of D(t) leads to simple quadratic equation that's + // solving is straightforward. + // + // Bonus of this method is witness point for free. + + btScalar dist, t; + btVector3 d, a; + + // direction of segment + btVec3Sub2(&d, b, x0); + + // precompute vector from P to x0 + btVec3Sub2(&a, x0, P); + + t = -btScalar(1.) * btVec3Dot(&a, &d); + t /= btVec3Dot(&d, &d); + + if (t < btScalar(0) || btFuzzyZero(t)) { + dist = ccdVec3Dist2(x0, P); + if (witness) + btVec3Copy(witness, x0); + } + else if (t > btScalar(1) || ccdEq(t, btScalar(1))) { + dist = ccdVec3Dist2(b, P); + if (witness) + btVec3Copy(witness, b); + } + else { + if (witness) { + btVec3Copy(witness, &d); + btVec3Scale(witness, t); + ccdVec3Add(witness, x0); + dist = ccdVec3Dist2(witness, P); + } + else { + // recycling variables + btVec3Scale(&d, t); + ccdVec3Add(&d, &a); + dist = btVec3Dot(&d, &d); + } + } + + return dist; +} + + +btScalar btVec3PointTriDist2(const btVector3 *P, + const btVector3 *x0, const btVector3 *B, + const btVector3 *C, + btVector3 *witness) +{ + // Computation comes from analytic expression for triangle (x0, B, C) + // T(s, t) = x0 + s.d1 + t.d2, where d1 = B - x0 and d2 = C - x0 and + // Then equation for distance is: + // D(s, t) = | T(s, t) - P |^2 + // This leads to minimization of quadratic function of two variables. + // The solution from is taken only if s is between 0 and 1, t is + // between 0 and 1 and t + s < 1, otherwise distance from segment is + // computed. + + btVector3 d1, d2, a; + double u, v, w, p, q, r; + double s, t, dist, dist2; + btVector3 witness2; + + btVec3Sub2(&d1, B, x0); + btVec3Sub2(&d2, C, x0); + btVec3Sub2(&a, x0, P); + + u = btVec3Dot(&a, &a); + v = btVec3Dot(&d1, &d1); + w = btVec3Dot(&d2, &d2); + p = btVec3Dot(&a, &d1); + q = btVec3Dot(&a, &d2); + r = btVec3Dot(&d1, &d2); + + s = (q * r - w * p) / (w * v - r * r); + t = (-s * r - q) / w; + + if ((btFuzzyZero(s) || s > btScalar(0)) + && (ccdEq(s, btScalar(1)) || s < btScalar(1)) + && (btFuzzyZero(t) || t > btScalar(0)) + && (ccdEq(t, btScalar(1)) || t < btScalar(1)) + && (ccdEq(t + s, btScalar(1)) || t + s < btScalar(1))) { + + if (witness) + { + btVec3Scale(&d1, s); + btVec3Scale(&d2, t); + btVec3Copy(witness, x0); + ccdVec3Add(witness, &d1); + ccdVec3Add(witness, &d2); + + dist = ccdVec3Dist2(witness, P); + } + else + { + dist = s * s * v; + dist += t * t * w; + dist += btScalar(2.) * s * t * r; + dist += btScalar(2.) * s * p; + dist += btScalar(2.) * t * q; + dist += u; + } + } + else { + dist = btVec3PointSegmentDist2(P, x0, B, witness); + + dist2 = btVec3PointSegmentDist2(P, x0, C, &witness2); + if (dist2 < dist) { + dist = dist2; + if (witness) + btVec3Copy(witness, &witness2); + } + + dist2 = btVec3PointSegmentDist2(P, B, C, &witness2); + if (dist2 < dist) { + dist = dist2; + if (witness) + btVec3Copy(witness, &witness2); + } + } + + return dist; +} + + +static int btDoSimplex2(btSimplex *simplex, btVector3 *dir) +{ + const btSupportVector *A, *B; + btVector3 AB, AO, tmp; + btScalar dot; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other point + B = btSimplexPoint(simplex, 0); + // compute AB oriented segment + btVec3Sub2(&AB, &B->v, &A->v); + // compute AO vector + btVec3Copy(&AO, &A->v); + btVec3Scale(&AO, -btScalar(1)); + + // dot product AB . AO + dot = btVec3Dot(&AB, &AO); + + // check if origin doesn't lie on AB segment + btVec3Cross(&tmp, &AB, &AO); + if (btFuzzyZero(btVec3Dot(&tmp, &tmp)) && dot > btScalar(0)) { + return 1; + } + + // check if origin is in area where AB segment is + if (btFuzzyZero(dot) || dot < btScalar(0)) { + // origin is in outside are of A + btSimplexSet(simplex, 0, A); + btSimplexSetSize(simplex, 1); + btVec3Copy(dir, &AO); + } + else { + // origin is in area where AB segment is + + // keep simplex untouched and set direction to + // AB x AO x AB + btTripleCross(&AB, &AO, &AB, dir); + } + + return 0; +} + + + +static int btDoSimplex3(btSimplex *simplex, btVector3 *dir) +{ + const btSupportVector *A, *B, *C; + btVector3 AO, AB, AC, ABC, tmp; + btScalar dot, dist; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other points + B = btSimplexPoint(simplex, 1); + C = btSimplexPoint(simplex, 0); + + // check touching contact + dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &C->v, 0); + if (btFuzzyZero(dist)) { + return 1; + } + + // check if triangle is really triangle (has area > 0) + // if not simplex can't be expanded and thus no itersection is found + if (btVec3Eq(&A->v, &B->v) || btVec3Eq(&A->v, &C->v)) { + return -1; + } + + // compute AO vector + btVec3Copy(&AO, &A->v); + btVec3Scale(&AO, -btScalar(1)); + + // compute AB and AC segments and ABC vector (perpendircular to triangle) + btVec3Sub2(&AB, &B->v, &A->v); + btVec3Sub2(&AC, &C->v, &A->v); + btVec3Cross(&ABC, &AB, &AC); + + btVec3Cross(&tmp, &ABC, &AC); + dot = btVec3Dot(&tmp, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) { + dot = btVec3Dot(&AC, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) { + // C is already in place + btSimplexSet(simplex, 1, A); + btSimplexSetSize(simplex, 2); + btTripleCross(&AC, &AO, &AC, dir); + } + else { + + dot = btVec3Dot(&AB, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) { + btSimplexSet(simplex, 0, B); + btSimplexSet(simplex, 1, A); + btSimplexSetSize(simplex, 2); + btTripleCross(&AB, &AO, &AB, dir); + } + else { + btSimplexSet(simplex, 0, A); + btSimplexSetSize(simplex, 1); + btVec3Copy(dir, &AO); + } + } + } + else { + btVec3Cross(&tmp, &AB, &ABC); + dot = btVec3Dot(&tmp, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) + { + dot = btVec3Dot(&AB, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) { + btSimplexSet(simplex, 0, B); + btSimplexSet(simplex, 1, A); + btSimplexSetSize(simplex, 2); + btTripleCross(&AB, &AO, &AB, dir); + } + else { + btSimplexSet(simplex, 0, A); + btSimplexSetSize(simplex, 1); + btVec3Copy(dir, &AO); + } + } + else { + dot = btVec3Dot(&ABC, &AO); + if (btFuzzyZero(dot) || dot > btScalar(0)) { + btVec3Copy(dir, &ABC); + } + else { + btSupportVector tmp; + btSupportCopy(&tmp, C); + btSimplexSet(simplex, 0, B); + btSimplexSet(simplex, 1, &tmp); + + btVec3Copy(dir, &ABC); + btVec3Scale(dir, -btScalar(1)); + } + } + } + + return 0; +} + +static int btDoSimplex4(btSimplex *simplex, btVector3 *dir) +{ + const btSupportVector *A, *B, *C, *D; + btVector3 AO, AB, AC, AD, ABC, ACD, ADB; + int B_on_ACD, C_on_ADB, D_on_ABC; + int AB_O, AC_O, AD_O; + btScalar dist; + + // get last added as A + A = ccdSimplexLast(simplex); + // get the other points + B = btSimplexPoint(simplex, 2); + C = btSimplexPoint(simplex, 1); + D = btSimplexPoint(simplex, 0); + + // check if tetrahedron is really tetrahedron (has volume > 0) + // if it is not simplex can't be expanded and thus no intersection is + // found + dist = btVec3PointTriDist2(&A->v, &B->v, &C->v, &D->v, 0); + if (btFuzzyZero(dist)) { + return -1; + } + + // check if origin lies on some of tetrahedron's face - if so objects + // intersect + dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &C->v, 0); + if (btFuzzyZero(dist)) + return 1; + dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &C->v, &D->v, 0); + if (btFuzzyZero(dist)) + return 1; + dist = btVec3PointTriDist2(&ccd_vec3_origin, &A->v, &B->v, &D->v, 0); + if (btFuzzyZero(dist)) + return 1; + dist = btVec3PointTriDist2(&ccd_vec3_origin, &B->v, &C->v, &D->v, 0); + if (btFuzzyZero(dist)) + return 1; + + // compute AO, AB, AC, AD segments and ABC, ACD, ADB normal vectors + btVec3Copy(&AO, &A->v); + btVec3Scale(&AO, -btScalar(1)); + btVec3Sub2(&AB, &B->v, &A->v); + btVec3Sub2(&AC, &C->v, &A->v); + btVec3Sub2(&AD, &D->v, &A->v); + btVec3Cross(&ABC, &AB, &AC); + btVec3Cross(&ACD, &AC, &AD); + btVec3Cross(&ADB, &AD, &AB); + + // side (positive or negative) of B, C, D relative to planes ACD, ADB + // and ABC respectively + B_on_ACD = ccdSign(btVec3Dot(&ACD, &AB)); + C_on_ADB = ccdSign(btVec3Dot(&ADB, &AC)); + D_on_ABC = ccdSign(btVec3Dot(&ABC, &AD)); + + // whether origin is on same side of ACD, ADB, ABC as B, C, D + // respectively + AB_O = ccdSign(btVec3Dot(&ACD, &AO)) == B_on_ACD; + AC_O = ccdSign(btVec3Dot(&ADB, &AO)) == C_on_ADB; + AD_O = ccdSign(btVec3Dot(&ABC, &AO)) == D_on_ABC; + + if (AB_O && AC_O && AD_O) { + // origin is in tetrahedron + return 1; + // rearrange simplex to triangle and call btDoSimplex3() + } + else if (!AB_O) { + // B is farthest from the origin among all of the tetrahedron's + // points, so remove it from the list and go on with the triangle + // case + + // D and C are in place + btSimplexSet(simplex, 2, A); + btSimplexSetSize(simplex, 3); + } + else if (!AC_O) { + // C is farthest + btSimplexSet(simplex, 1, D); + btSimplexSet(simplex, 0, B); + btSimplexSet(simplex, 2, A); + btSimplexSetSize(simplex, 3); + } + else { // (!AD_O) + btSimplexSet(simplex, 0, C); + btSimplexSet(simplex, 1, B); + btSimplexSet(simplex, 2, A); + btSimplexSetSize(simplex, 3); + } + + return btDoSimplex3(simplex, dir); +} + +static int btDoSimplex(btSimplex *simplex, btVector3 *dir) +{ + if (btSimplexSize(simplex) == 2) { + // simplex contains segment only one segment + return btDoSimplex2(simplex, dir); + } + else if (btSimplexSize(simplex) == 3) { + // simplex contains triangle + return btDoSimplex3(simplex, dir); + } + else { // btSimplexSize(simplex) == 4 + // tetrahedron - this is the only shape which can encapsule origin + // so btDoSimplex4() also contains test on it + return btDoSimplex4(simplex, dir); + } +} + #ifdef __SPU__ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw) #else @@ -123,193 +710,308 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu bool checkSimplex = false; bool checkPenetration = true; m_degenerateSimplex = 0; - + m_lastUsedMethod = -1; - + int status = -2; + btVector3 orgNormalInB(0, 0, 0); + btScalar margin = marginA + marginB; + + //we add a separate implementation to check if the convex shapes intersect + //See also "Real-time Collision Detection with Implicit Objects" by Leif Olvang + //Todo: integrate the simplex penetration check directly inside the Bullet btVoronoiSimplexSolver + //and remove this temporary code from libCCD + //this fixes issue https://github.com/bulletphysics/bullet3/issues/1703 + //note, for large differences in shapes, use double precision build! { btScalar squaredDistance = BT_LARGE_FLOAT; btScalar delta = btScalar(0.); - - btScalar margin = marginA + marginB; - - - m_simplexSolver->reset(); + + - for ( ; ; ) - //while (true) - { + btSimplex simplex1; + btSimplex* simplex = &simplex1; + btSimplexInit(simplex); - btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* input.m_transformA.getBasis(); - btVector3 seperatingAxisInB = m_cachedSeparatingAxis* input.m_transformB.getBasis(); + btVector3 dir(1, 0, 0); + { - btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); - btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + btVector3 lastSupV; + btVector3 supAworld; + btVector3 supBworld; + btComputeSupport(m_minkowskiA, localTransA, m_minkowskiB, localTransB, dir, check2d, supAworld, supBworld, lastSupV); + + btSupportVector last; + last.v = lastSupV; + last.v1 = supAworld; + last.v2 = supBworld; - btVector3 pWorld = localTransA(pInA); - btVector3 qWorld = localTransB(qInB); + btSimplexAdd(simplex, &last); + dir = -lastSupV; - if (check2d) + + + // start iterations + for (int iterations = 0; iterations <gGjkMaxIter; iterations++) { - pWorld[2] = 0.f; - qWorld[2] = 0.f; - } + // obtain support point + btComputeSupport(m_minkowskiA, localTransA, m_minkowskiB, localTransB, dir, check2d, supAworld, supBworld, lastSupV); + + // check if farthest point in Minkowski difference in direction dir + // isn't somewhere before origin (the test on negative dot product) + // - because if it is, objects are not intersecting at all. + btScalar delta = lastSupV.dot(dir); + if (delta < 0) + { + //no intersection, besides margin + status = -1; + break; + } + + // add last support vector to simplex + last.v = lastSupV; + last.v1 = supAworld; + last.v2 = supBworld; - btVector3 w = pWorld - qWorld; - delta = m_cachedSeparatingAxis.dot(w); + btSimplexAdd(simplex, &last); - // potential exit, they don't overlap - if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) - { - m_degenerateSimplex = 10; - checkSimplex=true; - //checkPenetration = false; - break; - } + // if btDoSimplex returns 1 if objects intersect, -1 if objects don't + // intersect and 0 if algorithm should continue - //exit 0: the new point is already in the simplex, or we didn't come any closer - if (m_simplexSolver->inSimplex(w)) - { - m_degenerateSimplex = 1; - checkSimplex = true; - break; - } - // are we getting any closer ? - btScalar f0 = squaredDistance - delta; - btScalar f1 = squaredDistance * REL_ERROR2; + btVector3 newDir; + int do_simplex_res = btDoSimplex(simplex, &dir); - if (f0 <= f1) - { - if (f0 <= btScalar(0.)) + if (do_simplex_res == 1) { - m_degenerateSimplex = 2; - } else + status = 0; // intersection found + break; + } + else if (do_simplex_res == -1) + { + // intersection not found + status = -1; + break; + } + + if (btFuzzyZero(btVec3Dot(&dir, &dir))) + { + // intersection not found + status = -1; + } + + if (dir.length2() < SIMD_EPSILON) { - m_degenerateSimplex = 11; + //no intersection, besides margin + status = -1; + break; + } + + if (dir.fuzzyZero()) + { + // intersection not found + status = -1; + break; } - checkSimplex = true; - break; } - //add current vertex to simplex - m_simplexSolver->addVertex(w, pWorld, qWorld); - btVector3 newCachedSeparatingAxis; + } + + m_simplexSolver->reset(); + if (status == 0) + { + //status = 0; + //printf("Intersect!\n"); + } - //calculate the closest point to the origin (update vector v) - if (!m_simplexSolver->closest(newCachedSeparatingAxis)) + if (status==-1) + { + //printf("not intersect\n"); + } + //printf("dir=%f,%f,%f\n",dir[0],dir[1],dir[2]); + if (1) + { + for (; ; ) + //while (true) { - m_degenerateSimplex = 3; - checkSimplex = true; - break; - } - if(newCachedSeparatingAxis.length2()<REL_ERROR2) - { - m_cachedSeparatingAxis = newCachedSeparatingAxis; - m_degenerateSimplex = 6; - checkSimplex = true; - break; - } + btVector3 seperatingAxisInA = (-m_cachedSeparatingAxis)* localTransA.getBasis(); + btVector3 seperatingAxisInB = m_cachedSeparatingAxis* localTransB.getBasis(); + + + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + + btVector3 pWorld = localTransA(pInA); + btVector3 qWorld = localTransB(qInB); - btScalar previousSquaredDistance = squaredDistance; - squaredDistance = newCachedSeparatingAxis.length2(); + + if (check2d) + { + pWorld[2] = 0.f; + qWorld[2] = 0.f; + } + + btVector3 w = pWorld - qWorld; + delta = m_cachedSeparatingAxis.dot(w); + + // potential exit, they don't overlap + if ((delta > btScalar(0.0)) && (delta * delta > squaredDistance * input.m_maximumDistanceSquared)) + { + m_degenerateSimplex = 10; + checkSimplex = true; + //checkPenetration = false; + break; + } + + //exit 0: the new point is already in the simplex, or we didn't come any closer + if (m_simplexSolver->inSimplex(w)) + { + m_degenerateSimplex = 1; + checkSimplex = true; + break; + } + // are we getting any closer ? + btScalar f0 = squaredDistance - delta; + btScalar f1 = squaredDistance * REL_ERROR2; + + if (f0 <= f1) + { + if (f0 <= btScalar(0.)) + { + m_degenerateSimplex = 2; + } + else + { + m_degenerateSimplex = 11; + } + checkSimplex = true; + break; + } + + //add current vertex to simplex + m_simplexSolver->addVertex(w, pWorld, qWorld); + btVector3 newCachedSeparatingAxis; + + //calculate the closest point to the origin (update vector v) + if (!m_simplexSolver->closest(newCachedSeparatingAxis)) + { + m_degenerateSimplex = 3; + checkSimplex = true; + break; + } + + if (newCachedSeparatingAxis.length2() < REL_ERROR2) + { + m_cachedSeparatingAxis = newCachedSeparatingAxis; + m_degenerateSimplex = 6; + checkSimplex = true; + break; + } + + btScalar previousSquaredDistance = squaredDistance; + squaredDistance = newCachedSeparatingAxis.length2(); #if 0 -///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo - if (squaredDistance>previousSquaredDistance) - { - m_degenerateSimplex = 7; - squaredDistance = previousSquaredDistance; - checkSimplex = false; - break; - } + ///warning: this termination condition leads to some problems in 2d test case see Bullet/Demos/Box2dDemo + if (squaredDistance > previousSquaredDistance) + { + m_degenerateSimplex = 7; + squaredDistance = previousSquaredDistance; + checkSimplex = false; + break; + } #endif // - - //redundant m_simplexSolver->compute_points(pointOnA, pointOnB); - //are we getting any closer ? - if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) - { -// m_simplexSolver->backup_closest(m_cachedSeparatingAxis); - checkSimplex = true; - m_degenerateSimplex = 12; - - break; - } + //redundant m_simplexSolver->compute_points(pointOnA, pointOnB); - m_cachedSeparatingAxis = newCachedSeparatingAxis; + //are we getting any closer ? + if (previousSquaredDistance - squaredDistance <= SIMD_EPSILON * previousSquaredDistance) + { + // m_simplexSolver->backup_closest(m_cachedSeparatingAxis); + checkSimplex = true; + m_degenerateSimplex = 12; + + break; + } - //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject - if (m_curIter++ > gGjkMaxIter) - { - #if defined(DEBUG) || defined (_DEBUG) + m_cachedSeparatingAxis = newCachedSeparatingAxis; - printf("btGjkPairDetector maxIter exceeded:%i\n",m_curIter); - printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n", - m_cachedSeparatingAxis.getX(), - m_cachedSeparatingAxis.getY(), - m_cachedSeparatingAxis.getZ(), - squaredDistance, - m_minkowskiA->getShapeType(), - m_minkowskiB->getShapeType()); + //degeneracy, this is typically due to invalid/uninitialized worldtransforms for a btCollisionObject + if (m_curIter++ > gGjkMaxIter) + { +#if defined(DEBUG) || defined (_DEBUG) - #endif - break; + printf("btGjkPairDetector maxIter exceeded:%i\n", m_curIter); + printf("sepAxis=(%f,%f,%f), squaredDistance = %f, shapeTypeA=%i,shapeTypeB=%i\n", + m_cachedSeparatingAxis.getX(), + m_cachedSeparatingAxis.getY(), + m_cachedSeparatingAxis.getZ(), + squaredDistance, + m_minkowskiA->getShapeType(), + m_minkowskiB->getShapeType()); - } +#endif + break; + } - bool check = (!m_simplexSolver->fullSimplex()); - //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex()); - if (!check) - { - //do we need this backup_closest here ? -// m_simplexSolver->backup_closest(m_cachedSeparatingAxis); - m_degenerateSimplex = 13; - break; + bool check = (!m_simplexSolver->fullSimplex()); + //bool check = (!m_simplexSolver->fullSimplex() && squaredDistance > SIMD_EPSILON * m_simplexSolver->maxVertex()); + + if (!check) + { + //do we need this backup_closest here ? + // m_simplexSolver->backup_closest(m_cachedSeparatingAxis); + m_degenerateSimplex = 13; + break; + } } - } - if (checkSimplex) - { + if (checkSimplex) + { m_simplexSolver->compute_points(pointOnA, pointOnB); normalInB = m_cachedSeparatingAxis; btScalar lenSqr =m_cachedSeparatingAxis.length2(); - //valid normal - if (lenSqr < REL_ERROR2) - { - m_degenerateSimplex = 5; - } - if (lenSqr > SIMD_EPSILON*SIMD_EPSILON) - { - btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); - normalInB *= rlen; //normalize + //valid normal + if (lenSqr < REL_ERROR2) + { + m_degenerateSimplex = 5; + } + if (lenSqr > SIMD_EPSILON*SIMD_EPSILON) + { + btScalar rlen = btScalar(1.) / btSqrt(lenSqr); + normalInB *= rlen; //normalize - btScalar s = btSqrt(squaredDistance); - - btAssert(s > btScalar(0.0)); - pointOnA -= m_cachedSeparatingAxis * (marginA / s); - pointOnB += m_cachedSeparatingAxis * (marginB / s); - distance = ((btScalar(1.)/rlen) - margin); - isValid = true; - - m_lastUsedMethod = 1; - } else - { - m_lastUsedMethod = 2; + btScalar s = btSqrt(squaredDistance); + + btAssert(s > btScalar(0.0)); + pointOnA -= m_cachedSeparatingAxis * (marginA / s); + pointOnB += m_cachedSeparatingAxis * (marginB / s); + distance = ((btScalar(1.) / rlen) - margin); + isValid = true; + orgNormalInB = normalInB; + + m_lastUsedMethod = 1; + } + else + { + m_lastUsedMethod = 2; + } } } + + bool catchDegeneratePenetrationCase = (m_catchDegeneracies && m_penetrationDepthSolver && m_degenerateSimplex && ((distance+margin) < gGjkEpaPenetrationTolerance)); //if (checkPenetration && !isValid) - if (checkPenetration && (!isValid || catchDegeneratePenetrationCase )) + if ((checkPenetration && (!isValid || catchDegeneratePenetrationCase )) || (status == 0)) { //penetration case @@ -331,70 +1033,79 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu ); - if (isValid2) + if (m_cachedSeparatingAxis.length2()) { - btVector3 tmpNormalInB = tmpPointOnB-tmpPointOnA; - btScalar lenSqr = tmpNormalInB.length2(); - if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON)) + if (isValid2) { - tmpNormalInB = m_cachedSeparatingAxis; - lenSqr = m_cachedSeparatingAxis.length2(); - } + btVector3 tmpNormalInB = tmpPointOnB - tmpPointOnA; + btScalar lenSqr = tmpNormalInB.length2(); + if (lenSqr <= (SIMD_EPSILON*SIMD_EPSILON)) + { + tmpNormalInB = m_cachedSeparatingAxis; + lenSqr = m_cachedSeparatingAxis.length2(); + } - if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON)) - { - tmpNormalInB /= btSqrt(lenSqr); - btScalar distance2 = -(tmpPointOnA-tmpPointOnB).length(); - m_lastUsedMethod = 3; - //only replace valid penetrations when the result is deeper (check) - if (!isValid || (distance2 < distance)) + if (lenSqr > (SIMD_EPSILON*SIMD_EPSILON)) { - distance = distance2; - pointOnA = tmpPointOnA; - pointOnB = tmpPointOnB; - normalInB = tmpNormalInB; - - isValid = true; - - } else + tmpNormalInB /= btSqrt(lenSqr); + btScalar distance2 = -(tmpPointOnA - tmpPointOnB).length(); + m_lastUsedMethod = 3; + //only replace valid penetrations when the result is deeper (check) + if (!isValid || (distance2 < distance)) + { + distance = distance2; + pointOnA = tmpPointOnA; + pointOnB = tmpPointOnB; + normalInB = tmpNormalInB; + isValid = true; + + } + else + { + m_lastUsedMethod = 8; + } + } + else { - m_lastUsedMethod = 8; + m_lastUsedMethod = 9; } - } else - { - m_lastUsedMethod = 9; } - } else - - { - ///this is another degenerate case, where the initial GJK calculation reports a degenerate case - ///EPA reports no penetration, and the second GJK (using the supporting vector without margin) - ///reports a valid positive distance. Use the results of the second GJK instead of failing. - ///thanks to Jacob.Langford for the reproduction case - ///http://code.google.com/p/bullet/issues/detail?id=250 + else - - if (m_cachedSeparatingAxis.length2() > btScalar(0.)) { - btScalar distance2 = (tmpPointOnA-tmpPointOnB).length()-margin; - //only replace valid distances when the distance is less - if (!isValid || (distance2 < distance)) - { - distance = distance2; - pointOnA = tmpPointOnA; - pointOnB = tmpPointOnB; - pointOnA -= m_cachedSeparatingAxis * marginA ; - pointOnB += m_cachedSeparatingAxis * marginB ; - normalInB = m_cachedSeparatingAxis; - normalInB.normalize(); - - isValid = true; - m_lastUsedMethod = 6; - } else + ///this is another degenerate case, where the initial GJK calculation reports a degenerate case + ///EPA reports no penetration, and the second GJK (using the supporting vector without margin) + ///reports a valid positive distance. Use the results of the second GJK instead of failing. + ///thanks to Jacob.Langford for the reproduction case + ///http://code.google.com/p/bullet/issues/detail?id=250 + + + if (m_cachedSeparatingAxis.length2() > btScalar(0.)) { - m_lastUsedMethod = 5; + btScalar distance2 = (tmpPointOnA - tmpPointOnB).length() - margin; + //only replace valid distances when the distance is less + if (!isValid || (distance2 < distance)) + { + distance = distance2; + pointOnA = tmpPointOnA; + pointOnB = tmpPointOnB; + pointOnA -= m_cachedSeparatingAxis * marginA; + pointOnB += m_cachedSeparatingAxis * marginB; + normalInB = m_cachedSeparatingAxis; + normalInB.normalize(); + + isValid = true; + m_lastUsedMethod = 6; + } + else + { + m_lastUsedMethod = 5; + } } } + } else + { + //printf("EPA didn't return a valid value\n"); } } @@ -409,17 +1120,33 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu m_cachedSeparatingAxis = normalInB; m_cachedSeparatingDistance = distance; - + if (1) { ///todo: need to track down this EPA penetration solver degeneracy ///the penetration solver reports penetration but the contact normal ///connecting the contact points is pointing in the opposite direction ///until then, detect the issue and revert the normal + btScalar d2 = 0.f; + { + btVector3 seperatingAxisInA = (-orgNormalInB)* localTransA.getBasis(); + btVector3 seperatingAxisInB = orgNormalInB* localTransB.getBasis(); + + + btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); + btVector3 qInB = m_minkowskiB->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInB); + + btVector3 pWorld = localTransA(pInA); + btVector3 qWorld = localTransB(qInB); + btVector3 w = pWorld - qWorld; + d2 = orgNormalInB.dot(w)- margin; + } + btScalar d1=0; { - btVector3 seperatingAxisInA = (normalInB)* input.m_transformA.getBasis(); - btVector3 seperatingAxisInB = -normalInB* input.m_transformB.getBasis(); + + btVector3 seperatingAxisInA = (normalInB)* localTransA.getBasis(); + btVector3 seperatingAxisInB = -normalInB* localTransB.getBasis(); btVector3 pInA = m_minkowskiA->localGetSupportVertexWithoutMarginNonVirtual(seperatingAxisInA); @@ -428,7 +1155,8 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); btVector3 w = pWorld - qWorld; - d1 = (-normalInB).dot(w); + d1 = (-normalInB).dot(w)- margin; + } btScalar d0 = 0.f; { @@ -442,21 +1170,37 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu btVector3 pWorld = localTransA(pInA); btVector3 qWorld = localTransB(qInB); btVector3 w = pWorld - qWorld; - d0 = normalInB.dot(w); + d0 = normalInB.dot(w)-margin; } + if (d1>d0) { m_lastUsedMethod = 10; normalInB*=-1; } + if (orgNormalInB.length2()) + { + if (d2 > d0 && d2 > d1 && d2 > distance) + { + + normalInB = orgNormalInB; + distance = d2; + } + } } + + output.addContactPoint( normalInB, pointOnB+positionOffset, distance); } + else + { + //printf("invalid gjk query\n"); + } } diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp index 23aaece22b..9603a8bbdc 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp @@ -16,7 +16,13 @@ subject to the following restrictions: #include "btPersistentManifold.h" #include "LinearMath/btTransform.h" +#include "LinearMath/btSerializer.h" +#ifdef BT_USE_DOUBLE_PRECISION +#define btCollisionObjectData btCollisionObjectDoubleData +#else +#define btCollisionObjectData btCollisionObjectFloatData +#endif btScalar gContactBreakingThreshold = btScalar(0.02); ContactDestroyedCallback gContactDestroyedCallback = 0; @@ -33,6 +39,8 @@ btPersistentManifold::btPersistentManifold() m_body0(0), m_body1(0), m_cachedPoints (0), +m_companionIdA(0), +m_companionIdB(0), m_index1a(0) { } @@ -303,6 +311,149 @@ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btT } +int btPersistentManifold::calculateSerializeBufferSize() const +{ + return sizeof(btPersistentManifoldData); +} + +const char* btPersistentManifold::serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const +{ + btPersistentManifoldData* dataOut = (btPersistentManifoldData*)dataBuffer; + memset(dataOut, 0, sizeof(btPersistentManifoldData)); + + dataOut->m_body0 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody0()); + dataOut->m_body1 = (btCollisionObjectData*)serializer->getUniquePointer((void*)manifold->getBody1()); + dataOut->m_contactBreakingThreshold = manifold->getContactBreakingThreshold(); + dataOut->m_contactProcessingThreshold = manifold->getContactProcessingThreshold(); + dataOut->m_numCachedPoints = manifold->getNumContacts(); + dataOut->m_companionIdA = manifold->m_companionIdA; + dataOut->m_companionIdB = manifold->m_companionIdB; + dataOut->m_index1a = manifold->m_index1a; + dataOut->m_objectType = manifold->m_objectType; + + for (int i = 0; i < this->getNumContacts(); i++) + { + const btManifoldPoint& pt = manifold->getContactPoint(i); + dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse; + dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1; + dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2; + pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]); + pt.m_localPointB.serialize(dataOut->m_pointCacheLocalPointB[i]); + pt.m_normalWorldOnB.serialize(dataOut->m_pointCacheNormalWorldOnB[i]); + dataOut->m_pointCacheDistance[i] = pt.m_distance1; + dataOut->m_pointCacheCombinedContactDamping1[i] = pt.m_combinedContactDamping1; + dataOut->m_pointCacheCombinedContactStiffness1[i] = pt.m_combinedContactStiffness1; + dataOut->m_pointCacheLifeTime[i] = pt.m_lifeTime; + dataOut->m_pointCacheFrictionCFM[i] = pt.m_frictionCFM; + dataOut->m_pointCacheContactERP[i] = pt.m_contactERP; + dataOut->m_pointCacheContactCFM[i] = pt.m_contactCFM; + dataOut->m_pointCacheContactPointFlags[i] = pt.m_contactPointFlags; + dataOut->m_pointCacheIndex0[i] = pt.m_index0; + dataOut->m_pointCacheIndex1[i] = pt.m_index1; + dataOut->m_pointCachePartId0[i] = pt.m_partId0; + dataOut->m_pointCachePartId1[i] = pt.m_partId1; + pt.m_positionWorldOnA.serialize(dataOut->m_pointCachePositionWorldOnA[i]); + pt.m_positionWorldOnB.serialize(dataOut->m_pointCachePositionWorldOnB[i]); + dataOut->m_pointCacheCombinedFriction[i] = pt.m_combinedFriction; + pt.m_lateralFrictionDir1.serialize(dataOut->m_pointCacheLateralFrictionDir1[i]); + pt.m_lateralFrictionDir2.serialize(dataOut->m_pointCacheLateralFrictionDir2[i]); + dataOut->m_pointCacheCombinedRollingFriction[i] = pt.m_combinedRollingFriction; + dataOut->m_pointCacheCombinedSpinningFriction[i] = pt.m_combinedSpinningFriction; + dataOut->m_pointCacheCombinedRestitution[i] = pt.m_combinedRestitution; + dataOut->m_pointCacheContactMotion1[i] = pt.m_contactMotion1; + dataOut->m_pointCacheContactMotion2[i] = pt.m_contactMotion2; + } + return btPersistentManifoldDataName; +} + +void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr) +{ + m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold; + m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold; + m_cachedPoints = manifoldDataPtr->m_numCachedPoints; + m_companionIdA = manifoldDataPtr->m_companionIdA; + m_companionIdB = manifoldDataPtr->m_companionIdB; + //m_index1a = manifoldDataPtr->m_index1a; + m_objectType = manifoldDataPtr->m_objectType; + + for (int i = 0; i < this->getNumContacts(); i++) + { + btManifoldPoint& pt = m_pointCache[i]; + + pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; + pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; + pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]); + pt.m_localPointB.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointB[i]); + pt.m_normalWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]); + pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i]; + pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i]; + pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i]; + pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i]; + pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i]; + pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i]; + pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i]; + pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i]; + pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i]; + pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i]; + pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i]; + pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i]; + pt.m_positionWorldOnA.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnA[i]); + pt.m_positionWorldOnB.deSerializeDouble(manifoldDataPtr->m_pointCachePositionWorldOnB[i]); + pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i]; + pt.m_lateralFrictionDir1.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]); + pt.m_lateralFrictionDir2.deSerializeDouble(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]); + pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i]; + pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i]; + pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i]; + pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i]; + pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i]; + } +} +void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr) +{ + m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold; + m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold; + m_cachedPoints = manifoldDataPtr->m_numCachedPoints; + m_companionIdA = manifoldDataPtr->m_companionIdA; + m_companionIdB = manifoldDataPtr->m_companionIdB; + //m_index1a = manifoldDataPtr->m_index1a; + m_objectType = manifoldDataPtr->m_objectType; + + for (int i = 0; i < this->getNumContacts(); i++) + { + btManifoldPoint& pt = m_pointCache[i]; + + pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i]; + pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i]; + pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i]; + pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]); + pt.m_localPointB.deSerialize(manifoldDataPtr->m_pointCacheLocalPointB[i]); + pt.m_normalWorldOnB.deSerialize(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]); + pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i]; + pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i]; + pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i]; + pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i]; + pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i]; + pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i]; + pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i]; + pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i]; + pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i]; + pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i]; + pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i]; + pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i]; + pt.m_positionWorldOnA.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnA[i]); + pt.m_positionWorldOnB.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnB[i]); + pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i]; + pt.m_lateralFrictionDir1.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]); + pt.m_lateralFrictionDir2.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]); + pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i]; + pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i]; + pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i]; + pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i]; + pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i]; + } +}
\ No newline at end of file diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h index f872c8e1c9..67be0c48eb 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h @@ -24,6 +24,8 @@ class btCollisionObject; #include "LinearMath/btAlignedAllocator.h" struct btCollisionResult; +struct btCollisionObjectDoubleData; +struct btCollisionObjectFloatData; ///maximum contact breaking and merging threshold extern btScalar gContactBreakingThreshold; @@ -95,7 +97,10 @@ public: : btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE), m_body0(body0),m_body1(body1),m_cachedPoints(0), m_contactBreakingThreshold(contactBreakingThreshold), - m_contactProcessingThreshold(contactProcessingThreshold) + m_contactProcessingThreshold(contactProcessingThreshold), + m_companionIdA(0), + m_companionIdB(0), + m_index1a(0) { } @@ -256,10 +261,115 @@ public: m_cachedPoints = 0; } + int calculateSerializeBufferSize() const; + const char* serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const; + void deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr); + void deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr); -} -; +}; + + + +struct btPersistentManifoldDoubleData +{ + btVector3DoubleData m_pointCacheLocalPointA[4]; + btVector3DoubleData m_pointCacheLocalPointB[4]; + btVector3DoubleData m_pointCachePositionWorldOnA[4]; + btVector3DoubleData m_pointCachePositionWorldOnB[4]; + btVector3DoubleData m_pointCacheNormalWorldOnB[4]; + btVector3DoubleData m_pointCacheLateralFrictionDir1[4]; + btVector3DoubleData m_pointCacheLateralFrictionDir2[4]; + double m_pointCacheDistance[4]; + double m_pointCacheAppliedImpulse[4]; + double m_pointCacheCombinedFriction[4]; + double m_pointCacheCombinedRollingFriction[4]; + double m_pointCacheCombinedSpinningFriction[4]; + double m_pointCacheCombinedRestitution[4]; + int m_pointCachePartId0[4]; + int m_pointCachePartId1[4]; + int m_pointCacheIndex0[4]; + int m_pointCacheIndex1[4]; + int m_pointCacheContactPointFlags[4]; + double m_pointCacheAppliedImpulseLateral1[4]; + double m_pointCacheAppliedImpulseLateral2[4]; + double m_pointCacheContactMotion1[4]; + double m_pointCacheContactMotion2[4]; + double m_pointCacheContactCFM[4]; + double m_pointCacheCombinedContactStiffness1[4]; + double m_pointCacheContactERP[4]; + double m_pointCacheCombinedContactDamping1[4]; + double m_pointCacheFrictionCFM[4]; + int m_pointCacheLifeTime[4]; + + int m_numCachedPoints; + int m_companionIdA; + int m_companionIdB; + int m_index1a; + + int m_objectType; + double m_contactBreakingThreshold; + double m_contactProcessingThreshold; + int m_padding; + + btCollisionObjectDoubleData *m_body0; + btCollisionObjectDoubleData *m_body1; +}; + + +struct btPersistentManifoldFloatData +{ + btVector3FloatData m_pointCacheLocalPointA[4]; + btVector3FloatData m_pointCacheLocalPointB[4]; + btVector3FloatData m_pointCachePositionWorldOnA[4]; + btVector3FloatData m_pointCachePositionWorldOnB[4]; + btVector3FloatData m_pointCacheNormalWorldOnB[4]; + btVector3FloatData m_pointCacheLateralFrictionDir1[4]; + btVector3FloatData m_pointCacheLateralFrictionDir2[4]; + float m_pointCacheDistance[4]; + float m_pointCacheAppliedImpulse[4]; + float m_pointCacheCombinedFriction[4]; + float m_pointCacheCombinedRollingFriction[4]; + float m_pointCacheCombinedSpinningFriction[4]; + float m_pointCacheCombinedRestitution[4]; + int m_pointCachePartId0[4]; + int m_pointCachePartId1[4]; + int m_pointCacheIndex0[4]; + int m_pointCacheIndex1[4]; + int m_pointCacheContactPointFlags[4]; + float m_pointCacheAppliedImpulseLateral1[4]; + float m_pointCacheAppliedImpulseLateral2[4]; + float m_pointCacheContactMotion1[4]; + float m_pointCacheContactMotion2[4]; + float m_pointCacheContactCFM[4]; + float m_pointCacheCombinedContactStiffness1[4]; + float m_pointCacheContactERP[4]; + float m_pointCacheCombinedContactDamping1[4]; + float m_pointCacheFrictionCFM[4]; + int m_pointCacheLifeTime[4]; + + int m_numCachedPoints; + int m_companionIdA; + int m_companionIdB; + int m_index1a; + + int m_objectType; + float m_contactBreakingThreshold; + float m_contactProcessingThreshold; + int m_padding; + + btCollisionObjectFloatData *m_body0; + btCollisionObjectFloatData *m_body1; +}; + +#ifdef BT_USE_DOUBLE_PRECISION +#define btPersistentManifoldData btPersistentManifoldDoubleData +#define btPersistentManifoldDataName "btPersistentManifoldDoubleData" +#else +#define btPersistentManifoldData btPersistentManifoldFloatData +#define btPersistentManifoldDataName "btPersistentManifoldFloatData" +#endif //BT_USE_DOUBLE_PRECISION + diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp index ec638f60ba..08d6e6de86 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp @@ -72,11 +72,18 @@ bool btSubsimplexConvexCast::calcTimeOfImpact( btScalar dist2 = v.length2(); + #ifdef BT_USE_DOUBLE_PRECISION - btScalar epsilon = btScalar(0.0001); + btScalar epsilon = SIMD_EPSILON * 10; #else +//todo: epsilon kept for backward compatibility of unit tests. +//will need to digg deeper to make the algorithm more robust +//since, a large epsilon can cause an early termination with false +//positive results (ray intersections that shouldn't be there) btScalar epsilon = btScalar(0.0001); #endif //BT_USE_DOUBLE_PRECISION + + btVector3 w,p; btScalar VdotR; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp new file mode 100644 index 0000000000..c82ba87f9f --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.cpp @@ -0,0 +1,1128 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btBatchedConstraints.h" + +#include "LinearMath/btIDebugDraw.h" +#include "LinearMath/btMinMax.h" +#include "LinearMath/btStackAlloc.h" +#include "LinearMath/btQuickprof.h" + +#include <string.h> //for memset + +const int kNoMerge = -1; + +bool btBatchedConstraints::s_debugDrawBatches = false; + + +struct btBatchedConstraintInfo +{ + int constraintIndex; + int numConstraintRows; + int bodyIds[2]; +}; + + +struct btBatchInfo +{ + int numConstraints; + int mergeIndex; + + btBatchInfo() : numConstraints(0), mergeIndex(kNoMerge) {} +}; + + +bool btBatchedConstraints::validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const +{ + // + // validate: for debugging only. Verify coloring of bodies, that no body is touched by more than one batch in any given phase + // + int errors = 0; + const int kUnassignedBatch = -1; + + btAlignedObjectArray<int> bodyBatchId; + for (int iPhase = 0; iPhase < m_phases.size(); ++iPhase) + { + bodyBatchId.resizeNoInitialize(0); + bodyBatchId.resize( bodies.size(), kUnassignedBatch ); + const Range& phase = m_phases[iPhase]; + for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch) + { + const Range& batch = m_batches[iBatch]; + for (int iiCons = batch.begin; iiCons < batch.end; ++iiCons) + { + int iCons = m_constraintIndices[iiCons]; + const btSolverConstraint& cons = constraints->at(iCons); + const btSolverBody& bodyA = bodies[cons.m_solverBodyIdA]; + const btSolverBody& bodyB = bodies[cons.m_solverBodyIdB]; + if (! bodyA.internalGetInvMass().isZero()) + { + int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdA]; + if (thisBodyBatchId == kUnassignedBatch) + { + bodyBatchId[cons.m_solverBodyIdA] = iBatch; + } + else if (thisBodyBatchId != iBatch) + { + btAssert( !"dynamic body is used in 2 different batches in the same phase" ); + errors++; + } + } + if (! bodyB.internalGetInvMass().isZero()) + { + int thisBodyBatchId = bodyBatchId[cons.m_solverBodyIdB]; + if (thisBodyBatchId == kUnassignedBatch) + { + bodyBatchId[cons.m_solverBodyIdB] = iBatch; + } + else if (thisBodyBatchId != iBatch) + { + btAssert( !"dynamic body is used in 2 different batches in the same phase" ); + errors++; + } + } + } + } + } + return errors == 0; +} + + +static void debugDrawSingleBatch( const btBatchedConstraints* bc, + btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies, + int iBatch, + const btVector3& color, + const btVector3& offset + ) +{ + if (bc && bc->m_debugDrawer && iBatch < bc->m_batches.size()) + { + const btBatchedConstraints::Range& b = bc->m_batches[iBatch]; + for (int iiCon = b.begin; iiCon < b.end; ++iiCon) + { + int iCon = bc->m_constraintIndices[iiCon]; + const btSolverConstraint& con = constraints->at(iCon); + int iBody0 = con.m_solverBodyIdA; + int iBody1 = con.m_solverBodyIdB; + btVector3 pos0 = bodies[iBody0].getWorldTransform().getOrigin() + offset; + btVector3 pos1 = bodies[iBody1].getWorldTransform().getOrigin() + offset; + bc->m_debugDrawer->drawLine(pos0, pos1, color); + } + } +} + + +static void debugDrawPhase( const btBatchedConstraints* bc, + btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies, + int iPhase, + const btVector3& color0, + const btVector3& color1, + const btVector3& offset + ) +{ + BT_PROFILE( "debugDrawPhase" ); + if ( bc && bc->m_debugDrawer && iPhase < bc->m_phases.size() ) + { + const btBatchedConstraints::Range& phase = bc->m_phases[iPhase]; + for (int iBatch = phase.begin; iBatch < phase.end; ++iBatch) + { + float tt = float(iBatch - phase.begin) / float(btMax(1, phase.end - phase.begin - 1)); + btVector3 col = lerp(color0, color1, tt); + debugDrawSingleBatch(bc, constraints, bodies, iBatch, col, offset); + } + } +} + + +static void debugDrawAllBatches( const btBatchedConstraints* bc, + btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies + ) +{ + BT_PROFILE( "debugDrawAllBatches" ); + if ( bc && bc->m_debugDrawer && bc->m_phases.size() > 0 ) + { + btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT); + btVector3 bboxMax = -bboxMin; + for (int iBody = 0; iBody < bodies.size(); ++iBody) + { + const btVector3& pos = bodies[iBody].getWorldTransform().getOrigin(); + bboxMin.setMin(pos); + bboxMax.setMax(pos); + } + btVector3 bboxExtent = bboxMax - bboxMin; + btVector3 offsetBase = btVector3( 0, bboxExtent.y()*1.1f, 0 ); + btVector3 offsetStep = btVector3( 0, 0, bboxExtent.z()*1.1f ); + int numPhases = bc->m_phases.size(); + for (int iPhase = 0; iPhase < numPhases; ++iPhase) + { + float b = float(iPhase)/float(numPhases-1); + btVector3 color0 = btVector3(1,0,b); + btVector3 color1 = btVector3(0,1,b); + btVector3 offset = offsetBase + offsetStep*(float(iPhase) - float(numPhases-1)*0.5); + debugDrawPhase(bc, constraints, bodies, iPhase, color0, color1, offset); + } + } +} + + +static void initBatchedBodyDynamicFlags(btAlignedObjectArray<bool>* outBodyDynamicFlags, const btAlignedObjectArray<btSolverBody>& bodies) +{ + BT_PROFILE("initBatchedBodyDynamicFlags"); + btAlignedObjectArray<bool>& bodyDynamicFlags = *outBodyDynamicFlags; + bodyDynamicFlags.resizeNoInitialize(bodies.size()); + for (int i = 0; i < bodies.size(); ++i) + { + const btSolverBody& body = bodies[ i ]; + bodyDynamicFlags[i] = ( body.internalGetInvMass().x() > btScalar( 0 ) ); + } +} + + +static int runLengthEncodeConstraintInfo(btBatchedConstraintInfo* outConInfos, int numConstraints) +{ + BT_PROFILE("runLengthEncodeConstraintInfo"); + // detect and run-length encode constraint rows that repeat the same bodies + int iDest = 0; + int iSrc = 0; + while (iSrc < numConstraints) + { + const btBatchedConstraintInfo& srcConInfo = outConInfos[iSrc]; + btBatchedConstraintInfo& conInfo = outConInfos[iDest]; + conInfo.constraintIndex = iSrc; + conInfo.bodyIds[0] = srcConInfo.bodyIds[0]; + conInfo.bodyIds[1] = srcConInfo.bodyIds[1]; + while (iSrc < numConstraints && outConInfos[iSrc].bodyIds[0] == srcConInfo.bodyIds[0] && outConInfos[iSrc].bodyIds[1] == srcConInfo.bodyIds[1]) + { + ++iSrc; + } + conInfo.numConstraintRows = iSrc - conInfo.constraintIndex; + ++iDest; + } + return iDest; +} + + +struct ReadSolverConstraintsLoop : public btIParallelForBody +{ + btBatchedConstraintInfo* m_outConInfos; + btConstraintArray* m_constraints; + + ReadSolverConstraintsLoop( btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints ) + { + m_outConInfos = outConInfos; + m_constraints = constraints; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + for (int i = iBegin; i < iEnd; ++i) + { + btBatchedConstraintInfo& conInfo = m_outConInfos[i]; + const btSolverConstraint& con = m_constraints->at( i ); + conInfo.bodyIds[0] = con.m_solverBodyIdA; + conInfo.bodyIds[1] = con.m_solverBodyIdB; + conInfo.constraintIndex = i; + conInfo.numConstraintRows = 1; + } + } +}; + + +static int initBatchedConstraintInfo(btBatchedConstraintInfo* outConInfos, btConstraintArray* constraints) +{ + BT_PROFILE("initBatchedConstraintInfo"); + int numConstraints = constraints->size(); + bool inParallel = true; + if (inParallel) + { + ReadSolverConstraintsLoop loop(outConInfos, constraints); + int grainSize = 1200; + btParallelFor(0, numConstraints, grainSize, loop); + } + else + { + for (int i = 0; i < numConstraints; ++i) + { + btBatchedConstraintInfo& conInfo = outConInfos[i]; + const btSolverConstraint& con = constraints->at( i ); + conInfo.bodyIds[0] = con.m_solverBodyIdA; + conInfo.bodyIds[1] = con.m_solverBodyIdB; + conInfo.constraintIndex = i; + conInfo.numConstraintRows = 1; + } + } + bool useRunLengthEncoding = true; + if (useRunLengthEncoding) + { + numConstraints = runLengthEncodeConstraintInfo(outConInfos, numConstraints); + } + return numConstraints; +} + + +static void expandConstraintRowsInPlace(int* constraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows) +{ + BT_PROFILE("expandConstraintRowsInPlace"); + if (numConstraintRows > numConstraints) + { + // we walk the array in reverse to avoid overwriteing + for (int iCon = numConstraints - 1; iCon >= 0; --iCon) + { + const btBatchedConstraintInfo& conInfo = conInfos[iCon]; + int iBatch = constraintBatchIds[iCon]; + for (int i = conInfo.numConstraintRows - 1; i >= 0; --i) + { + int iDest = conInfo.constraintIndex + i; + btAssert(iDest >= iCon); + btAssert(iDest >= 0 && iDest < numConstraintRows); + constraintBatchIds[iDest] = iBatch; + } + } + } +} + + +static void expandConstraintRows(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows) +{ + BT_PROFILE("expandConstraintRows"); + for ( int iCon = 0; iCon < numConstraints; ++iCon ) + { + const btBatchedConstraintInfo& conInfo = conInfos[ iCon ]; + int iBatch = srcConstraintBatchIds[ iCon ]; + for ( int i = 0; i < conInfo.numConstraintRows; ++i ) + { + int iDest = conInfo.constraintIndex + i; + btAssert( iDest >= iCon ); + btAssert( iDest >= 0 && iDest < numConstraintRows ); + destConstraintBatchIds[ iDest ] = iBatch; + } + } +} + + +struct ExpandConstraintRowsLoop : public btIParallelForBody +{ + int* m_destConstraintBatchIds; + const int* m_srcConstraintBatchIds; + const btBatchedConstraintInfo* m_conInfos; + int m_numConstraintRows; + + ExpandConstraintRowsLoop( int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraintRows) + { + m_destConstraintBatchIds = destConstraintBatchIds; + m_srcConstraintBatchIds = srcConstraintBatchIds; + m_conInfos = conInfos; + m_numConstraintRows = numConstraintRows; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + expandConstraintRows(m_destConstraintBatchIds, m_srcConstraintBatchIds + iBegin, m_conInfos + iBegin, iEnd - iBegin, m_numConstraintRows); + } +}; + + +static void expandConstraintRowsMt(int* destConstraintBatchIds, const int* srcConstraintBatchIds, const btBatchedConstraintInfo* conInfos, int numConstraints, int numConstraintRows) +{ + BT_PROFILE("expandConstraintRowsMt"); + ExpandConstraintRowsLoop loop(destConstraintBatchIds, srcConstraintBatchIds, conInfos, numConstraintRows); + int grainSize = 600; + btParallelFor(0, numConstraints, grainSize, loop); +} + + +static void initBatchedConstraintInfoArray(btAlignedObjectArray<btBatchedConstraintInfo>* outConInfos, btConstraintArray* constraints) +{ + BT_PROFILE("initBatchedConstraintInfoArray"); + btAlignedObjectArray<btBatchedConstraintInfo>& conInfos = *outConInfos; + int numConstraints = constraints->size(); + conInfos.resizeNoInitialize(numConstraints); + + int newSize = initBatchedConstraintInfo(&outConInfos->at(0), constraints); + conInfos.resizeNoInitialize(newSize); +} + + +static void mergeSmallBatches(btBatchInfo* batches, int iBeginBatch, int iEndBatch, int minBatchSize, int maxBatchSize) +{ + BT_PROFILE("mergeSmallBatches"); + for ( int iBatch = iEndBatch - 1; iBatch >= iBeginBatch; --iBatch ) + { + btBatchInfo& batch = batches[ iBatch ]; + if ( batch.mergeIndex == kNoMerge && batch.numConstraints > 0 && batch.numConstraints < minBatchSize ) + { + for ( int iDestBatch = iBatch - 1; iDestBatch >= iBeginBatch; --iDestBatch ) + { + btBatchInfo& destBatch = batches[ iDestBatch ]; + if ( destBatch.mergeIndex == kNoMerge && ( destBatch.numConstraints + batch.numConstraints ) < maxBatchSize ) + { + destBatch.numConstraints += batch.numConstraints; + batch.numConstraints = 0; + batch.mergeIndex = iDestBatch; + break; + } + } + } + } + // flatten mergeIndexes + // e.g. in case where A was merged into B and then B was merged into C, we need A to point to C instead of B + // Note: loop goes forward through batches because batches always merge from higher indexes to lower, + // so by going from low to high it reduces the amount of trail-following + for ( int iBatch = iBeginBatch; iBatch < iEndBatch; ++iBatch ) + { + btBatchInfo& batch = batches[ iBatch ]; + if ( batch.mergeIndex != kNoMerge ) + { + int iMergeDest = batches[ batch.mergeIndex ].mergeIndex; + // follow trail of merges to the end + while ( iMergeDest != kNoMerge ) + { + int iNext = batches[ iMergeDest ].mergeIndex; + if ( iNext == kNoMerge ) + { + batch.mergeIndex = iMergeDest; + break; + } + iMergeDest = iNext; + } + } + } +} + + +static void updateConstraintBatchIdsForMerges(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches) +{ + BT_PROFILE("updateConstraintBatchIdsForMerges"); + // update batchIds to account for merges + for (int i = 0; i < numConstraints; ++i) + { + int iBatch = constraintBatchIds[i]; + btAssert(iBatch < numBatches); + // if this constraint references a batch that was merged into another batch + if (batches[iBatch].mergeIndex != kNoMerge) + { + // update batchId + constraintBatchIds[i] = batches[iBatch].mergeIndex; + } + } +} + + +struct UpdateConstraintBatchIdsForMergesLoop : public btIParallelForBody +{ + int* m_constraintBatchIds; + const btBatchInfo* m_batches; + int m_numBatches; + + UpdateConstraintBatchIdsForMergesLoop( int* constraintBatchIds, const btBatchInfo* batches, int numBatches ) + { + m_constraintBatchIds = constraintBatchIds; + m_batches = batches; + m_numBatches = numBatches; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "UpdateConstraintBatchIdsForMergesLoop" ); + updateConstraintBatchIdsForMerges( m_constraintBatchIds + iBegin, iEnd - iBegin, m_batches, m_numBatches ); + } +}; + + +static void updateConstraintBatchIdsForMergesMt(int* constraintBatchIds, int numConstraints, const btBatchInfo* batches, int numBatches) +{ + BT_PROFILE( "updateConstraintBatchIdsForMergesMt" ); + UpdateConstraintBatchIdsForMergesLoop loop(constraintBatchIds, batches, numBatches); + int grainSize = 800; + btParallelFor(0, numConstraints, grainSize, loop); +} + + +inline bool BatchCompare(const btBatchedConstraints::Range& a, const btBatchedConstraints::Range& b) +{ + int lenA = a.end - a.begin; + int lenB = b.end - b.begin; + return lenA > lenB; +} + + +static void writeOutConstraintIndicesForRangeOfBatches(btBatchedConstraints* bc, + const int* constraintBatchIds, + int numConstraints, + int* constraintIdPerBatch, + int batchBegin, + int batchEnd + ) +{ + BT_PROFILE("writeOutConstraintIndicesForRangeOfBatches"); + for ( int iCon = 0; iCon < numConstraints; ++iCon ) + { + int iBatch = constraintBatchIds[ iCon ]; + if (iBatch >= batchBegin && iBatch < batchEnd) + { + int iDestCon = constraintIdPerBatch[ iBatch ]; + constraintIdPerBatch[ iBatch ] = iDestCon + 1; + bc->m_constraintIndices[ iDestCon ] = iCon; + } + } +} + + +struct WriteOutConstraintIndicesLoop : public btIParallelForBody +{ + btBatchedConstraints* m_batchedConstraints; + const int* m_constraintBatchIds; + int m_numConstraints; + int* m_constraintIdPerBatch; + int m_maxNumBatchesPerPhase; + + WriteOutConstraintIndicesLoop( btBatchedConstraints* bc, const int* constraintBatchIds, int numConstraints, int* constraintIdPerBatch, int maxNumBatchesPerPhase ) + { + m_batchedConstraints = bc; + m_constraintBatchIds = constraintBatchIds; + m_numConstraints = numConstraints; + m_constraintIdPerBatch = constraintIdPerBatch; + m_maxNumBatchesPerPhase = maxNumBatchesPerPhase; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "WriteOutConstraintIndicesLoop" ); + int batchBegin = iBegin * m_maxNumBatchesPerPhase; + int batchEnd = iEnd * m_maxNumBatchesPerPhase; + writeOutConstraintIndicesForRangeOfBatches(m_batchedConstraints, + m_constraintBatchIds, + m_numConstraints, + m_constraintIdPerBatch, + batchBegin, + batchEnd + ); + } +}; + + +static void writeOutConstraintIndicesMt(btBatchedConstraints* bc, + const int* constraintBatchIds, + int numConstraints, + int* constraintIdPerBatch, + int maxNumBatchesPerPhase, + int numPhases + ) +{ + BT_PROFILE("writeOutConstraintIndicesMt"); + bool inParallel = true; + if (inParallel) + { + WriteOutConstraintIndicesLoop loop( bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase ); + btParallelFor( 0, numPhases, 1, loop ); + } + else + { + for ( int iCon = 0; iCon < numConstraints; ++iCon ) + { + int iBatch = constraintBatchIds[ iCon ]; + int iDestCon = constraintIdPerBatch[ iBatch ]; + constraintIdPerBatch[ iBatch ] = iDestCon + 1; + bc->m_constraintIndices[ iDestCon ] = iCon; + } + } +} + + +static void writeGrainSizes(btBatchedConstraints* bc) +{ + typedef btBatchedConstraints::Range Range; + int numPhases = bc->m_phases.size(); + bc->m_phaseGrainSize.resizeNoInitialize(numPhases); + int numThreads = btGetTaskScheduler()->getNumThreads(); + for (int iPhase = 0; iPhase < numPhases; ++iPhase) + { + const Range& phase = bc->m_phases[ iPhase ]; + int numBatches = phase.end - phase.begin; + float grainSize = floor((0.25f*numBatches / float(numThreads)) + 0.0f); + bc->m_phaseGrainSize[ iPhase ] = btMax(1, int(grainSize)); + } +} + + +static void writeOutBatches(btBatchedConstraints* bc, + const int* constraintBatchIds, + int numConstraints, + const btBatchInfo* batches, + int* batchWork, + int maxNumBatchesPerPhase, + int numPhases +) +{ + BT_PROFILE("writeOutBatches"); + typedef btBatchedConstraints::Range Range; + bc->m_constraintIndices.reserve( numConstraints ); + bc->m_batches.resizeNoInitialize( 0 ); + bc->m_phases.resizeNoInitialize( 0 ); + + //int maxNumBatches = numPhases * maxNumBatchesPerPhase; + { + int* constraintIdPerBatch = batchWork; // for each batch, keep an index into the next available slot in the m_constraintIndices array + int iConstraint = 0; + for (int iPhase = 0; iPhase < numPhases; ++iPhase) + { + int curPhaseBegin = bc->m_batches.size(); + int iBegin = iPhase * maxNumBatchesPerPhase; + int iEnd = iBegin + maxNumBatchesPerPhase; + for ( int i = iBegin; i < iEnd; ++i ) + { + const btBatchInfo& batch = batches[ i ]; + int curBatchBegin = iConstraint; + constraintIdPerBatch[ i ] = curBatchBegin; // record the start of each batch in m_constraintIndices array + int numConstraints = batch.numConstraints; + iConstraint += numConstraints; + if ( numConstraints > 0 ) + { + bc->m_batches.push_back( Range( curBatchBegin, iConstraint ) ); + } + } + // if any batches were emitted this phase, + if ( bc->m_batches.size() > curPhaseBegin ) + { + // output phase + bc->m_phases.push_back( Range( curPhaseBegin, bc->m_batches.size() ) ); + } + } + + btAssert(iConstraint == numConstraints); + bc->m_constraintIndices.resizeNoInitialize( numConstraints ); + writeOutConstraintIndicesMt( bc, constraintBatchIds, numConstraints, constraintIdPerBatch, maxNumBatchesPerPhase, numPhases ); + } + // for each phase + for (int iPhase = 0; iPhase < bc->m_phases.size(); ++iPhase) + { + // sort the batches from largest to smallest (can be helpful to some task schedulers) + const Range& curBatches = bc->m_phases[iPhase]; + bc->m_batches.quickSortInternal(BatchCompare, curBatches.begin, curBatches.end-1); + } + bc->m_phaseOrder.resize(bc->m_phases.size()); + for (int i = 0; i < bc->m_phases.size(); ++i) + { + bc->m_phaseOrder[i] = i; + } + writeGrainSizes(bc); +} + + +// +// PreallocatedMemoryHelper -- helper object for allocating a number of chunks of memory in a single contiguous block. +// It is generally more efficient to do a single larger allocation than many smaller allocations. +// +// Example Usage: +// +// btVector3* bodyPositions = NULL; +// btBatchedConstraintInfo* conInfos = NULL; +// { +// PreallocatedMemoryHelper<8> memHelper; +// memHelper.addChunk( (void**) &bodyPositions, sizeof( btVector3 ) * bodies.size() ); +// memHelper.addChunk( (void**) &conInfos, sizeof( btBatchedConstraintInfo ) * numConstraints ); +// void* memPtr = malloc( memHelper.getSizeToAllocate() ); // allocate the memory +// memHelper.setChunkPointers( memPtr ); // update pointers to chunks +// } +template <int N> +class PreallocatedMemoryHelper +{ + struct Chunk + { + void** ptr; + size_t size; + }; + Chunk m_chunks[N]; + int m_numChunks; +public: + PreallocatedMemoryHelper() {m_numChunks=0;} + void addChunk( void** ptr, size_t sz ) + { + btAssert( m_numChunks < N ); + if ( m_numChunks < N ) + { + Chunk& chunk = m_chunks[ m_numChunks ]; + chunk.ptr = ptr; + chunk.size = sz; + m_numChunks++; + } + } + size_t getSizeToAllocate() const + { + size_t totalSize = 0; + for (int i = 0; i < m_numChunks; ++i) + { + totalSize += m_chunks[i].size; + } + return totalSize; + } + void setChunkPointers(void* mem) const + { + size_t totalSize = 0; + for (int i = 0; i < m_numChunks; ++i) + { + const Chunk& chunk = m_chunks[ i ]; + char* chunkPtr = static_cast<char*>(mem) + totalSize; + *chunk.ptr = chunkPtr; + totalSize += chunk.size; + } + } +}; + + + +static btVector3 findMaxDynamicConstraintExtent( + btVector3* bodyPositions, + bool* bodyDynamicFlags, + btBatchedConstraintInfo* conInfos, + int numConstraints, + int numBodies + ) +{ + BT_PROFILE("findMaxDynamicConstraintExtent"); + btVector3 consExtent = btVector3(1,1,1) * 0.001; + for (int iCon = 0; iCon < numConstraints; ++iCon) + { + const btBatchedConstraintInfo& con = conInfos[ iCon ]; + int iBody0 = con.bodyIds[0]; + int iBody1 = con.bodyIds[1]; + btAssert(iBody0 >= 0 && iBody0 < numBodies); + btAssert(iBody1 >= 0 && iBody1 < numBodies); + // is it a dynamic constraint? + if (bodyDynamicFlags[iBody0] && bodyDynamicFlags[iBody1]) + { + btVector3 delta = bodyPositions[iBody1] - bodyPositions[iBody0]; + consExtent.setMax(delta.absolute()); + } + } + return consExtent; +} + + +struct btIntVec3 +{ + int m_ints[ 3 ]; + + SIMD_FORCE_INLINE const int& operator[](int i) const {return m_ints[i];} + SIMD_FORCE_INLINE int& operator[](int i) {return m_ints[i];} +}; + + +struct AssignConstraintsToGridBatchesParams +{ + bool* bodyDynamicFlags; + btIntVec3* bodyGridCoords; + int numBodies; + btBatchedConstraintInfo* conInfos; + int* constraintBatchIds; + btIntVec3 gridChunkDim; + int maxNumBatchesPerPhase; + int numPhases; + int phaseMask; + + AssignConstraintsToGridBatchesParams() + { + memset(this, 0, sizeof(*this)); + } +}; + + +static void assignConstraintsToGridBatches(const AssignConstraintsToGridBatchesParams& params, int iConBegin, int iConEnd) +{ + BT_PROFILE("assignConstraintsToGridBatches"); + // (can be done in parallel) + for ( int iCon = iConBegin; iCon < iConEnd; ++iCon ) + { + const btBatchedConstraintInfo& con = params.conInfos[ iCon ]; + int iBody0 = con.bodyIds[ 0 ]; + int iBody1 = con.bodyIds[ 1 ]; + int iPhase = iCon; //iBody0; // pseudorandom choice to distribute evenly amongst phases + iPhase &= params.phaseMask; + int gridCoord[ 3 ]; + // is it a dynamic constraint? + if ( params.bodyDynamicFlags[ iBody0 ] && params.bodyDynamicFlags[ iBody1 ] ) + { + const btIntVec3& body0Coords = params.bodyGridCoords[iBody0]; + const btIntVec3& body1Coords = params.bodyGridCoords[iBody1]; + // for each dimension x,y,z, + for (int i = 0; i < 3; ++i) + { + int coordMin = btMin(body0Coords.m_ints[i], body1Coords.m_ints[i]); + int coordMax = btMax(body0Coords.m_ints[i], body1Coords.m_ints[i]); + if (coordMin != coordMax) + { + btAssert( coordMax == coordMin + 1 ); + if ((coordMin&1) == 0) + { + iPhase &= ~(1 << i); // force bit off + } + else + { + iPhase |= (1 << i); // force bit on + iPhase &= params.phaseMask; + } + } + gridCoord[ i ] = coordMin; + } + } + else + { + if ( !params.bodyDynamicFlags[ iBody0 ] ) + { + iBody0 = con.bodyIds[ 1 ]; + } + btAssert(params.bodyDynamicFlags[ iBody0 ]); + const btIntVec3& body0Coords = params.bodyGridCoords[iBody0]; + // for each dimension x,y,z, + for ( int i = 0; i < 3; ++i ) + { + gridCoord[ i ] = body0Coords.m_ints[ i ]; + } + } + // calculate chunk coordinates + int chunkCoord[ 3 ]; + btIntVec3 gridChunkDim = params.gridChunkDim; + // for each dimension x,y,z, + for ( int i = 0; i < 3; ++i ) + { + int coordOffset = ( iPhase >> i ) & 1; + chunkCoord[ i ] = (gridCoord[ i ] - coordOffset)/2; + btClamp( chunkCoord[ i ], 0, gridChunkDim[ i ] - 1); + btAssert( chunkCoord[ i ] < gridChunkDim[ i ] ); + } + int iBatch = iPhase * params.maxNumBatchesPerPhase + chunkCoord[ 0 ] + chunkCoord[ 1 ] * gridChunkDim[ 0 ] + chunkCoord[ 2 ] * gridChunkDim[ 0 ] * gridChunkDim[ 1 ]; + btAssert(iBatch >= 0 && iBatch < params.maxNumBatchesPerPhase*params.numPhases); + params.constraintBatchIds[ iCon ] = iBatch; + } +} + + +struct AssignConstraintsToGridBatchesLoop : public btIParallelForBody +{ + const AssignConstraintsToGridBatchesParams* m_params; + + AssignConstraintsToGridBatchesLoop( const AssignConstraintsToGridBatchesParams& params ) + { + m_params = ¶ms; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + assignConstraintsToGridBatches(*m_params, iBegin, iEnd); + } +}; + + +// +// setupSpatialGridBatchesMt -- generate batches using a uniform 3D grid +// +/* + +Bodies are treated as 3D points at their center of mass. We only consider dynamic bodies at this stage, +because only dynamic bodies are mutated when a constraint is solved, thus subject to race conditions. + +1. Compute a bounding box around all dynamic bodies +2. Compute the maximum extent of all dynamic constraints. Each dynamic constraint is treated as a line segment, and we need the size of + box that will fully enclose any single dynamic constraint + +3. Establish the cell size of our grid, the cell size in each dimension must be at least as large as the dynamic constraints max-extent, + so that no dynamic constraint can span more than 2 cells of our grid on any axis of the grid. The cell size should be adjusted + larger in order to keep the total number of cells from being excessively high + +Key idea: Given that each constraint spans 1 or 2 grid cells in each dimension, we can handle all constraints by processing + in chunks of 2x2x2 cells with 8 different 1-cell offsets ((0,0,0),(0,0,1),(0,1,0),(0,1,1),(1,0,0)...). + For each of the 8 offsets, we create a phase, and for each 2x2x2 chunk with dynamic constraints becomes a batch in that phase. + +4. Once the grid is established, we can calculate for each constraint which phase and batch it belongs in. + +5. Do a merge small batches on the batches of each phase separately, to try to even out the sizes of batches + +Optionally, we can "collapse" one dimension of our 3D grid to turn it into a 2D grid, which reduces the number of phases +to 4. With fewer phases, there are more constraints per phase and this makes it easier to create batches of a useful size. +*/ +// +static void setupSpatialGridBatchesMt( + btBatchedConstraints* batchedConstraints, + btAlignedObjectArray<char>* scratchMemory, + btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies, + int minBatchSize, + int maxBatchSize, + bool use2DGrid +) +{ + BT_PROFILE("setupSpatialGridBatchesMt"); + const int numPhases = 8; + int numConstraints = constraints->size(); + int numConstraintRows = constraints->size(); + + const int maxGridChunkCount = 128; + int allocNumBatchesPerPhase = maxGridChunkCount; + int minNumBatchesPerPhase = 16; + int allocNumBatches = allocNumBatchesPerPhase * numPhases; + + btVector3* bodyPositions = NULL; + bool* bodyDynamicFlags = NULL; + btIntVec3* bodyGridCoords = NULL; + btBatchInfo* batches = NULL; + int* batchWork = NULL; + btBatchedConstraintInfo* conInfos = NULL; + int* constraintBatchIds = NULL; + int* constraintRowBatchIds = NULL; + { + PreallocatedMemoryHelper<10> memHelper; + memHelper.addChunk( (void**) &bodyPositions, sizeof( btVector3 ) * bodies.size() ); + memHelper.addChunk( (void**) &bodyDynamicFlags, sizeof( bool ) * bodies.size() ); + memHelper.addChunk( (void**) &bodyGridCoords, sizeof( btIntVec3 ) * bodies.size() ); + memHelper.addChunk( (void**) &batches, sizeof( btBatchInfo )* allocNumBatches ); + memHelper.addChunk( (void**) &batchWork, sizeof( int )* allocNumBatches ); + memHelper.addChunk( (void**) &conInfos, sizeof( btBatchedConstraintInfo ) * numConstraints ); + memHelper.addChunk( (void**) &constraintBatchIds, sizeof( int ) * numConstraints ); + memHelper.addChunk( (void**) &constraintRowBatchIds, sizeof( int ) * numConstraintRows ); + size_t scratchSize = memHelper.getSizeToAllocate(); + // if we need to reallocate + if (scratchMemory->capacity() < scratchSize) + { + // allocate 6.25% extra to avoid repeated reallocs + scratchMemory->reserve( scratchSize + scratchSize/16 ); + } + scratchMemory->resizeNoInitialize( scratchSize ); + char* memPtr = &scratchMemory->at(0); + memHelper.setChunkPointers( memPtr ); + } + + numConstraints = initBatchedConstraintInfo(conInfos, constraints); + + // compute bounding box around all dynamic bodies + // (could be done in parallel) + btVector3 bboxMin(BT_LARGE_FLOAT, BT_LARGE_FLOAT, BT_LARGE_FLOAT); + btVector3 bboxMax = -bboxMin; + //int dynamicBodyCount = 0; + for (int i = 0; i < bodies.size(); ++i) + { + const btSolverBody& body = bodies[i]; + btVector3 bodyPos = body.getWorldTransform().getOrigin(); + bool isDynamic = ( body.internalGetInvMass().x() > btScalar( 0 ) ); + bodyPositions[i] = bodyPos; + bodyDynamicFlags[i] = isDynamic; + if (isDynamic) + { + //dynamicBodyCount++; + bboxMin.setMin(bodyPos); + bboxMax.setMax(bodyPos); + } + } + + // find max extent of all dynamic constraints + // (could be done in parallel) + btVector3 consExtent = findMaxDynamicConstraintExtent(bodyPositions, bodyDynamicFlags, conInfos, numConstraints, bodies.size()); + + btVector3 gridExtent = bboxMax - bboxMin; + + btVector3 gridCellSize = consExtent; + int gridDim[3]; + gridDim[ 0 ] = int( 1.0 + gridExtent.x() / gridCellSize.x() ); + gridDim[ 1 ] = int( 1.0 + gridExtent.y() / gridCellSize.y() ); + gridDim[ 2 ] = int( 1.0 + gridExtent.z() / gridCellSize.z() ); + + // if we can collapse an axis, it will cut our number of phases in half which could be more efficient + int phaseMask = 7; + bool collapseAxis = use2DGrid; + if ( collapseAxis ) + { + // pick the smallest axis to collapse, leaving us with the greatest number of cells in our grid + int iAxisToCollapse = 0; + int axisDim = gridDim[iAxisToCollapse]; + //for each dimension + for ( int i = 0; i < 3; ++i ) + { + if (gridDim[i] < axisDim) + { + iAxisToCollapse = i; + axisDim = gridDim[i]; + } + } + // collapse it + gridCellSize[iAxisToCollapse] = gridExtent[iAxisToCollapse] * 2.0f; + phaseMask &= ~(1 << iAxisToCollapse); + } + + int numGridChunks = 0; + btIntVec3 gridChunkDim; // each chunk is 2x2x2 group of cells + while (true) + { + gridDim[0] = int( 1.0 + gridExtent.x() / gridCellSize.x() ); + gridDim[1] = int( 1.0 + gridExtent.y() / gridCellSize.y() ); + gridDim[2] = int( 1.0 + gridExtent.z() / gridCellSize.z() ); + gridChunkDim[ 0 ] = btMax( 1, ( gridDim[ 0 ] + 0 ) / 2 ); + gridChunkDim[ 1 ] = btMax( 1, ( gridDim[ 1 ] + 0 ) / 2 ); + gridChunkDim[ 2 ] = btMax( 1, ( gridDim[ 2 ] + 0 ) / 2 ); + numGridChunks = gridChunkDim[ 0 ] * gridChunkDim[ 1 ] * gridChunkDim[ 2 ]; + float nChunks = float(gridChunkDim[0]) * float(gridChunkDim[1]) * float(gridChunkDim[2]); // suceptible to integer overflow + if ( numGridChunks <= maxGridChunkCount && nChunks <= maxGridChunkCount ) + { + break; + } + gridCellSize *= 1.25; // should roughly cut numCells in half + } + btAssert(numGridChunks <= maxGridChunkCount ); + int maxNumBatchesPerPhase = numGridChunks; + + // for each dynamic body, compute grid coords + btVector3 invGridCellSize = btVector3(1,1,1)/gridCellSize; + // (can be done in parallel) + for (int iBody = 0; iBody < bodies.size(); ++iBody) + { + btIntVec3& coords = bodyGridCoords[iBody]; + if (bodyDynamicFlags[iBody]) + { + btVector3 v = ( bodyPositions[ iBody ] - bboxMin )*invGridCellSize; + coords.m_ints[0] = int(v.x()); + coords.m_ints[1] = int(v.y()); + coords.m_ints[2] = int(v.z()); + btAssert(coords.m_ints[0] >= 0 && coords.m_ints[0] < gridDim[0]); + btAssert(coords.m_ints[1] >= 0 && coords.m_ints[1] < gridDim[1]); + btAssert(coords.m_ints[2] >= 0 && coords.m_ints[2] < gridDim[2]); + } + else + { + coords.m_ints[0] = -1; + coords.m_ints[1] = -1; + coords.m_ints[2] = -1; + } + } + + for (int iPhase = 0; iPhase < numPhases; ++iPhase) + { + int batchBegin = iPhase * maxNumBatchesPerPhase; + int batchEnd = batchBegin + maxNumBatchesPerPhase; + for ( int iBatch = batchBegin; iBatch < batchEnd; ++iBatch ) + { + btBatchInfo& batch = batches[ iBatch ]; + batch = btBatchInfo(); + } + } + + { + AssignConstraintsToGridBatchesParams params; + params.bodyDynamicFlags = bodyDynamicFlags; + params.bodyGridCoords = bodyGridCoords; + params.numBodies = bodies.size(); + params.conInfos = conInfos; + params.constraintBatchIds = constraintBatchIds; + params.gridChunkDim = gridChunkDim; + params.maxNumBatchesPerPhase = maxNumBatchesPerPhase; + params.numPhases = numPhases; + params.phaseMask = phaseMask; + bool inParallel = true; + if (inParallel) + { + AssignConstraintsToGridBatchesLoop loop(params); + int grainSize = 250; + btParallelFor(0, numConstraints, grainSize, loop); + } + else + { + assignConstraintsToGridBatches( params, 0, numConstraints ); + } + } + for ( int iCon = 0; iCon < numConstraints; ++iCon ) + { + const btBatchedConstraintInfo& con = conInfos[ iCon ]; + int iBatch = constraintBatchIds[ iCon ]; + btBatchInfo& batch = batches[iBatch]; + batch.numConstraints += con.numConstraintRows; + } + + for (int iPhase = 0; iPhase < numPhases; ++iPhase) + { + // if phase is legit, + if (iPhase == (iPhase&phaseMask)) + { + int iBeginBatch = iPhase * maxNumBatchesPerPhase; + int iEndBatch = iBeginBatch + maxNumBatchesPerPhase; + mergeSmallBatches( batches, iBeginBatch, iEndBatch, minBatchSize, maxBatchSize ); + } + } + // all constraints have been assigned a batchId + updateConstraintBatchIdsForMergesMt(constraintBatchIds, numConstraints, batches, maxNumBatchesPerPhase*numPhases); + + if (numConstraintRows > numConstraints) + { + expandConstraintRowsMt(&constraintRowBatchIds[0], &constraintBatchIds[0], &conInfos[0], numConstraints, numConstraintRows); + } + else + { + constraintRowBatchIds = constraintBatchIds; + } + + writeOutBatches(batchedConstraints, constraintRowBatchIds, numConstraintRows, batches, batchWork, maxNumBatchesPerPhase, numPhases); + btAssert(batchedConstraints->validate(constraints, bodies)); +} + + +static void setupSingleBatch( + btBatchedConstraints* bc, + int numConstraints +) +{ + BT_PROFILE("setupSingleBatch"); + typedef btBatchedConstraints::Range Range; + + bc->m_constraintIndices.resize( numConstraints ); + for ( int i = 0; i < numConstraints; ++i ) + { + bc->m_constraintIndices[ i ] = i; + } + + bc->m_batches.resizeNoInitialize( 0 ); + bc->m_phases.resizeNoInitialize( 0 ); + bc->m_phaseOrder.resizeNoInitialize( 0 ); + bc->m_phaseGrainSize.resizeNoInitialize( 0 ); + + if (numConstraints > 0) + { + bc->m_batches.push_back( Range( 0, numConstraints ) ); + bc->m_phases.push_back( Range( 0, 1 ) ); + bc->m_phaseOrder.push_back(0); + bc->m_phaseGrainSize.push_back(1); + } +} + + +void btBatchedConstraints::setup( + btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies, + BatchingMethod batchingMethod, + int minBatchSize, + int maxBatchSize, + btAlignedObjectArray<char>* scratchMemory + ) +{ + if (constraints->size() >= minBatchSize*4) + { + bool use2DGrid = batchingMethod == BATCHING_METHOD_SPATIAL_GRID_2D; + setupSpatialGridBatchesMt( this, scratchMemory, constraints, bodies, minBatchSize, maxBatchSize, use2DGrid ); + if (s_debugDrawBatches) + { + debugDrawAllBatches( this, constraints, bodies ); + } + } + else + { + setupSingleBatch( this, constraints->size() ); + } +} + + diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h new file mode 100644 index 0000000000..0fd8f31dd4 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btBatchedConstraints.h @@ -0,0 +1,66 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_BATCHED_CONSTRAINTS_H +#define BT_BATCHED_CONSTRAINTS_H + +#include "LinearMath/btThreads.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "BulletDynamics/ConstraintSolver/btSolverBody.h" +#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h" + + +class btIDebugDraw; + +struct btBatchedConstraints +{ + enum BatchingMethod + { + BATCHING_METHOD_SPATIAL_GRID_2D, + BATCHING_METHOD_SPATIAL_GRID_3D, + BATCHING_METHOD_COUNT + }; + struct Range + { + int begin; + int end; + + Range() : begin( 0 ), end( 0 ) {} + Range( int _beg, int _end ) : begin( _beg ), end( _end ) {} + }; + + btAlignedObjectArray<int> m_constraintIndices; + btAlignedObjectArray<Range> m_batches; // each batch is a range of indices in the m_constraintIndices array + btAlignedObjectArray<Range> m_phases; // each phase is range of indices in the m_batches array + btAlignedObjectArray<char> m_phaseGrainSize; // max grain size for each phase + btAlignedObjectArray<int> m_phaseOrder; // phases can be done in any order, so we can randomize the order here + btIDebugDraw* m_debugDrawer; + + static bool s_debugDrawBatches; + + btBatchedConstraints() {m_debugDrawer=NULL;} + void setup( btConstraintArray* constraints, + const btAlignedObjectArray<btSolverBody>& bodies, + BatchingMethod batchingMethod, + int minBatchSize, + int maxBatchSize, + btAlignedObjectArray<char>* scratchMemory + ); + bool validate( btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies ) const; +}; + + +#endif // BT_BATCHED_CONSTRAINTS_H + diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h index 890afe6da4..0491639f70 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h @@ -34,7 +34,8 @@ enum btConstraintSolverType { BT_SEQUENTIAL_IMPULSE_SOLVER=1, BT_MLCP_SOLVER=2, - BT_NNCG_SOLVER=4 + BT_NNCG_SOLVER=4, + BT_MULTIBODY_SOLVER=8, }; class btConstraintSolver diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 28d0c1dd48..93865cbc59 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -29,7 +29,8 @@ enum btSolverMode SOLVER_CACHE_FRIENDLY = 128, SOLVER_SIMD = 256, SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, - SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024 + SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024, + SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048 }; struct btContactSolverInfoData diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp index fa17254ec3..c38b8353f0 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp @@ -855,8 +855,8 @@ int btGeneric6DofConstraint::get_limit_motor_info2( tag_vel, info->fps * limot->m_stopERP); info->m_constraintError[srow] += mot_fact * limot->m_targetVelocity; - info->m_lowerLimit[srow] = -limot->m_maxMotorForce; - info->m_upperLimit[srow] = limot->m_maxMotorForce; + info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps; + info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps; } } if(limit) diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h index bea8629c32..b2ad45f749 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h @@ -77,7 +77,7 @@ public: { m_accumulatedImpulse = 0.f; m_targetVelocity = 0; - m_maxMotorForce = 0.1f; + m_maxMotorForce = 6.0f; m_maxLimitForce = 300.0f; m_loLimit = 1.0f; m_hiLimit = -1.0f; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp index f0976ee493..540dcd18f7 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp @@ -719,8 +719,8 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( tag_vel, info->fps * limot->m_motorERP); info->m_constraintError[srow] = mot_fact * limot->m_targetVelocity; - info->m_lowerLimit[srow] = -limot->m_maxMotorForce; - info->m_upperLimit[srow] = limot->m_maxMotorForce; + info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps; + info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps; info->cfm[srow] = limot->m_motorCFM; srow += info->rowskip; ++count; @@ -769,8 +769,8 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( mot_fact = 0; } info->m_constraintError[srow] = mot_fact * targetvelocity * (rotational ? -1 : 1); - info->m_lowerLimit[srow] = -limot->m_maxMotorForce; - info->m_upperLimit[srow] = limot->m_maxMotorForce; + info->m_lowerLimit[srow] = -limot->m_maxMotorForce / info->fps; + info->m_upperLimit[srow] = limot->m_maxMotorForce / info->fps; info->cfm[srow] = limot->m_motorCFM; srow += info->rowskip; ++count; @@ -797,6 +797,12 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( btScalar cfm = BT_ZERO; btScalar mA = BT_ONE / m_rbA.getInvMass(); btScalar mB = BT_ONE / m_rbB.getInvMass(); + if (rotational) { + btScalar rrA = (m_calculatedTransformA.getOrigin() - transA.getOrigin()).length2(); + btScalar rrB = (m_calculatedTransformB.getOrigin() - transB.getOrigin()).length2(); + if (m_rbA.getInvMass()) mA = mA * rrA + 1 / (m_rbA.getInvInertiaTensorWorld() * ax1).length(); + if (m_rbB.getInvMass()) mB = mB * rrB + 1 / (m_rbB.getInvInertiaTensorWorld() * ax1).length(); + } btScalar m = mA > mB ? mB : mA; btScalar angularfreq = sqrt(ks / m); @@ -815,7 +821,18 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2( btScalar fd = -kd * (vel) * (rotational ? -1 : 1) * dt; btScalar f = (fs+fd); - info->m_constraintError[srow] = (vel + f * (rotational ? -1 : 1)) ; + // after the spring force affecting the body(es) the new velocity will be + // vel + f / m * (rotational ? -1 : 1) + // so in theory this should be set here for m_constraintError + // (with m_constraintError we set a desired velocity for the affected body(es)) + // however in practice any value is fine as long as it is greater then the "proper" velocity, + // because the m_lowerLimit and the m_upperLimit will determinate the strength of the final pulling force + // so it is much simpler (and more robust) just to simply use inf (with the proper sign) + // you may also wonder what if the current velocity (vel) so high that the pulling force will not change its direction (in this iteration) + // will we not request a velocity with the wrong direction ? + // and the answare is not, because in practice during the solving the current velocity is subtracted from the m_constraintError + // so the sign of the force that is really matters + info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY); btScalar minf = f < fd ? f : fd; btScalar maxf = f < fd ? fd : f; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h index 66d1769583..1b8d0eace9 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h @@ -107,7 +107,7 @@ public: m_motorCFM = 0.f; m_enableMotor = false; m_targetVelocity = 0; - m_maxMotorForce = 0.1f; + m_maxMotorForce = 6.0f; m_servoMotor = false; m_servoTarget = 0; m_enableSpring = false; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp index 6f765884ec..3f875989ea 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp @@ -131,7 +131,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf btScalar force = delta * m_springStiffness[i]; btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations); m_linearLimits.m_targetVelocity[i] = velFactor * force; - m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps; + m_linearLimits.m_maxMotorForce[i] = btFabs(force); } } for(i = 0; i < 3; i++) @@ -146,7 +146,7 @@ void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* inf btScalar force = -delta * m_springStiffness[i+3]; btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations); m_angularLimits[i].m_targetVelocity = velFactor * force; - m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps; + m_angularLimits[i].m_maxMotorForce = btFabs(force); } } } diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index b0d57a3e87..63174a6ec0 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -21,6 +21,7 @@ subject to the following restrictions: #include "btSequentialImpulseConstraintSolver.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + #include "LinearMath/btIDebugDraw.h" #include "LinearMath/btCpuFeatureUtility.h" @@ -42,11 +43,11 @@ int gNumSplitImpulseRecoveries = 0; //#define VERBOSE_RESIDUAL_PRINTF 1 ///This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver ///Below are optional SSE2 and SSE4/FMA3 versions. We assume most hardware has SSE2. For SSE4/FMA3 we perform a CPU feature check. -static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm; - const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); - const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetDeltaAngularVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetDeltaAngularVelocity()); // const btScalar delta_rel_vel = deltaVel1Dotn-deltaVel2Dotn; deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; @@ -68,18 +69,18 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_scalar_reference(btSolver c.m_appliedImpulse = sum; } - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); + bodyA.internalApplyImpulse(c.m_contactNormal1*bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); + bodyB.internalApplyImpulse(c.m_contactNormal2*bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); - return deltaImpulse; + return deltaImpulse*(1./c.m_jacDiagABInv); } -static btSimdScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm; - const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetDeltaAngularVelocity()); - const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetDeltaAngularVelocity()); + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetDeltaAngularVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetDeltaAngularVelocity()); deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; @@ -93,10 +94,10 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_scalar_reference(btSol { c.m_appliedImpulse = sum; } - body1.internalApplyImpulse(c.m_contactNormal1*body1.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); - body2.internalApplyImpulse(c.m_contactNormal2*body2.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); + bodyA.internalApplyImpulse(c.m_contactNormal1*bodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); + bodyB.internalApplyImpulse(c.m_contactNormal2*bodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); - return deltaImpulse; + return deltaImpulse*(1./c.m_jacDiagABInv); } @@ -149,14 +150,14 @@ static inline __m128 btSimdDot3( __m128 vec0, __m128 vec1 ) #endif // Project Gauss Seidel or the equivalent Sequential Impulse -static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm))); - __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128)); deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv))); deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv))); btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse); @@ -169,27 +170,27 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_sse2(btSolverBody& body1, __m128 upperMinApplied = _mm_sub_ps(upperLimit1, cpAppliedImp); deltaImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, deltaImpulse), _mm_andnot_ps(resultUpperLess, upperMinApplied)); c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultUpperLess, c.m_appliedImpulse), _mm_andnot_ps(resultUpperLess, upperLimit1)); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128, body2.internalGetInvMass().mVec128); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps((c.m_contactNormal2).mVec128, bodyB.internalGetInvMass().mVec128); __m128 impulseMagnitude = deltaImpulse; - body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude)); - body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude)); - body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude)); - body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude)); - return deltaImpulse; + bodyA.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude)); + bodyA.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude)); + bodyB.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude)); + bodyB.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude)); + return deltaImpulse.m_floats[0]/c.m_jacDiagABInv; } // Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3 -static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { #if defined (BT_ALLOW_SSE4) __m128 tmp = _mm_set_ps1(c.m_jacDiagABInv); __m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm); const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit); const __m128 upperLimit = _mm_set_ps1(c.m_upperLimit); - const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); - const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128)); + const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128)); deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse); deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse); tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse); // sum @@ -197,26 +198,27 @@ static btSimdScalar gResolveSingleConstraintRowGeneric_sse4_1_fma3(btSolverBody& const __m128 maskUpper = _mm_cmpgt_ps(upperLimit, tmp); deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), _mm_blendv_ps(_mm_sub_ps(upperLimit, c.m_appliedImpulse), deltaImpulse, maskUpper), maskLower); c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, _mm_blendv_ps(upperLimit, tmp, maskUpper), maskLower); - body1.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128); - body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128); - body2.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128); - body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128); - return deltaImpulse; + bodyA.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128), deltaImpulse, bodyA.internalGetDeltaLinearVelocity().mVec128); + bodyA.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, bodyA.internalGetDeltaAngularVelocity().mVec128); + bodyB.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128), deltaImpulse, bodyB.internalGetDeltaLinearVelocity().mVec128); + bodyB.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, bodyB.internalGetDeltaAngularVelocity().mVec128); + btSimdScalar deltaImp = deltaImpulse; + return deltaImp.m_floats[0]*(1./c.m_jacDiagABInv); #else - return gResolveSingleConstraintRowGeneric_sse2(body1,body2,c); + return gResolveSingleConstraintRowGeneric_sse2(bodyA,bodyB,c); #endif } -static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { __m128 cpAppliedImp = _mm_set1_ps(c.m_appliedImpulse); __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); btSimdScalar deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhs), _mm_mul_ps(_mm_set1_ps(c.m_appliedImpulse), _mm_set1_ps(c.m_cfm))); - __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128)); deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel1Dotn, _mm_set1_ps(c.m_jacDiagABInv))); deltaImpulse = _mm_sub_ps(deltaImpulse, _mm_mul_ps(deltaVel2Dotn, _mm_set1_ps(c.m_jacDiagABInv))); btSimdScalar sum = _mm_add_ps(cpAppliedImp, deltaImpulse); @@ -226,39 +228,40 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse2(btSolverBody& bod __m128 lowMinApplied = _mm_sub_ps(lowerLimit1, cpAppliedImp); deltaImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse)); c.m_appliedImpulse = _mm_or_ps(_mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum)); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128); __m128 impulseMagnitude = deltaImpulse; - body1.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude)); - body1.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body1.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude)); - body2.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude)); - body2.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(body2.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude)); - return deltaImpulse; + bodyA.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentA, impulseMagnitude)); + bodyA.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyA.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentA.mVec128, impulseMagnitude)); + bodyB.internalGetDeltaLinearVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaLinearVelocity().mVec128, _mm_mul_ps(linearComponentB, impulseMagnitude)); + bodyB.internalGetDeltaAngularVelocity().mVec128 = _mm_add_ps(bodyB.internalGetDeltaAngularVelocity().mVec128, _mm_mul_ps(c.m_angularComponentB.mVec128, impulseMagnitude)); + return deltaImpulse.m_floats[0]/c.m_jacDiagABInv; } // Enhanced version of gResolveSingleConstraintRowGeneric_sse2 with SSE4.1 and FMA3 -static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& body1, btSolverBody& body2, const btSolverConstraint& c) +static btScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBody& bodyA, btSolverBody& bodyB, const btSolverConstraint& c) { #ifdef BT_ALLOW_SSE4 __m128 tmp = _mm_set_ps1(c.m_jacDiagABInv); __m128 deltaImpulse = _mm_set_ps1(c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm); const __m128 lowerLimit = _mm_set_ps1(c.m_lowerLimit); - const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, body1.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, body1.internalGetDeltaAngularVelocity().mVec128)); - const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, body2.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, body2.internalGetDeltaAngularVelocity().mVec128)); + const __m128 deltaVel1Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal1.mVec128, bodyA.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos1CrossNormal.mVec128, bodyA.internalGetDeltaAngularVelocity().mVec128)); + const __m128 deltaVel2Dotn = _mm_add_ps(DOT_PRODUCT(c.m_contactNormal2.mVec128, bodyB.internalGetDeltaLinearVelocity().mVec128), DOT_PRODUCT(c.m_relpos2CrossNormal.mVec128, bodyB.internalGetDeltaAngularVelocity().mVec128)); deltaImpulse = FMNADD(deltaVel1Dotn, tmp, deltaImpulse); deltaImpulse = FMNADD(deltaVel2Dotn, tmp, deltaImpulse); tmp = _mm_add_ps(c.m_appliedImpulse, deltaImpulse); const __m128 mask = _mm_cmpgt_ps(tmp, lowerLimit); deltaImpulse = _mm_blendv_ps(_mm_sub_ps(lowerLimit, c.m_appliedImpulse), deltaImpulse, mask); c.m_appliedImpulse = _mm_blendv_ps(lowerLimit, tmp, mask); - body1.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, body1.internalGetInvMass().mVec128), deltaImpulse, body1.internalGetDeltaLinearVelocity().mVec128); - body1.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, body1.internalGetDeltaAngularVelocity().mVec128); - body2.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, body2.internalGetInvMass().mVec128), deltaImpulse, body2.internalGetDeltaLinearVelocity().mVec128); - body2.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, body2.internalGetDeltaAngularVelocity().mVec128); - return deltaImpulse; + bodyA.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal1.mVec128, bodyA.internalGetInvMass().mVec128), deltaImpulse, bodyA.internalGetDeltaLinearVelocity().mVec128); + bodyA.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentA.mVec128, deltaImpulse, bodyA.internalGetDeltaAngularVelocity().mVec128); + bodyB.internalGetDeltaLinearVelocity().mVec128 = FMADD(_mm_mul_ps(c.m_contactNormal2.mVec128, bodyB.internalGetInvMass().mVec128), deltaImpulse, bodyB.internalGetDeltaLinearVelocity().mVec128); + bodyB.internalGetDeltaAngularVelocity().mVec128 = FMADD(c.m_angularComponentB.mVec128, deltaImpulse, bodyB.internalGetDeltaAngularVelocity().mVec128); + btSimdScalar deltaImp = deltaImpulse; + return deltaImp.m_floats[0]*(1./c.m_jacDiagABInv); #else - return gResolveSingleConstraintRowLowerLimit_sse2(body1,body2,c); + return gResolveSingleConstraintRowLowerLimit_sse2(bodyA,bodyB,c); #endif //BT_ALLOW_SSE4 } @@ -267,32 +270,32 @@ static btSimdScalar gResolveSingleConstraintRowLowerLimit_sse4_1_fma3(btSolverBo -btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c) { - return m_resolveSingleConstraintRowGeneric(body1, body2, c); + return m_resolveSingleConstraintRowGeneric(bodyA, bodyB, c); } // Project Gauss Seidel or the equivalent Sequential Impulse -btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c) { - return m_resolveSingleConstraintRowGeneric(body1, body2, c); + return m_resolveSingleConstraintRowGeneric(bodyA, bodyB, c); } -btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c) { - return m_resolveSingleConstraintRowLowerLimit(body1, body2, c); + return m_resolveSingleConstraintRowLowerLimit(bodyA, bodyB, c); } -btSimdScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c) { - return m_resolveSingleConstraintRowLowerLimit(body1, body2, c); + return m_resolveSingleConstraintRowLowerLimit(bodyA, bodyB, c); } -static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference( - btSolverBody& body1, - btSolverBody& body2, +static btScalar gResolveSplitPenetrationImpulse_scalar_reference( + btSolverBody& bodyA, + btSolverBody& bodyB, const btSolverConstraint& c) { btScalar deltaImpulse = 0.f; @@ -301,8 +304,8 @@ static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference( { gNumSplitImpulseRecoveries++; deltaImpulse = c.m_rhsPenetration-btScalar(c.m_appliedPushImpulse)*c.m_cfm; - const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(body1.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(body1.internalGetTurnVelocity()); - const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(body2.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(body2.internalGetTurnVelocity()); + const btScalar deltaVel1Dotn = c.m_contactNormal1.dot(bodyA.internalGetPushVelocity()) + c.m_relpos1CrossNormal.dot(bodyA.internalGetTurnVelocity()); + const btScalar deltaVel2Dotn = c.m_contactNormal2.dot(bodyB.internalGetPushVelocity()) + c.m_relpos2CrossNormal.dot(bodyB.internalGetTurnVelocity()); deltaImpulse -= deltaVel1Dotn*c.m_jacDiagABInv; deltaImpulse -= deltaVel2Dotn*c.m_jacDiagABInv; @@ -316,13 +319,13 @@ static btSimdScalar gResolveSplitPenetrationImpulse_scalar_reference( { c.m_appliedPushImpulse = sum; } - body1.internalApplyPushImpulse(c.m_contactNormal1*body1.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); - body2.internalApplyPushImpulse(c.m_contactNormal2*body2.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); + bodyA.internalApplyPushImpulse(c.m_contactNormal1*bodyA.internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + bodyB.internalApplyPushImpulse(c.m_contactNormal2*bodyB.internalGetInvMass(),c.m_angularComponentB,deltaImpulse); } - return deltaImpulse; + return deltaImpulse*(1./c.m_jacDiagABInv); } -static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c) +static btScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& c) { #ifdef USE_SIMD if (!c.m_rhsPenetration) @@ -334,8 +337,8 @@ static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btS __m128 lowerLimit1 = _mm_set1_ps(c.m_lowerLimit); __m128 upperLimit1 = _mm_set1_ps(c.m_upperLimit); __m128 deltaImpulse = _mm_sub_ps(_mm_set1_ps(c.m_rhsPenetration), _mm_mul_ps(_mm_set1_ps(c.m_appliedPushImpulse),_mm_set1_ps(c.m_cfm))); - __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,body1.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,body1.internalGetTurnVelocity().mVec128)); - __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,body2.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,body2.internalGetTurnVelocity().mVec128)); + __m128 deltaVel1Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal1.mVec128,bodyA.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos1CrossNormal.mVec128,bodyA.internalGetTurnVelocity().mVec128)); + __m128 deltaVel2Dotn = _mm_add_ps(btSimdDot3(c.m_contactNormal2.mVec128,bodyB.internalGetPushVelocity().mVec128), btSimdDot3(c.m_relpos2CrossNormal.mVec128,bodyB.internalGetTurnVelocity().mVec128)); deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel1Dotn,_mm_set1_ps(c.m_jacDiagABInv))); deltaImpulse = _mm_sub_ps(deltaImpulse,_mm_mul_ps(deltaVel2Dotn,_mm_set1_ps(c.m_jacDiagABInv))); btSimdScalar sum = _mm_add_ps(cpAppliedImp,deltaImpulse); @@ -345,16 +348,17 @@ static btSimdScalar gResolveSplitPenetrationImpulse_sse2(btSolverBody& body1,btS __m128 lowMinApplied = _mm_sub_ps(lowerLimit1,cpAppliedImp); deltaImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowMinApplied), _mm_andnot_ps(resultLowerLess, deltaImpulse) ); c.m_appliedPushImpulse = _mm_or_ps( _mm_and_ps(resultLowerLess, lowerLimit1), _mm_andnot_ps(resultLowerLess, sum) ); - __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,body1.internalGetInvMass().mVec128); - __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,body2.internalGetInvMass().mVec128); + __m128 linearComponentA = _mm_mul_ps(c.m_contactNormal1.mVec128,bodyA.internalGetInvMass().mVec128); + __m128 linearComponentB = _mm_mul_ps(c.m_contactNormal2.mVec128,bodyB.internalGetInvMass().mVec128); __m128 impulseMagnitude = deltaImpulse; - body1.internalGetPushVelocity().mVec128 = _mm_add_ps(body1.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); - body1.internalGetTurnVelocity().mVec128 = _mm_add_ps(body1.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); - body2.internalGetPushVelocity().mVec128 = _mm_add_ps(body2.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); - body2.internalGetTurnVelocity().mVec128 = _mm_add_ps(body2.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); - return deltaImpulse; + bodyA.internalGetPushVelocity().mVec128 = _mm_add_ps(bodyA.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentA,impulseMagnitude)); + bodyA.internalGetTurnVelocity().mVec128 = _mm_add_ps(bodyA.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentA.mVec128,impulseMagnitude)); + bodyB.internalGetPushVelocity().mVec128 = _mm_add_ps(bodyB.internalGetPushVelocity().mVec128,_mm_mul_ps(linearComponentB,impulseMagnitude)); + bodyB.internalGetTurnVelocity().mVec128 = _mm_add_ps(bodyB.internalGetTurnVelocity().mVec128 ,_mm_mul_ps(c.m_angularComponentB.mVec128,impulseMagnitude)); + btSimdScalar deltaImp = deltaImpulse; + return deltaImp.m_floats[0] * (1. / c.m_jacDiagABInv); #else - return gResolveSplitPenetrationImpulse_scalar_reference(body1,body2,c); + return gResolveSplitPenetrationImpulse_scalar_reference(bodyA,bodyB,c); #endif } @@ -548,7 +552,7 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -572,12 +576,12 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr solverConstraint.m_angularComponentA .setZero(); } - if (body1) + if (bodyA) { solverConstraint.m_contactNormal2 = -normalAxis; btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2); solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; - solverConstraint.m_angularComponentB = body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor(); + solverConstraint.m_angularComponentB = bodyA->getInvInertiaTensorWorld()*ftorqueAxis1*bodyA->getAngularFactor(); } else { solverConstraint.m_contactNormal2.setZero(); @@ -594,10 +598,10 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); denom0 = body0->getInvMass() + normalAxis.dot(vec); } - if (body1) + if (bodyA) { vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); - denom1 = body1->getInvMass() + normalAxis.dot(vec); + denom1 = bodyA->getInvMass() + normalAxis.dot(vec); } btScalar denom = relaxation/(denom0+denom1); solverConstraint.m_jacDiagABInv = denom; @@ -609,8 +613,8 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr btScalar rel_vel; btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0)) + solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0)); - btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) - + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0)); + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyA?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) + + solverConstraint.m_relpos2CrossNormal.dot(bodyA?solverBodyB.m_angularVelocity:btVector3(0,0,0)); rel_vel = vel1Dotn+vel2Dotn; @@ -662,7 +666,7 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint( btSo btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB]; btRigidBody* body0 = m_tmpSolverBodyPool[solverBodyIdA].m_originalBody; - btRigidBody* body1 = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; + btRigidBody* bodyA = m_tmpSolverBodyPool[solverBodyIdB].m_originalBody; solverConstraint.m_solverBodyIdA = solverBodyIdA; solverConstraint.m_solverBodyIdB = solverBodyIdB; @@ -681,13 +685,13 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint( btSo { btVector3 ftorqueAxis1 = normalAxis1; solverConstraint.m_relpos2CrossNormal = ftorqueAxis1; - solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0); + solverConstraint.m_angularComponentB = bodyA ? bodyA->getInvInertiaTensorWorld()*ftorqueAxis1*bodyA->getAngularFactor() : btVector3(0,0,0); } { btVector3 iMJaA = body0?body0->getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal:btVector3(0,0,0); - btVector3 iMJaB = body1?body1->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0); + btVector3 iMJaB = bodyA?bodyA->getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal:btVector3(0,0,0); btScalar sum = 0; sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); @@ -700,8 +704,8 @@ void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint( btSo btScalar rel_vel; btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0)) + solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0)); - btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) - + solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0)); + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyA?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0)) + + solverConstraint.m_relpos2CrossNormal.dot(bodyA?solverBodyB.m_angularVelocity:btVector3(0,0,0)); rel_vel = vel1Dotn+vel2Dotn; @@ -738,23 +742,21 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& { #if BT_THREADSAFE int solverBodyId = -1; - if ( !body.isStaticOrKinematicObject() ) + bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL; + if ( isRigidBodyType && !body.isStaticOrKinematicObject() ) { // dynamic body // Dynamic bodies can only be in one island, so it's safe to write to the companionId solverBodyId = body.getCompanionId(); if ( solverBodyId < 0 ) { - if ( btRigidBody* rb = btRigidBody::upcast( &body ) ) - { - solverBodyId = m_tmpSolverBodyPool.size(); - btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); - initSolverBody( &solverBody, &body, timeStep ); - body.setCompanionId( solverBodyId ); - } + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &solverBody, &body, timeStep ); + body.setCompanionId( solverBodyId ); } } - else if (body.isKinematicObject()) + else if (isRigidBodyType && body.isKinematicObject()) { // // NOTE: must test for kinematic before static because some kinematic objects also @@ -774,7 +776,6 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& if ( solverBodyId == INVALID_SOLVER_BODY_ID ) { // create a table entry for this body - btRigidBody* rb = btRigidBody::upcast( &body ); solverBodyId = m_tmpSolverBodyPool.size(); btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); initSolverBody( &solverBody, &body, timeStep ); @@ -783,6 +784,13 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } else { + bool isMultiBodyType = (body.getInternalType()&btCollisionObject::CO_FEATHERSTONE_LINK); + // Incorrectly set collision object flags can degrade performance in various ways. + if (!isMultiBodyType) + { + btAssert( body.isStaticOrKinematicObject() ); + } + //it could be a multibody link collider // all fixed bodies (inf mass) get mapped to a single solver id if ( m_fixedBodyId < 0 ) { @@ -792,7 +800,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } solverBodyId = m_fixedBodyId; } - btAssert( solverBodyId < m_tmpSolverBodyPool.size() ); + btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() ); return solverBodyId; #else // BT_THREADSAFE @@ -1258,6 +1266,256 @@ void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** } } + +void btSequentialImpulseConstraintSolver::convertJoint(btSolverConstraint* currentConstraintRow, + btTypedConstraint* constraint, + const btTypedConstraint::btConstraintInfo1& info1, + int solverBodyIdA, + int solverBodyIdB, + const btContactSolverInfo& infoGlobal + ) +{ + const btRigidBody& rbA = constraint->getRigidBodyA(); + const btRigidBody& rbB = constraint->getRigidBodyB(); + + const btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; + const btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; + + int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; + if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations) + m_maxOverrideNumSolverIterations = overrideNumSolverIterations; + + for (int j=0;j<info1.m_numConstraintRows;j++) + { + memset(¤tConstraintRow[j],0,sizeof(btSolverConstraint)); + currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY; + currentConstraintRow[j].m_upperLimit = SIMD_INFINITY; + currentConstraintRow[j].m_appliedImpulse = 0.f; + currentConstraintRow[j].m_appliedPushImpulse = 0.f; + currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA; + currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB; + currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations; + } + + // these vectors are already cleared in initSolverBody, no need to redundantly clear again + btAssert(bodyAPtr->getDeltaLinearVelocity().isZero()); + btAssert(bodyAPtr->getDeltaAngularVelocity().isZero()); + btAssert(bodyAPtr->getPushVelocity().isZero()); + btAssert(bodyAPtr->getTurnVelocity().isZero()); + btAssert(bodyBPtr->getDeltaLinearVelocity().isZero()); + btAssert(bodyBPtr->getDeltaAngularVelocity().isZero()); + btAssert(bodyBPtr->getPushVelocity().isZero()); + btAssert(bodyBPtr->getTurnVelocity().isZero()); + //bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); + //bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); + //bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); + //bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); + //bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); + //bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); + //bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); + //bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); + + + btTypedConstraint::btConstraintInfo2 info2; + info2.fps = 1.f/infoGlobal.m_timeStep; + info2.erp = infoGlobal.m_erp; + info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1; + info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal; + info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2; + info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal; + info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this + ///the size of btSolverConstraint needs be a multiple of btScalar + btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint)); + info2.m_constraintError = ¤tConstraintRow->m_rhs; + currentConstraintRow->m_cfm = infoGlobal.m_globalCfm; + info2.m_damping = infoGlobal.m_damping; + info2.cfm = ¤tConstraintRow->m_cfm; + info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit; + info2.m_upperLimit = ¤tConstraintRow->m_upperLimit; + info2.m_numIterations = infoGlobal.m_numIterations; + constraint->getInfo2(&info2); + + ///finalize the constraint setup + for (int j=0;j<info1.m_numConstraintRows;j++) + { + btSolverConstraint& solverConstraint = currentConstraintRow[j]; + + if (solverConstraint.m_upperLimit>=constraint->getBreakingImpulseThreshold()) + { + solverConstraint.m_upperLimit = constraint->getBreakingImpulseThreshold(); + } + + if (solverConstraint.m_lowerLimit<=-constraint->getBreakingImpulseThreshold()) + { + solverConstraint.m_lowerLimit = -constraint->getBreakingImpulseThreshold(); + } + + solverConstraint.m_originalContactPoint = constraint; + + { + const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal; + solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor(); + } + { + const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal; + solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor(); + } + + { + btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass(); + btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal; + btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal? + btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal; + + btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1); + sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); + sum += iMJlB.dot(solverConstraint.m_contactNormal2); + sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); + btScalar fsum = btFabs(sum); + btAssert(fsum > SIMD_EPSILON); + btScalar sorRelaxation = 1.f;//todo: get from globalInfo? + solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?sorRelaxation/sum : 0.f; + } + + { + btScalar rel_vel; + btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0); + btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0); + + btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0); + btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0); + + btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA) + + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA); + + btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB) + + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB); + + rel_vel = vel1Dotn+vel2Dotn; + btScalar restitution = 0.f; + btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2 + btScalar velocityError = restitution - rel_vel * info2.m_damping; + btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; + btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; + solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; + solverConstraint.m_appliedImpulse = 0.f; + } + } +} + + +void btSequentialImpulseConstraintSolver::convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("convertJoints"); + for (int j=0;j<numConstraints;j++) + { + btTypedConstraint* constraint = constraints[j]; + constraint->buildJacobian(); + constraint->internalSetAppliedImpulse(0.0f); + } + + int totalNumRows = 0; + + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); + //calculate the total number of contraint rows + for (int i=0;i<numConstraints;i++) + { + btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + btJointFeedback* fb = constraints[i]->getJointFeedback(); + if (fb) + { + fb->m_appliedForceBodyA.setZero(); + fb->m_appliedTorqueBodyA.setZero(); + fb->m_appliedForceBodyB.setZero(); + fb->m_appliedTorqueBodyB.setZero(); + } + + if (constraints[i]->isEnabled()) + { + constraints[i]->getInfo1(&info1); + } else + { + info1.m_numConstraintRows = 0; + info1.nub = 0; + } + totalNumRows += info1.m_numConstraintRows; + } + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); + + + ///setup the btSolverConstraints + int currentRow = 0; + + for (int i=0;i<numConstraints;i++) + { + const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + + if (info1.m_numConstraintRows) + { + btAssert(currentRow<totalNumRows); + + btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; + btTypedConstraint* constraint = constraints[i]; + btRigidBody& rbA = constraint->getRigidBodyA(); + btRigidBody& rbB = constraint->getRigidBodyB(); + + int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep); + int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep); + + convertJoint(currentConstraintRow, constraint, info1, solverBodyIdA, solverBodyIdB, infoGlobal); + } + currentRow+=info1.m_numConstraintRows; + } +} + + +void btSequentialImpulseConstraintSolver::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("convertBodies"); + for (int i = 0; i < numBodies; i++) + { + bodies[i]->setCompanionId(-1); + } +#if BT_THREADSAFE + m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 ); +#endif // BT_THREADSAFE + + m_tmpSolverBodyPool.reserve(numBodies+1); + m_tmpSolverBodyPool.resize(0); + + //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + //initSolverBody(&fixedBody,0); + + for (int i=0;i<numBodies;i++) + { + int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep); + + btRigidBody* body = btRigidBody::upcast(bodies[i]); + if (body && body->getInvMass()) + { + btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; + btVector3 gyroForce (0,0,0); + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) + { + gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce); + solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; + } + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD) + { + gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep); + solverBody.m_externalTorqueImpulse += gyroForce; + } + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY) + { + gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep); + solverBody.m_externalTorqueImpulse += gyroForce; + + } + } + } +} + + btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) { m_fixedBodyId = -1; @@ -1344,254 +1602,14 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol #endif //BT_ADDITIONAL_DEBUG - for (int i = 0; i < numBodies; i++) - { - bodies[i]->setCompanionId(-1); - } -#if BT_THREADSAFE - m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 ); -#endif // BT_THREADSAFE - - m_tmpSolverBodyPool.reserve(numBodies+1); - m_tmpSolverBodyPool.resize(0); - - //btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); - //initSolverBody(&fixedBody,0); - //convert all bodies + convertBodies(bodies, numBodies, infoGlobal); + convertJoints(constraints, numConstraints, infoGlobal); - for (int i=0;i<numBodies;i++) - { - int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep); - - btRigidBody* body = btRigidBody::upcast(bodies[i]); - if (body && body->getInvMass()) - { - btSolverBody& solverBody = m_tmpSolverBodyPool[bodyId]; - btVector3 gyroForce (0,0,0); - if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) - { - gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce); - solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; - } - if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD) - { - gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep); - solverBody.m_externalTorqueImpulse += gyroForce; - } - if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY) - { - gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep); - solverBody.m_externalTorqueImpulse += gyroForce; - - } - - - } - } - - if (1) - { - int j; - for (j=0;j<numConstraints;j++) - { - btTypedConstraint* constraint = constraints[j]; - constraint->buildJacobian(); - constraint->internalSetAppliedImpulse(0.0f); - } - } - - //btRigidBody* rb0=0,*rb1=0; - - //if (1) - { - { - - int totalNumRows = 0; - int i; - - m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); - //calculate the total number of contraint rows - for (i=0;i<numConstraints;i++) - { - btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; - btJointFeedback* fb = constraints[i]->getJointFeedback(); - if (fb) - { - fb->m_appliedForceBodyA.setZero(); - fb->m_appliedTorqueBodyA.setZero(); - fb->m_appliedForceBodyB.setZero(); - fb->m_appliedTorqueBodyB.setZero(); - } - - if (constraints[i]->isEnabled()) - { - } - if (constraints[i]->isEnabled()) - { - constraints[i]->getInfo1(&info1); - } else - { - info1.m_numConstraintRows = 0; - info1.nub = 0; - } - totalNumRows += info1.m_numConstraintRows; - } - m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); - - - ///setup the btSolverConstraints - int currentRow = 0; - - for (i=0;i<numConstraints;i++) - { - const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; - - if (info1.m_numConstraintRows) - { - btAssert(currentRow<totalNumRows); - - btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[currentRow]; - btTypedConstraint* constraint = constraints[i]; - btRigidBody& rbA = constraint->getRigidBodyA(); - btRigidBody& rbB = constraint->getRigidBodyB(); - - int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep); - int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep); - - btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA]; - btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB]; + convertContacts(manifoldPtr,numManifolds,infoGlobal); - - - int overrideNumSolverIterations = constraint->getOverrideNumSolverIterations() > 0 ? constraint->getOverrideNumSolverIterations() : infoGlobal.m_numIterations; - if (overrideNumSolverIterations>m_maxOverrideNumSolverIterations) - m_maxOverrideNumSolverIterations = overrideNumSolverIterations; - - - int j; - for ( j=0;j<info1.m_numConstraintRows;j++) - { - memset(¤tConstraintRow[j],0,sizeof(btSolverConstraint)); - currentConstraintRow[j].m_lowerLimit = -SIMD_INFINITY; - currentConstraintRow[j].m_upperLimit = SIMD_INFINITY; - currentConstraintRow[j].m_appliedImpulse = 0.f; - currentConstraintRow[j].m_appliedPushImpulse = 0.f; - currentConstraintRow[j].m_solverBodyIdA = solverBodyIdA; - currentConstraintRow[j].m_solverBodyIdB = solverBodyIdB; - currentConstraintRow[j].m_overrideNumSolverIterations = overrideNumSolverIterations; - } - - bodyAPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); - bodyAPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); - bodyAPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); - bodyAPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); - bodyBPtr->internalGetDeltaLinearVelocity().setValue(0.f,0.f,0.f); - bodyBPtr->internalGetDeltaAngularVelocity().setValue(0.f,0.f,0.f); - bodyBPtr->internalGetPushVelocity().setValue(0.f,0.f,0.f); - bodyBPtr->internalGetTurnVelocity().setValue(0.f,0.f,0.f); - - - btTypedConstraint::btConstraintInfo2 info2; - info2.fps = 1.f/infoGlobal.m_timeStep; - info2.erp = infoGlobal.m_erp; - info2.m_J1linearAxis = currentConstraintRow->m_contactNormal1; - info2.m_J1angularAxis = currentConstraintRow->m_relpos1CrossNormal; - info2.m_J2linearAxis = currentConstraintRow->m_contactNormal2; - info2.m_J2angularAxis = currentConstraintRow->m_relpos2CrossNormal; - info2.rowskip = sizeof(btSolverConstraint)/sizeof(btScalar);//check this - ///the size of btSolverConstraint needs be a multiple of btScalar - btAssert(info2.rowskip*sizeof(btScalar)== sizeof(btSolverConstraint)); - info2.m_constraintError = ¤tConstraintRow->m_rhs; - currentConstraintRow->m_cfm = infoGlobal.m_globalCfm; - info2.m_damping = infoGlobal.m_damping; - info2.cfm = ¤tConstraintRow->m_cfm; - info2.m_lowerLimit = ¤tConstraintRow->m_lowerLimit; - info2.m_upperLimit = ¤tConstraintRow->m_upperLimit; - info2.m_numIterations = infoGlobal.m_numIterations; - constraints[i]->getInfo2(&info2); - - ///finalize the constraint setup - for ( j=0;j<info1.m_numConstraintRows;j++) - { - btSolverConstraint& solverConstraint = currentConstraintRow[j]; - - if (solverConstraint.m_upperLimit>=constraints[i]->getBreakingImpulseThreshold()) - { - solverConstraint.m_upperLimit = constraints[i]->getBreakingImpulseThreshold(); - } - - if (solverConstraint.m_lowerLimit<=-constraints[i]->getBreakingImpulseThreshold()) - { - solverConstraint.m_lowerLimit = -constraints[i]->getBreakingImpulseThreshold(); - } - - solverConstraint.m_originalContactPoint = constraint; - - { - const btVector3& ftorqueAxis1 = solverConstraint.m_relpos1CrossNormal; - solverConstraint.m_angularComponentA = constraint->getRigidBodyA().getInvInertiaTensorWorld()*ftorqueAxis1*constraint->getRigidBodyA().getAngularFactor(); - } - { - const btVector3& ftorqueAxis2 = solverConstraint.m_relpos2CrossNormal; - solverConstraint.m_angularComponentB = constraint->getRigidBodyB().getInvInertiaTensorWorld()*ftorqueAxis2*constraint->getRigidBodyB().getAngularFactor(); - } - - { - btVector3 iMJlA = solverConstraint.m_contactNormal1*rbA.getInvMass(); - btVector3 iMJaA = rbA.getInvInertiaTensorWorld()*solverConstraint.m_relpos1CrossNormal; - btVector3 iMJlB = solverConstraint.m_contactNormal2*rbB.getInvMass();//sign of normal? - btVector3 iMJaB = rbB.getInvInertiaTensorWorld()*solverConstraint.m_relpos2CrossNormal; - - btScalar sum = iMJlA.dot(solverConstraint.m_contactNormal1); - sum += iMJaA.dot(solverConstraint.m_relpos1CrossNormal); - sum += iMJlB.dot(solverConstraint.m_contactNormal2); - sum += iMJaB.dot(solverConstraint.m_relpos2CrossNormal); - btScalar fsum = btFabs(sum); - btAssert(fsum > SIMD_EPSILON); - btScalar sorRelaxation = 1.f;//todo: get from globalInfo? - solverConstraint.m_jacDiagABInv = fsum>SIMD_EPSILON?sorRelaxation/sum : 0.f; - } - - - - { - btScalar rel_vel; - btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0); - btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0); - - btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0); - btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0); - - btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA) - + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA); - - btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB) - + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB); - - rel_vel = vel1Dotn+vel2Dotn; - btScalar restitution = 0.f; - btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2 - btScalar velocityError = restitution - rel_vel * info2.m_damping; - btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; - btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; - solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; - solverConstraint.m_appliedImpulse = 0.f; - - - } - } - } - currentRow+=m_tmpConstraintSizesPool[i].m_numConstraintRows; - } - } - - convertContacts(manifoldPtr,numManifolds,infoGlobal); - - } - // btContactSolverInfo info = infoGlobal; @@ -1630,6 +1648,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/) { + BT_PROFILE("solveSingleIteration"); btScalar leastSquaresResidual = 0.f; int numNonContactPool = m_tmpSolverNonContactConstraintPool.size(); @@ -1675,7 +1694,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration if (iteration < constraint.m_overrideNumSolverIterations) { btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[constraint.m_solverBodyIdA],m_tmpSolverBodyPool[constraint.m_solverBodyIdB],constraint); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } @@ -1706,7 +1725,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[c]]; btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); totalImpulse = solveManifold.m_appliedImpulse; } @@ -1723,7 +1742,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } @@ -1738,7 +1757,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } } @@ -1755,7 +1774,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; btScalar residual = resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } @@ -1774,7 +1793,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } } @@ -1796,7 +1815,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; btScalar residual = resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdA],m_tmpSolverBodyPool[rollingFrictionConstraint.m_solverBodyIdB],rollingFrictionConstraint); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } @@ -1808,6 +1827,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) { + BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); int iteration; if (infoGlobal.m_splitImpulse) { @@ -1823,7 +1843,7 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]]; btScalar residual = resolveSplitPenetrationImpulse(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold); - leastSquaresResidual += residual*residual; + leastSquaresResidual = btMax(leastSquaresResidual, residual*residual); } } if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration>=(infoGlobal.m_numIterations-1)) @@ -1866,14 +1886,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations( return 0.f; } -btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal) +void btSequentialImpulseConstraintSolver::writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) { - int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); - int i,j; - - if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) - { - for (j=0;j<numPoolConstraints;j++) + for (int j=iBegin; j<iEnd; j++) { const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[j]; btManifoldPoint* pt = (btManifoldPoint*) solveManifold.m_originalContactPoint; @@ -1889,10 +1904,11 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo } //do a callback here? } - } +} - numPoolConstraints = m_tmpSolverNonContactConstraintPool.size(); - for (j=0;j<numPoolConstraints;j++) +void btSequentialImpulseConstraintSolver::writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +{ + for (int j=iBegin; j<iEnd; j++) { const btSolverConstraint& solverConstr = m_tmpSolverNonContactConstraintPool[j]; btTypedConstraint* constr = (btTypedConstraint*)solverConstr.m_originalContactPoint; @@ -1912,10 +1928,12 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo constr->setEnabled(false); } } +} - - for ( i=0;i<m_tmpSolverBodyPool.size();i++) +void btSequentialImpulseConstraintSolver::writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +{ + for (int i=iBegin; i<iEnd; i++) { btRigidBody* body = m_tmpSolverBodyPool[i].m_originalBody; if (body) @@ -1939,6 +1957,19 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo m_tmpSolverBodyPool[i].m_originalBody->setCompanionId(-1); } } +} + +btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("solveGroupCacheFriendlyFinish"); + + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + writeBackContacts(0, m_tmpSolverContactConstraintPool.size(), infoGlobal); + } + + writeBackJoints(0, m_tmpSolverNonContactConstraintPool.size(), infoGlobal); + writeBackBodies(0, m_tmpSolverBodyPool.size(), infoGlobal); m_tmpSolverContactConstraintPool.resizeNoInitialize(0); m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 16c7eb74c1..b834c3dac3 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -4,8 +4,8 @@ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 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, +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. @@ -27,7 +27,7 @@ class btCollisionObject; #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" -typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); +typedef btScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver @@ -64,44 +64,48 @@ protected: void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, - btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.); void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2, - btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.); btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.); btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f); - - void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, + + void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2); static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode); - void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, + void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction unsigned long m_btSeed2; - + btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); + virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal); + void convertJoint(btSolverConstraint* currentConstraintRow, btTypedConstraint* constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); + + virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal); - btSimdScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) + btScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) { return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); } - btSimdScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) + btScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) { return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); } @@ -110,18 +114,20 @@ protected: int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep); void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep); - btSimdScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); - btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); - btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); - btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); - btSimdScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) + btScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + btScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + btScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + btScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); + btScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint) { return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint ); } - + protected: - - + + void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal); virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); @@ -133,15 +139,15 @@ protected: public: BT_DECLARE_ALIGNED_ALLOCATOR(); - + btSequentialImpulseConstraintSolver(); virtual ~btSequentialImpulseConstraintSolver(); virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); - + ///clear internal cached data and reset random seed virtual void reset(); - + unsigned long btRand2(); int btRandInt2 (int n); @@ -155,7 +161,7 @@ public: return m_btSeed2; } - + virtual btConstraintSolverType getSolverType() const { return BT_SEQUENTIAL_IMPULSE_SOLVER; diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp new file mode 100644 index 0000000000..4306c37e49 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.cpp @@ -0,0 +1,1621 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + + +#include "btSequentialImpulseConstraintSolverMt.h" + +#include "LinearMath/btQuickprof.h" + +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" + +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" + + + +bool btSequentialImpulseConstraintSolverMt::s_allowNestedParallelForLoops = false; // some task schedulers don't like nested loops +int btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching = 250; +int btSequentialImpulseConstraintSolverMt::s_minBatchSize = 50; +int btSequentialImpulseConstraintSolverMt::s_maxBatchSize = 100; +btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_contactBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D; +btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_jointBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D; + + +btSequentialImpulseConstraintSolverMt::btSequentialImpulseConstraintSolverMt() +{ + m_numFrictionDirections = 1; + m_useBatching = false; + m_useObsoleteJointConstraints = false; +} + + +btSequentialImpulseConstraintSolverMt::~btSequentialImpulseConstraintSolverMt() +{ +} + + +void btSequentialImpulseConstraintSolverMt::setupBatchedContactConstraints() +{ + BT_PROFILE("setupBatchedContactConstraints"); + m_batchedContactConstraints.setup( &m_tmpSolverContactConstraintPool, + m_tmpSolverBodyPool, + s_contactBatchingMethod, + s_minBatchSize, + s_maxBatchSize, + &m_scratchMemory + ); +} + + +void btSequentialImpulseConstraintSolverMt::setupBatchedJointConstraints() +{ + BT_PROFILE("setupBatchedJointConstraints"); + m_batchedJointConstraints.setup( &m_tmpSolverNonContactConstraintPool, + m_tmpSolverBodyPool, + s_jointBatchingMethod, + s_minBatchSize, + s_maxBatchSize, + &m_scratchMemory + ); +} + + +void btSequentialImpulseConstraintSolverMt::internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal) +{ + btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[iContactConstraint]; + + btVector3 rel_pos1; + btVector3 rel_pos2; + btScalar relaxation; + + int solverBodyIdA = contactConstraint.m_solverBodyIdA; + int solverBodyIdB = contactConstraint.m_solverBodyIdB; + + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[ solverBodyIdA ]; + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[ solverBodyIdB ]; + + btRigidBody* colObj0 = solverBodyA->m_originalBody; + btRigidBody* colObj1 = solverBodyB->m_originalBody; + + btManifoldPoint& cp = *static_cast<btManifoldPoint*>( contactConstraint.m_originalContactPoint ); + + const btVector3& pos1 = cp.getPositionWorldOnA(); + const btVector3& pos2 = cp.getPositionWorldOnB(); + + rel_pos1 = pos1 - solverBodyA->getWorldTransform().getOrigin(); + rel_pos2 = pos2 - solverBodyB->getWorldTransform().getOrigin(); + + btVector3 vel1; + btVector3 vel2; + + solverBodyA->getVelocityInLocalPointNoDelta( rel_pos1, vel1 ); + solverBodyB->getVelocityInLocalPointNoDelta( rel_pos2, vel2 ); + + btVector3 vel = vel1 - vel2; + btScalar rel_vel = cp.m_normalWorldOnB.dot( vel ); + + setupContactConstraint( contactConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2 ); + + // setup rolling friction constraints + int rollingFrictionIndex = m_rollingFrictionIndexTable[iContactConstraint]; + if (rollingFrictionIndex >= 0) + { + btSolverConstraint& spinningFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ rollingFrictionIndex ]; + btAssert( spinningFrictionConstraint.m_frictionIndex == iContactConstraint ); + setupTorsionalFrictionConstraint( spinningFrictionConstraint, + cp.m_normalWorldOnB, + solverBodyIdA, + solverBodyIdB, + cp, + cp.m_combinedSpinningFriction, + rel_pos1, + rel_pos2, + colObj0, + colObj1, + relaxation, + 0.0f, + 0.0f + ); + btVector3 axis[2]; + btPlaneSpace1( cp.m_normalWorldOnB, axis[0], axis[1] ); + axis[0].normalize(); + axis[1].normalize(); + + applyAnisotropicFriction( colObj0, axis[0], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION ); + applyAnisotropicFriction( colObj1, axis[0], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION ); + applyAnisotropicFriction( colObj0, axis[1], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION ); + applyAnisotropicFriction( colObj1, axis[1], btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION ); + // put the largest axis first + if (axis[1].length2() > axis[0].length2()) + { + btSwap(axis[0], axis[1]); + } + const btScalar kRollingFrictionThreshold = 0.001f; + for (int i = 0; i < 2; ++i) + { + int iRollingFric = rollingFrictionIndex + 1 + i; + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ iRollingFric ]; + btAssert(rollingFrictionConstraint.m_frictionIndex == iContactConstraint); + btVector3 dir = axis[i]; + if ( dir.length() > kRollingFrictionThreshold ) + { + setupTorsionalFrictionConstraint( rollingFrictionConstraint, + dir, + solverBodyIdA, + solverBodyIdB, + cp, + cp.m_combinedRollingFriction, + rel_pos1, + rel_pos2, + colObj0, + colObj1, + relaxation, + 0.0f, + 0.0f + ); + } + else + { + rollingFrictionConstraint.m_frictionIndex = -1; // disable constraint + } + } + } + + // setup friction constraints + // setupFrictionConstraint(solverConstraint, normalAxis, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, desiredVelocity, cfmSlip); + { + ///Bullet has several options to set the friction directions + ///By default, each contact has only a single friction direction that is recomputed automatically very frame + ///based on the relative linear velocity. + ///If the relative velocity it zero, it will automatically compute a friction direction. + + ///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS. + ///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction. + /// + ///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity. + /// + ///The user can manually override the friction directions for certain contacts using a contact callback, + ///and set the cp.m_lateralFrictionInitialized to true + ///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) + ///this will give a conveyor belt effect + /// + btSolverConstraint* frictionConstraint1 = &m_tmpSolverContactFrictionConstraintPool[contactConstraint.m_frictionIndex]; + btAssert(frictionConstraint1->m_frictionIndex == iContactConstraint); + + btSolverConstraint* frictionConstraint2 = NULL; + if ( infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS ) + { + frictionConstraint2 = &m_tmpSolverContactFrictionConstraintPool[contactConstraint.m_frictionIndex + 1]; + btAssert( frictionConstraint2->m_frictionIndex == iContactConstraint ); + } + + if ( !( infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING ) || !( cp.m_contactPointFlags&BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED ) ) + { + cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel; + btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2(); + if ( !( infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION ) && lat_rel_vel > SIMD_EPSILON ) + { + cp.m_lateralFrictionDir1 *= 1.f / btSqrt( lat_rel_vel ); + applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + setupFrictionConstraint( *frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal ); + + if ( frictionConstraint2 ) + { + cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross( cp.m_normalWorldOnB ); + cp.m_lateralFrictionDir2.normalize();//?? + applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + setupFrictionConstraint( *frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal ); + } + } + else + { + btPlaneSpace1( cp.m_normalWorldOnB, cp.m_lateralFrictionDir1, cp.m_lateralFrictionDir2 ); + + applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir1, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + setupFrictionConstraint( *frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal ); + + if ( frictionConstraint2 ) + { + applyAnisotropicFriction( colObj0, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + applyAnisotropicFriction( colObj1, cp.m_lateralFrictionDir2, btCollisionObject::CF_ANISOTROPIC_FRICTION ); + setupFrictionConstraint( *frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal ); + } + + if ( ( infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS ) && ( infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION ) ) + { + cp.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED; + } + } + } + else + { + setupFrictionConstraint( *frictionConstraint1, cp.m_lateralFrictionDir1, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion1, cp.m_frictionCFM ); + if ( frictionConstraint2 ) + { + setupFrictionConstraint( *frictionConstraint2, cp.m_lateralFrictionDir2, solverBodyIdA, solverBodyIdB, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation, infoGlobal, cp.m_contactMotion2, cp.m_frictionCFM ); + } + } + } + + setFrictionConstraintImpulse( contactConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal ); +} + + +struct SetupContactConstraintsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + const btContactSolverInfo* m_infoGlobal; + + SetupContactConstraintsLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc, const btContactSolverInfo& infoGlobal ) + { + m_solver = solver; + m_bc = bc; + m_infoGlobal = &infoGlobal; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "SetupContactConstraintsLoop" ); + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + for (int i = batch.begin; i < batch.end; ++i) + { + int iContact = m_bc->m_constraintIndices[i]; + m_solver->internalSetupContactConstraints( iContact, *m_infoGlobal ); + } + } + } +}; + + +void btSequentialImpulseConstraintSolverMt::setupAllContactConstraints(const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE( "setupAllContactConstraints" ); + if ( m_useBatching ) + { + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + SetupContactConstraintsLoop loop( this, &batchedCons, infoGlobal ); + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = 1; + btParallelFor( phase.begin, phase.end, grainSize, loop ); + } + } + else + { + for ( int i = 0; i < m_tmpSolverContactConstraintPool.size(); ++i ) + { + internalSetupContactConstraints( i, infoGlobal ); + } + } +} + + +int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe(btCollisionObject& body,btScalar timeStep) +{ + // + // getOrInitSolverBody is threadsafe only for a single thread per solver (with potentially multiple solvers) + // + // getOrInitSolverBodyThreadsafe -- attempts to be fully threadsafe (however may affect determinism) + // + int solverBodyId = -1; + bool isRigidBodyType = btRigidBody::upcast( &body ) != NULL; + if ( isRigidBodyType && !body.isStaticOrKinematicObject() ) + { + // dynamic body + // Dynamic bodies can only be in one island, so it's safe to write to the companionId + solverBodyId = body.getCompanionId(); + if ( solverBodyId < 0 ) + { + m_bodySolverArrayMutex.lock(); + // now that we have the lock, check again + solverBodyId = body.getCompanionId(); + if ( solverBodyId < 0 ) + { + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &solverBody, &body, timeStep ); + body.setCompanionId( solverBodyId ); + } + m_bodySolverArrayMutex.unlock(); + } + } + else if (isRigidBodyType && body.isKinematicObject()) + { + // + // NOTE: must test for kinematic before static because some kinematic objects also + // identify as "static" + // + // Kinematic bodies can be in multiple islands at once, so it is a + // race condition to write to them, so we use an alternate method + // to record the solverBodyId + int uniqueId = body.getWorldArrayIndex(); + const int INVALID_SOLVER_BODY_ID = -1; + if (m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId ) + { + m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock(); + // now that we have the lock, check again + if ( m_kinematicBodyUniqueIdToSolverBodyTable.size() <= uniqueId ) + { + m_kinematicBodyUniqueIdToSolverBodyTable.resize( uniqueId + 1, INVALID_SOLVER_BODY_ID ); + } + m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock(); + } + solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ]; + // if no table entry yet, + if ( INVALID_SOLVER_BODY_ID == solverBodyId ) + { + // need to acquire both locks + m_kinematicBodyUniqueIdToSolverBodyTableMutex.lock(); + m_bodySolverArrayMutex.lock(); + // now that we have the lock, check again + solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ]; + if ( INVALID_SOLVER_BODY_ID == solverBodyId ) + { + // create a table entry for this body + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &solverBody, &body, timeStep ); + m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ] = solverBodyId; + } + m_bodySolverArrayMutex.unlock(); + m_kinematicBodyUniqueIdToSolverBodyTableMutex.unlock(); + } + } + else + { + // all fixed bodies (inf mass) get mapped to a single solver id + if ( m_fixedBodyId < 0 ) + { + m_bodySolverArrayMutex.lock(); + // now that we have the lock, check again + if ( m_fixedBodyId < 0 ) + { + m_fixedBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &fixedBody, 0, timeStep ); + } + m_bodySolverArrayMutex.unlock(); + } + solverBodyId = m_fixedBodyId; + } + btAssert( solverBodyId >= 0 && solverBodyId < m_tmpSolverBodyPool.size() ); + return solverBodyId; +} + + +void btSequentialImpulseConstraintSolverMt::internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("internalCollectContactManifoldCachedInfo"); + for (int i = 0; i < numManifolds; ++i) + { + btContactManifoldCachedInfo* cachedInfo = &cachedInfoArray[i]; + btPersistentManifold* manifold = manifoldPtr[i]; + btCollisionObject* colObj0 = (btCollisionObject*) manifold->getBody0(); + btCollisionObject* colObj1 = (btCollisionObject*) manifold->getBody1(); + + int solverBodyIdA = getOrInitSolverBodyThreadsafe( *colObj0, infoGlobal.m_timeStep ); + int solverBodyIdB = getOrInitSolverBodyThreadsafe( *colObj1, infoGlobal.m_timeStep ); + + cachedInfo->solverBodyIds[ 0 ] = solverBodyIdA; + cachedInfo->solverBodyIds[ 1 ] = solverBodyIdB; + cachedInfo->numTouchingContacts = 0; + + btSolverBody* solverBodyA = &m_tmpSolverBodyPool[ solverBodyIdA ]; + btSolverBody* solverBodyB = &m_tmpSolverBodyPool[ solverBodyIdB ]; + + // A contact manifold between 2 static object should not exist! + // check the collision flags of your objects if this assert fires. + // Incorrectly set collision object flags can degrade performance in various ways. + btAssert( !m_tmpSolverBodyPool[ solverBodyIdA ].m_invMass.isZero() || !m_tmpSolverBodyPool[ solverBodyIdB ].m_invMass.isZero() ); + + int iContact = 0; + for ( int j = 0; j < manifold->getNumContacts(); j++ ) + { + btManifoldPoint& cp = manifold->getContactPoint( j ); + + if ( cp.getDistance() <= manifold->getContactProcessingThreshold() ) + { + cachedInfo->contactPoints[ iContact ] = &cp; + cachedInfo->contactHasRollingFriction[ iContact ] = ( cp.m_combinedRollingFriction > 0.f ); + iContact++; + } + } + cachedInfo->numTouchingContacts = iContact; + } +} + + +struct CollectContactManifoldCachedInfoLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* m_cachedInfoArray; + btPersistentManifold** m_manifoldPtr; + const btContactSolverInfo* m_infoGlobal; + + CollectContactManifoldCachedInfoLoop( btSequentialImpulseConstraintSolverMt* solver, btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, const btContactSolverInfo& infoGlobal ) + { + m_solver = solver; + m_cachedInfoArray = cachedInfoArray; + m_manifoldPtr = manifoldPtr; + m_infoGlobal = &infoGlobal; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalCollectContactManifoldCachedInfo( m_cachedInfoArray + iBegin, m_manifoldPtr + iBegin, iEnd - iBegin, *m_infoGlobal ); + } +}; + + +void btSequentialImpulseConstraintSolverMt::internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds) +{ + BT_PROFILE("internalAllocContactConstraints"); + // possibly parallel part + for ( int iManifold = 0; iManifold < numManifolds; ++iManifold ) + { + const btContactManifoldCachedInfo& cachedInfo = cachedInfoArray[ iManifold ]; + int contactIndex = cachedInfo.contactIndex; + int frictionIndex = contactIndex * m_numFrictionDirections; + int rollingFrictionIndex = cachedInfo.rollingFrictionIndex; + for ( int i = 0; i < cachedInfo.numTouchingContacts; i++ ) + { + btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[contactIndex]; + contactConstraint.m_solverBodyIdA = cachedInfo.solverBodyIds[ 0 ]; + contactConstraint.m_solverBodyIdB = cachedInfo.solverBodyIds[ 1 ]; + contactConstraint.m_originalContactPoint = cachedInfo.contactPoints[ i ]; + + // allocate the friction constraints + contactConstraint.m_frictionIndex = frictionIndex; + for ( int iDir = 0; iDir < m_numFrictionDirections; ++iDir ) + { + btSolverConstraint& frictionConstraint = m_tmpSolverContactFrictionConstraintPool[frictionIndex]; + frictionConstraint.m_frictionIndex = contactIndex; + frictionIndex++; + } + + // allocate rolling friction constraints + if ( cachedInfo.contactHasRollingFriction[ i ] ) + { + m_rollingFrictionIndexTable[ contactIndex ] = rollingFrictionIndex; + // allocate 3 (although we may use only 2 sometimes) + for ( int i = 0; i < 3; i++ ) + { + m_tmpSolverContactRollingFrictionConstraintPool[ rollingFrictionIndex ].m_frictionIndex = contactIndex; + rollingFrictionIndex++; + } + } + else + { + // indicate there is no rolling friction for this contact point + m_rollingFrictionIndexTable[ contactIndex ] = -1; + } + contactIndex++; + } + } +} + + +struct AllocContactConstraintsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* m_cachedInfoArray; + + AllocContactConstraintsLoop( btSequentialImpulseConstraintSolverMt* solver, btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo* cachedInfoArray ) + { + m_solver = solver; + m_cachedInfoArray = cachedInfoArray; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalAllocContactConstraints( m_cachedInfoArray + iBegin, iEnd - iBegin ); + } +}; + + +void btSequentialImpulseConstraintSolverMt::allocAllContactConstraints(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE( "allocAllContactConstraints" ); + btAlignedObjectArray<btContactManifoldCachedInfo> cachedInfoArray; // = m_manifoldCachedInfoArray; + cachedInfoArray.resizeNoInitialize( numManifolds ); + if (/* DISABLES CODE */ (false)) + { + // sequential + internalCollectContactManifoldCachedInfo(&cachedInfoArray[ 0 ], manifoldPtr, numManifolds, infoGlobal); + } + else + { + // may alter ordering of bodies which affects determinism + CollectContactManifoldCachedInfoLoop loop( this, &cachedInfoArray[ 0 ], manifoldPtr, infoGlobal ); + int grainSize = 200; + btParallelFor( 0, numManifolds, grainSize, loop ); + } + + { + // serial part + int numContacts = 0; + int numRollingFrictionConstraints = 0; + for ( int iManifold = 0; iManifold < numManifolds; ++iManifold ) + { + btContactManifoldCachedInfo& cachedInfo = cachedInfoArray[ iManifold ]; + cachedInfo.contactIndex = numContacts; + cachedInfo.rollingFrictionIndex = numRollingFrictionConstraints; + numContacts += cachedInfo.numTouchingContacts; + for (int i = 0; i < cachedInfo.numTouchingContacts; ++i) + { + if (cachedInfo.contactHasRollingFriction[i]) + { + numRollingFrictionConstraints += 3; + } + } + } + { + BT_PROFILE( "allocPools" ); + if ( m_tmpSolverContactConstraintPool.capacity() < numContacts ) + { + // if we need to reallocate, reserve some extra so we don't have to reallocate again next frame + int extraReserve = numContacts / 16; + m_tmpSolverContactConstraintPool.reserve( numContacts + extraReserve ); + m_rollingFrictionIndexTable.reserve( numContacts + extraReserve ); + m_tmpSolverContactFrictionConstraintPool.reserve( ( numContacts + extraReserve )*m_numFrictionDirections ); + m_tmpSolverContactRollingFrictionConstraintPool.reserve( numRollingFrictionConstraints + extraReserve ); + } + m_tmpSolverContactConstraintPool.resizeNoInitialize( numContacts ); + m_rollingFrictionIndexTable.resizeNoInitialize( numContacts ); + m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize( numContacts*m_numFrictionDirections ); + m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize( numRollingFrictionConstraints ); + } + } + { + AllocContactConstraintsLoop loop(this, &cachedInfoArray[0]); + int grainSize = 200; + btParallelFor( 0, numManifolds, grainSize, loop ); + } +} + + +void btSequentialImpulseConstraintSolverMt::convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) +{ + if (!m_useBatching) + { + btSequentialImpulseConstraintSolver::convertContacts(manifoldPtr, numManifolds, infoGlobal); + return; + } + BT_PROFILE( "convertContacts" ); + if (numManifolds > 0) + { + if ( m_fixedBodyId < 0 ) + { + m_fixedBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &fixedBody, 0, infoGlobal.m_timeStep ); + } + allocAllContactConstraints( manifoldPtr, numManifolds, infoGlobal ); + if ( m_useBatching ) + { + setupBatchedContactConstraints(); + } + setupAllContactConstraints( infoGlobal ); + } +} + + +void btSequentialImpulseConstraintSolverMt::internalInitMultipleJoints( btTypedConstraint** constraints, int iBegin, int iEnd ) +{ + BT_PROFILE("internalInitMultipleJoints"); + for ( int i = iBegin; i < iEnd; i++ ) + { + btTypedConstraint* constraint = constraints[i]; + btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + if (constraint->isEnabled()) + { + constraint->buildJacobian(); + constraint->internalSetAppliedImpulse( 0.0f ); + btJointFeedback* fb = constraint->getJointFeedback(); + if ( fb ) + { + fb->m_appliedForceBodyA.setZero(); + fb->m_appliedTorqueBodyA.setZero(); + fb->m_appliedForceBodyB.setZero(); + fb->m_appliedTorqueBodyB.setZero(); + } + constraint->getInfo1( &info1 ); + } + else + { + info1.m_numConstraintRows = 0; + info1.nub = 0; + } + } +} + + +struct InitJointsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + btTypedConstraint** m_constraints; + + InitJointsLoop( btSequentialImpulseConstraintSolverMt* solver, btTypedConstraint** constraints ) + { + m_solver = solver; + m_constraints = constraints; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalInitMultipleJoints( m_constraints, iBegin, iEnd ); + } +}; + + +void btSequentialImpulseConstraintSolverMt::internalConvertMultipleJoints( const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal ) +{ + BT_PROFILE("internalConvertMultipleJoints"); + for ( int i = iBegin; i < iEnd; ++i ) + { + const JointParams& jointParams = jointParamsArray[ i ]; + int currentRow = jointParams.m_solverConstraint; + if ( currentRow != -1 ) + { + const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[ i ]; + btAssert( currentRow < m_tmpSolverNonContactConstraintPool.size() ); + btAssert( info1.m_numConstraintRows > 0 ); + + btSolverConstraint* currentConstraintRow = &m_tmpSolverNonContactConstraintPool[ currentRow ]; + btTypedConstraint* constraint = constraints[ i ]; + + convertJoint( currentConstraintRow, constraint, info1, jointParams.m_solverBodyA, jointParams.m_solverBodyB, infoGlobal ); + } + } +} + + +struct ConvertJointsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btAlignedObjectArray<btSequentialImpulseConstraintSolverMt::JointParams>& m_jointParamsArray; + btTypedConstraint** m_srcConstraints; + const btContactSolverInfo& m_infoGlobal; + + ConvertJointsLoop( btSequentialImpulseConstraintSolverMt* solver, + const btAlignedObjectArray<btSequentialImpulseConstraintSolverMt::JointParams>& jointParamsArray, + btTypedConstraint** srcConstraints, + const btContactSolverInfo& infoGlobal + ) : + m_jointParamsArray(jointParamsArray), + m_infoGlobal(infoGlobal) + { + m_solver = solver; + m_srcConstraints = srcConstraints; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalConvertMultipleJoints( m_jointParamsArray, m_srcConstraints, iBegin, iEnd, m_infoGlobal ); + } +}; + + +void btSequentialImpulseConstraintSolverMt::convertJoints(btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal) +{ + if ( !m_useBatching ) + { + btSequentialImpulseConstraintSolver::convertJoints(constraints, numConstraints, infoGlobal); + return; + } + BT_PROFILE("convertJoints"); + bool parallelJointSetup = true; + m_tmpConstraintSizesPool.resizeNoInitialize(numConstraints); + if (parallelJointSetup) + { + InitJointsLoop loop(this, constraints); + int grainSize = 40; + btParallelFor(0, numConstraints, grainSize, loop); + } + else + { + internalInitMultipleJoints( constraints, 0, numConstraints ); + } + + int totalNumRows = 0; + btAlignedObjectArray<JointParams> jointParamsArray; + jointParamsArray.resizeNoInitialize(numConstraints); + + //calculate the total number of contraint rows + for (int i=0;i<numConstraints;i++) + { + btTypedConstraint* constraint = constraints[ i ]; + + JointParams& params = jointParamsArray[ i ]; + const btTypedConstraint::btConstraintInfo1& info1 = m_tmpConstraintSizesPool[i]; + + if (info1.m_numConstraintRows) + { + params.m_solverConstraint = totalNumRows; + params.m_solverBodyA = getOrInitSolverBody( constraint->getRigidBodyA(), infoGlobal.m_timeStep ); + params.m_solverBodyB = getOrInitSolverBody( constraint->getRigidBodyB(), infoGlobal.m_timeStep ); + } + else + { + params.m_solverConstraint = -1; + } + totalNumRows += info1.m_numConstraintRows; + } + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(totalNumRows); + + ///setup the btSolverConstraints + if ( parallelJointSetup ) + { + ConvertJointsLoop loop(this, jointParamsArray, constraints, infoGlobal); + int grainSize = 20; + btParallelFor(0, numConstraints, grainSize, loop); + } + else + { + internalConvertMultipleJoints( jointParamsArray, constraints, 0, numConstraints, infoGlobal ); + } + setupBatchedJointConstraints(); +} + + +void btSequentialImpulseConstraintSolverMt::internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("internalConvertBodies"); + for (int i=iBegin; i < iEnd; i++) + { + btCollisionObject* obj = bodies[i]; + obj->setCompanionId(i); + btSolverBody& solverBody = m_tmpSolverBodyPool[i]; + initSolverBody(&solverBody, obj, infoGlobal.m_timeStep); + + btRigidBody* body = btRigidBody::upcast(obj); + if (body && body->getInvMass()) + { + btVector3 gyroForce (0,0,0); + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT) + { + gyroForce = body->computeGyroscopicForceExplicit(infoGlobal.m_maxGyroscopicForce); + solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep; + } + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD) + { + gyroForce = body->computeGyroscopicImpulseImplicit_World(infoGlobal.m_timeStep); + solverBody.m_externalTorqueImpulse += gyroForce; + } + if (body->getFlags()&BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY) + { + gyroForce = body->computeGyroscopicImpulseImplicit_Body(infoGlobal.m_timeStep); + solverBody.m_externalTorqueImpulse += gyroForce; + } + } + } +} + + +struct ConvertBodiesLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + btCollisionObject** m_bodies; + int m_numBodies; + const btContactSolverInfo& m_infoGlobal; + + ConvertBodiesLoop( btSequentialImpulseConstraintSolverMt* solver, + btCollisionObject** bodies, + int numBodies, + const btContactSolverInfo& infoGlobal + ) : + m_infoGlobal(infoGlobal) + { + m_solver = solver; + m_bodies = bodies; + m_numBodies = numBodies; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalConvertBodies( m_bodies, iBegin, iEnd, m_infoGlobal ); + } +}; + + +void btSequentialImpulseConstraintSolverMt::convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("convertBodies"); + m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 ); + + m_tmpSolverBodyPool.resizeNoInitialize(numBodies+1); + + m_fixedBodyId = numBodies; + { + btSolverBody& fixedBody = m_tmpSolverBodyPool[ m_fixedBodyId ]; + initSolverBody( &fixedBody, NULL, infoGlobal.m_timeStep ); + } + + bool parallelBodySetup = true; + if (parallelBodySetup) + { + ConvertBodiesLoop loop(this, bodies, numBodies, infoGlobal); + int grainSize = 40; + btParallelFor(0, numBodies, grainSize, loop); + } + else + { + internalConvertBodies( bodies, 0, numBodies, infoGlobal ); + } +} + + +btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySetup( + btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifoldPtr, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& infoGlobal, + btIDebugDraw* debugDrawer + ) +{ + m_numFrictionDirections = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) ? 2 : 1; + m_useBatching = false; + if ( numManifolds >= s_minimumContactManifoldsForBatching && + (s_allowNestedParallelForLoops || !btThreadsAreRunning()) + ) + { + m_useBatching = true; + m_batchedContactConstraints.m_debugDrawer = debugDrawer; + m_batchedJointConstraints.m_debugDrawer = debugDrawer; + } + btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies, + numBodies, + manifoldPtr, + numManifolds, + constraints, + numConstraints, + infoGlobal, + debugDrawer + ); + return 0.0f; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ) +{ + btScalar leastSquaresResidual = 0.f; + for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons ) + { + int iCons = consIndices[ iiCons ]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[ iCons ]; + btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ]; + btScalar residual = resolveSplitPenetrationImpulse( bodyA, bodyB, solveManifold ); + leastSquaresResidual += residual*residual; + } + return leastSquaresResidual; +} + + +struct ContactSplitPenetrationImpulseSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + + ContactSplitPenetrationImpulseSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc ) + { + m_solver = solver; + m_bc = bc; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "ContactSplitPenetrationImpulseSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleContactSplitPenetrationImpulseConstraints( m_bc->m_constraintIndices, batch.begin, batch.end ); + } + return sum; + } +}; + + +void btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + BT_PROFILE("solveGroupCacheFriendlySplitImpulseIterations"); + if (infoGlobal.m_splitImpulse) + { + for ( int iteration = 0; iteration < infoGlobal.m_numIterations; iteration++ ) + { + btScalar leastSquaresResidual = 0.f; + if (m_useBatching) + { + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + ContactSplitPenetrationImpulseSolverLoop loop( this, &batchedCons ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = batchedCons.m_phaseGrainSize[iPhase]; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + } + else + { + // non-batched + leastSquaresResidual = resolveMultipleContactSplitPenetrationImpulseConstraints(m_orderTmpConstraintPool, 0, m_tmpSolverContactConstraintPool.size()); + } + if ( leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= ( infoGlobal.m_numIterations - 1 ) ) + { +#ifdef VERBOSE_RESIDUAL_PRINTF + printf( "residual = %f at iteration #%d\n", leastSquaresResidual, iteration ); +#endif + break; + } + } + } +} + + +btScalar btSequentialImpulseConstraintSolverMt::solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) +{ + if ( !m_useBatching ) + { + return btSequentialImpulseConstraintSolver::solveSingleIteration( iteration, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer ); + } + BT_PROFILE( "solveSingleIterationMt" ); + btScalar leastSquaresResidual = 0.f; + + if (infoGlobal.m_solverMode & SOLVER_RANDMIZE_ORDER) + { + if (1) // uncomment this for a bit less random ((iteration & 7) == 0) + { + randomizeConstraintOrdering(iteration, infoGlobal.m_numIterations); + } + } + + { + ///solve all joint constraints + leastSquaresResidual += resolveAllJointConstraints(iteration); + + if (iteration< infoGlobal.m_numIterations) + { + // this loop is only used for cone-twist constraints, + // it would be nice to skip this loop if none of the constraints need it + if ( m_useObsoleteJointConstraints ) + { + 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 ); + btSolverBody& bodyA = m_tmpSolverBodyPool[ bodyAid ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ bodyBid ]; + constraints[ j ]->solveConstraintObsolete( bodyA, bodyB, infoGlobal.m_timeStep ); + } + } + } + + if (infoGlobal.m_solverMode & SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS) + { + // solve all contact, contact-friction, and rolling friction constraints interleaved + leastSquaresResidual += resolveAllContactConstraintsInterleaved(); + } + else//SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS + { + // don't interleave them + // solve all contact constraints + leastSquaresResidual += resolveAllContactConstraints(); + + // solve all contact friction constraints + leastSquaresResidual += resolveAllContactFrictionConstraints(); + + // solve all rolling friction constraints + leastSquaresResidual += resolveAllRollingFrictionConstraints(); + } + } + } + return leastSquaresResidual; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleJointConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration ) +{ + btScalar leastSquaresResidual = 0.f; + for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons ) + { + int iCons = consIndices[ iiCons ]; + const btSolverConstraint& constraint = m_tmpSolverNonContactConstraintPool[ iCons ]; + if ( iteration < constraint.m_overrideNumSolverIterations ) + { + btSolverBody& bodyA = m_tmpSolverBodyPool[ constraint.m_solverBodyIdA ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ constraint.m_solverBodyIdB ]; + btScalar residual = resolveSingleConstraintRowGeneric( bodyA, bodyB, constraint ); + leastSquaresResidual += residual*residual; + } + } + return leastSquaresResidual; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ) +{ + btScalar leastSquaresResidual = 0.f; + for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons ) + { + int iCons = consIndices[ iiCons ]; + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[ iCons ]; + btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ]; + btScalar residual = resolveSingleConstraintRowLowerLimit( bodyA, bodyB, solveManifold ); + leastSquaresResidual += residual*residual; + } + return leastSquaresResidual; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ) +{ + btScalar leastSquaresResidual = 0.f; + for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons ) + { + int iContact = consIndices[ iiCons ]; + btScalar totalImpulse = m_tmpSolverContactConstraintPool[ iContact ].m_appliedImpulse; + + // apply sliding friction + if ( totalImpulse > 0.0f ) + { + int iBegin = iContact * m_numFrictionDirections; + int iEnd = iBegin + m_numFrictionDirections; + for ( int iFriction = iBegin; iFriction < iEnd; ++iFriction ) + { + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[ iFriction++ ]; + btAssert( solveManifold.m_frictionIndex == iContact ); + + solveManifold.m_lowerLimit = -( solveManifold.m_friction*totalImpulse ); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ]; + btScalar residual = resolveSingleConstraintRowGeneric( bodyA, bodyB, solveManifold ); + leastSquaresResidual += residual*residual; + } + } + } + return leastSquaresResidual; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ) +{ + btScalar leastSquaresResidual = 0.f; + for ( int iiCons = batchBegin; iiCons < batchEnd; ++iiCons ) + { + int iContact = consIndices[ iiCons ]; + int iFirstRollingFriction = m_rollingFrictionIndexTable[ iContact ]; + if ( iFirstRollingFriction >= 0 ) + { + btScalar totalImpulse = m_tmpSolverContactConstraintPool[ iContact ].m_appliedImpulse; + // apply rolling friction + if ( totalImpulse > 0.0f ) + { + int iBegin = iFirstRollingFriction; + int iEnd = iBegin + 3; + for ( int iRollingFric = iBegin; iRollingFric < iEnd; ++iRollingFric ) + { + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ iRollingFric ]; + if ( rollingFrictionConstraint.m_frictionIndex != iContact ) + { + break; + } + btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; + if ( rollingFrictionMagnitude > rollingFrictionConstraint.m_friction ) + { + rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; + } + + rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; + rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; + + btScalar residual = resolveSingleConstraintRowGeneric( m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdA ], m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdB ], rollingFrictionConstraint ); + leastSquaresResidual += residual*residual; + } + } + } + } + return leastSquaresResidual; +} + + +btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& contactIndices, + int batchBegin, + int batchEnd + ) +{ + btScalar leastSquaresResidual = 0.f; + int numPoolConstraints = m_tmpSolverContactConstraintPool.size(); + + for ( int iiCons = batchBegin; iiCons < batchEnd; iiCons++ ) + { + btScalar totalImpulse = 0; + int iContact = contactIndices[ iiCons ]; + // apply penetration constraint + { + const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[ iContact ]; + btScalar residual = resolveSingleConstraintRowLowerLimit( m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ], m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ], solveManifold ); + leastSquaresResidual += residual*residual; + totalImpulse = solveManifold.m_appliedImpulse; + } + + // apply sliding friction + if ( totalImpulse > 0.0f ) + { + int iBegin = iContact * m_numFrictionDirections; + int iEnd = iBegin + m_numFrictionDirections; + for ( int iFriction = iBegin; iFriction < iEnd; ++iFriction ) + { + btSolverConstraint& solveManifold = m_tmpSolverContactFrictionConstraintPool[ iFriction ]; + btAssert( solveManifold.m_frictionIndex == iContact ); + + solveManifold.m_lowerLimit = -( solveManifold.m_friction*totalImpulse ); + solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse; + + btSolverBody& bodyA = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdA ]; + btSolverBody& bodyB = m_tmpSolverBodyPool[ solveManifold.m_solverBodyIdB ]; + btScalar residual = resolveSingleConstraintRowGeneric( bodyA, bodyB, solveManifold ); + leastSquaresResidual += residual*residual; + } + } + + // apply rolling friction + int iFirstRollingFriction = m_rollingFrictionIndexTable[ iContact ]; + if ( totalImpulse > 0.0f && iFirstRollingFriction >= 0) + { + int iBegin = iFirstRollingFriction; + int iEnd = iBegin + 3; + for ( int iRollingFric = iBegin; iRollingFric < iEnd; ++iRollingFric ) + { + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ iRollingFric ]; + if ( rollingFrictionConstraint.m_frictionIndex != iContact ) + { + break; + } + btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; + if ( rollingFrictionMagnitude > rollingFrictionConstraint.m_friction ) + { + rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; + } + + rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; + rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; + + btScalar residual = resolveSingleConstraintRowGeneric( m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdA ], m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdB ], rollingFrictionConstraint ); + leastSquaresResidual += residual*residual; + } + } + } + return leastSquaresResidual; +} + + +void btSequentialImpulseConstraintSolverMt::randomizeBatchedConstraintOrdering( btBatchedConstraints* batchedConstraints ) +{ + btBatchedConstraints& bc = *batchedConstraints; + // randomize ordering of phases + for ( int ii = 1; ii < bc.m_phaseOrder.size(); ++ii ) + { + int iSwap = btRandInt2( ii + 1 ); + bc.m_phaseOrder.swap( ii, iSwap ); + } + + // for each batch, + for ( int iBatch = 0; iBatch < bc.m_batches.size(); ++iBatch ) + { + // randomize ordering of constraints within the batch + const btBatchedConstraints::Range& batch = bc.m_batches[ iBatch ]; + for ( int iiCons = batch.begin; iiCons < batch.end; ++iiCons ) + { + int iSwap = batch.begin + btRandInt2( iiCons - batch.begin + 1 ); + btAssert(iSwap >= batch.begin && iSwap < batch.end); + bc.m_constraintIndices.swap( iiCons, iSwap ); + } + } +} + + +void btSequentialImpulseConstraintSolverMt::randomizeConstraintOrdering(int iteration, int numIterations) +{ + // randomize ordering of joint constraints + randomizeBatchedConstraintOrdering( &m_batchedJointConstraints ); + + //contact/friction constraints are not solved more than numIterations + if ( iteration < numIterations ) + { + randomizeBatchedConstraintOrdering( &m_batchedContactConstraints ); + } +} + + +struct JointSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + int m_iteration; + + JointSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc, int iteration ) + { + m_solver = solver; + m_bc = bc; + m_iteration = iteration; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "JointSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleJointConstraints( m_bc->m_constraintIndices, batch.begin, batch.end, m_iteration ); + } + return sum; + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::resolveAllJointConstraints(int iteration) +{ + BT_PROFILE( "resolveAllJointConstraints" ); + const btBatchedConstraints& batchedCons = m_batchedJointConstraints; + JointSolverLoop loop( this, &batchedCons, iteration ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = 1; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + return leastSquaresResidual; +} + + +struct ContactSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + + ContactSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc ) + { + m_solver = solver; + m_bc = bc; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "ContactSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleContactConstraints( m_bc->m_constraintIndices, batch.begin, batch.end ); + } + return sum; + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraints() +{ + BT_PROFILE( "resolveAllContactConstraints" ); + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + ContactSolverLoop loop( this, &batchedCons ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = batchedCons.m_phaseGrainSize[iPhase]; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + return leastSquaresResidual; +} + + +struct ContactFrictionSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + + ContactFrictionSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc ) + { + m_solver = solver; + m_bc = bc; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "ContactFrictionSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleContactFrictionConstraints( m_bc->m_constraintIndices, batch.begin, batch.end ); + } + return sum; + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactFrictionConstraints() +{ + BT_PROFILE( "resolveAllContactFrictionConstraints" ); + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + ContactFrictionSolverLoop loop( this, &batchedCons ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = batchedCons.m_phaseGrainSize[iPhase]; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + return leastSquaresResidual; +} + + +struct InterleavedContactSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + + InterleavedContactSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc ) + { + m_solver = solver; + m_bc = bc; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "InterleavedContactSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleContactConstraintsInterleaved( m_bc->m_constraintIndices, batch.begin, batch.end ); + } + return sum; + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraintsInterleaved() +{ + BT_PROFILE( "resolveAllContactConstraintsInterleaved" ); + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + InterleavedContactSolverLoop loop( this, &batchedCons ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = 1; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + return leastSquaresResidual; +} + + +struct ContactRollingFrictionSolverLoop : public btIParallelSumBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btBatchedConstraints* m_bc; + + ContactRollingFrictionSolverLoop( btSequentialImpulseConstraintSolverMt* solver, const btBatchedConstraints* bc ) + { + m_solver = solver; + m_bc = bc; + } + btScalar sumLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + BT_PROFILE( "ContactFrictionSolverLoop" ); + btScalar sum = 0; + for ( int iBatch = iBegin; iBatch < iEnd; ++iBatch ) + { + const btBatchedConstraints::Range& batch = m_bc->m_batches[ iBatch ]; + sum += m_solver->resolveMultipleContactRollingFrictionConstraints( m_bc->m_constraintIndices, batch.begin, batch.end ); + } + return sum; + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::resolveAllRollingFrictionConstraints() +{ + BT_PROFILE( "resolveAllRollingFrictionConstraints" ); + btScalar leastSquaresResidual = 0.f; + // + // We do not generate batches for rolling friction constraints. We assume that + // one of two cases is true: + // + // 1. either most bodies in the simulation have rolling friction, in which case we can use the + // batches for contacts and use a lookup table to translate contact indices to rolling friction + // (ignoring any contact indices that don't map to a rolling friction constraint). As long as + // most contacts have a corresponding rolling friction constraint, this should parallelize well. + // + // -OR- + // + // 2. few bodies in the simulation have rolling friction, so it is not worth trying to use the + // batches from contacts as most of the contacts won't have corresponding rolling friction + // constraints and most threads would end up doing very little work. Most of the time would + // go to threading overhead, so we don't bother with threading. + // + int numRollingFrictionPoolConstraints = m_tmpSolverContactRollingFrictionConstraintPool.size(); + if (numRollingFrictionPoolConstraints >= m_tmpSolverContactConstraintPool.size()) + { + // use batching if there are many rolling friction constraints + const btBatchedConstraints& batchedCons = m_batchedContactConstraints; + ContactRollingFrictionSolverLoop loop( this, &batchedCons ); + btScalar leastSquaresResidual = 0.f; + for ( int iiPhase = 0; iiPhase < batchedCons.m_phases.size(); ++iiPhase ) + { + int iPhase = batchedCons.m_phaseOrder[ iiPhase ]; + const btBatchedConstraints::Range& phase = batchedCons.m_phases[ iPhase ]; + int grainSize = 1; + leastSquaresResidual += btParallelSum( phase.begin, phase.end, grainSize, loop ); + } + } + else + { + // no batching, also ignores SOLVER_RANDMIZE_ORDER + for ( int j = 0; j < numRollingFrictionPoolConstraints; j++ ) + { + btSolverConstraint& rollingFrictionConstraint = m_tmpSolverContactRollingFrictionConstraintPool[ j ]; + if ( rollingFrictionConstraint.m_frictionIndex >= 0 ) + { + btScalar totalImpulse = m_tmpSolverContactConstraintPool[ rollingFrictionConstraint.m_frictionIndex ].m_appliedImpulse; + if ( totalImpulse > 0.0f ) + { + btScalar rollingFrictionMagnitude = rollingFrictionConstraint.m_friction*totalImpulse; + if ( rollingFrictionMagnitude > rollingFrictionConstraint.m_friction ) + rollingFrictionMagnitude = rollingFrictionConstraint.m_friction; + + rollingFrictionConstraint.m_lowerLimit = -rollingFrictionMagnitude; + rollingFrictionConstraint.m_upperLimit = rollingFrictionMagnitude; + + btScalar residual = resolveSingleConstraintRowGeneric( m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdA ], m_tmpSolverBodyPool[ rollingFrictionConstraint.m_solverBodyIdB ], rollingFrictionConstraint ); + leastSquaresResidual += residual*residual; + } + } + } + } + return leastSquaresResidual; +} + + +void btSequentialImpulseConstraintSolverMt::internalWriteBackContacts( int iBegin, int iEnd, const btContactSolverInfo& infoGlobal ) +{ + BT_PROFILE("internalWriteBackContacts"); + writeBackContacts(iBegin, iEnd, infoGlobal); + //for ( int iContact = iBegin; iContact < iEnd; ++iContact) + //{ + // const btSolverConstraint& contactConstraint = m_tmpSolverContactConstraintPool[ iContact ]; + // btManifoldPoint* pt = (btManifoldPoint*) contactConstraint.m_originalContactPoint; + // btAssert( pt ); + // pt->m_appliedImpulse = contactConstraint.m_appliedImpulse; + // pt->m_appliedImpulseLateral1 = m_tmpSolverContactFrictionConstraintPool[ contactConstraint.m_frictionIndex ].m_appliedImpulse; + // if ( m_numFrictionDirections == 2 ) + // { + // pt->m_appliedImpulseLateral2 = m_tmpSolverContactFrictionConstraintPool[ contactConstraint.m_frictionIndex + 1 ].m_appliedImpulse; + // } + //} +} + + +void btSequentialImpulseConstraintSolverMt::internalWriteBackJoints( int iBegin, int iEnd, const btContactSolverInfo& infoGlobal ) +{ + BT_PROFILE("internalWriteBackJoints"); + writeBackJoints(iBegin, iEnd, infoGlobal); +} + + +void btSequentialImpulseConstraintSolverMt::internalWriteBackBodies( int iBegin, int iEnd, const btContactSolverInfo& infoGlobal ) +{ + BT_PROFILE("internalWriteBackBodies"); + writeBackBodies( iBegin, iEnd, infoGlobal ); +} + + +struct WriteContactPointsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btContactSolverInfo* m_infoGlobal; + + WriteContactPointsLoop( btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal ) + { + m_solver = solver; + m_infoGlobal = &infoGlobal; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalWriteBackContacts( iBegin, iEnd, *m_infoGlobal ); + } +}; + + +struct WriteJointsLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btContactSolverInfo* m_infoGlobal; + + WriteJointsLoop( btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal ) + { + m_solver = solver; + m_infoGlobal = &infoGlobal; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalWriteBackJoints( iBegin, iEnd, *m_infoGlobal ); + } +}; + + +struct WriteBodiesLoop : public btIParallelForBody +{ + btSequentialImpulseConstraintSolverMt* m_solver; + const btContactSolverInfo* m_infoGlobal; + + WriteBodiesLoop( btSequentialImpulseConstraintSolverMt* solver, const btContactSolverInfo& infoGlobal ) + { + m_solver = solver; + m_infoGlobal = &infoGlobal; + } + void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE + { + m_solver->internalWriteBackBodies( iBegin, iEnd, *m_infoGlobal ); + } +}; + + +btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) +{ + BT_PROFILE("solveGroupCacheFriendlyFinish"); + + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + WriteContactPointsLoop loop( this, infoGlobal ); + int grainSize = 500; + btParallelFor( 0, m_tmpSolverContactConstraintPool.size(), grainSize, loop ); + } + + { + WriteJointsLoop loop( this, infoGlobal ); + int grainSize = 400; + btParallelFor( 0, m_tmpSolverNonContactConstraintPool.size(), grainSize, loop ); + } + { + WriteBodiesLoop loop( this, infoGlobal ); + int grainSize = 100; + btParallelFor( 0, m_tmpSolverBodyPool.size(), grainSize, loop ); + } + + m_tmpSolverContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverNonContactConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactFrictionConstraintPool.resizeNoInitialize(0); + m_tmpSolverContactRollingFrictionConstraintPool.resizeNoInitialize(0); + + m_tmpSolverBodyPool.resizeNoInitialize(0); + return 0.f; +} + diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h new file mode 100644 index 0000000000..55d53474c4 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h @@ -0,0 +1,154 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H +#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H + +#include "btSequentialImpulseConstraintSolver.h" +#include "btBatchedConstraints.h" +#include "LinearMath/btThreads.h" + +/// +/// btSequentialImpulseConstraintSolverMt +/// +/// A multithreaded variant of the sequential impulse constraint solver. The constraints to be solved are grouped into +/// batches and phases where each batch of constraints within a given phase can be solved in parallel with the rest. +/// Ideally we want as few phases as possible, and each phase should have many batches, and all of the batches should +/// have about the same number of constraints. +/// This method works best on a large island of many constraints. +/// +/// Supports all of the features of the normal sequential impulse solver such as: +/// - split penetration impulse +/// - rolling friction +/// - interleaving constraints +/// - warmstarting +/// - 2 friction directions +/// - randomized constraint ordering +/// - early termination when leastSquaresResidualThreshold is satisfied +/// +/// When the SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS flag is enabled, unlike the normal SequentialImpulse solver, +/// the rolling friction is interleaved as well. +/// Interleaving the contact penetration constraints with friction reduces the number of parallel loops that need to be done, +/// which reduces threading overhead so it can be a performance win, however, it does seem to produce a less stable simulation, +/// at least on stacks of blocks. +/// +/// When the SOLVER_RANDMIZE_ORDER flag is enabled, the ordering of phases, and the ordering of constraints within each batch +/// is randomized, however it does not swap constraints between batches. +/// This is to avoid regenerating the batches for each solver iteration which would be quite costly in performance. +/// +/// Note that a non-zero leastSquaresResidualThreshold could possibly affect the determinism of the simulation +/// if the task scheduler's parallelSum operation is non-deterministic. The parallelSum operation can be non-deterministic +/// because floating point addition is not associative due to rounding errors. +/// The task scheduler can and should ensure that the result of any parallelSum operation is deterministic. +/// +ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolverMt : public btSequentialImpulseConstraintSolver +{ +public: + virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE; + virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE; + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer) BT_OVERRIDE; + virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE; + + // temp struct used to collect info from persistent manifolds into a cache-friendly struct using multiple threads + struct btContactManifoldCachedInfo + { + static const int MAX_NUM_CONTACT_POINTS = 4; + + int numTouchingContacts; + int solverBodyIds[ 2 ]; + int contactIndex; + int rollingFrictionIndex; + bool contactHasRollingFriction[ MAX_NUM_CONTACT_POINTS ]; + btManifoldPoint* contactPoints[ MAX_NUM_CONTACT_POINTS ]; + }; + // temp struct used for setting up joint constraints in parallel + struct JointParams + { + int m_solverConstraint; + int m_solverBodyA; + int m_solverBodyB; + }; + void internalInitMultipleJoints(btTypedConstraint** constraints, int iBegin, int iEnd); + void internalConvertMultipleJoints( const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal ); + + // parameters to control batching + static bool s_allowNestedParallelForLoops; // whether to allow nested parallel operations + static int s_minimumContactManifoldsForBatching; // don't even try to batch if fewer manifolds than this + static btBatchedConstraints::BatchingMethod s_contactBatchingMethod; + static btBatchedConstraints::BatchingMethod s_jointBatchingMethod; + static int s_minBatchSize; // desired number of constraints per batch + static int s_maxBatchSize; + +protected: + static const int CACHE_LINE_SIZE = 64; + + btBatchedConstraints m_batchedContactConstraints; + btBatchedConstraints m_batchedJointConstraints; + int m_numFrictionDirections; + bool m_useBatching; + bool m_useObsoleteJointConstraints; + btAlignedObjectArray<btContactManifoldCachedInfo> m_manifoldCachedInfoArray; + btAlignedObjectArray<int> m_rollingFrictionIndexTable; // lookup table mapping contact index to rolling friction index + btSpinMutex m_bodySolverArrayMutex; + char m_antiFalseSharingPadding[CACHE_LINE_SIZE]; // padding to keep mutexes in separate cachelines + btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex; + btAlignedObjectArray<char> m_scratchMemory; + + virtual void randomizeConstraintOrdering( int iteration, int numIterations ); + virtual btScalar resolveAllJointConstraints( int iteration ); + virtual btScalar resolveAllContactConstraints(); + virtual btScalar resolveAllContactFrictionConstraints(); + virtual btScalar resolveAllContactConstraintsInterleaved(); + virtual btScalar resolveAllRollingFrictionConstraints(); + + virtual void setupBatchedContactConstraints(); + virtual void setupBatchedJointConstraints(); + virtual void convertJoints(btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal) BT_OVERRIDE; + virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) BT_OVERRIDE; + virtual void convertBodies(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE; + + int getOrInitSolverBodyThreadsafe(btCollisionObject& body, btScalar timeStep); + void allocAllContactConstraints(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); + void setupAllContactConstraints(const btContactSolverInfo& infoGlobal); + void randomizeBatchedConstraintOrdering( btBatchedConstraints* batchedConstraints ); + +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btSequentialImpulseConstraintSolverMt(); + virtual ~btSequentialImpulseConstraintSolverMt(); + + btScalar resolveMultipleJointConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration ); + btScalar resolveMultipleContactConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); + btScalar resolveMultipleContactSplitPenetrationImpulseConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); + btScalar resolveMultipleContactFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); + btScalar resolveMultipleContactRollingFrictionConstraints( const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd ); + btScalar resolveMultipleContactConstraintsInterleaved( const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd ); + + void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo* cachedInfoArray, btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); + void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds); + void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal); + void internalConvertBodies(btCollisionObject** bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); + void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); +}; + + + + +#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H + diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp index d63cef0316..d63cef0316 100644..100755 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h index 1957f08a96..1957f08a96 100644..100755 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index a196d4522e..b9944c138b 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -842,6 +842,9 @@ public: btCollisionObject* otherObj = (btCollisionObject*) proxy0->m_clientObject; + if(!m_dispatcher->needsCollision(m_me, otherObj)) + return false; + //call needsResponse, see http://code.google.com/p/bullet/issues/detail?id=179 if (m_dispatcher->needsResponse(m_me,otherObj)) { @@ -1342,9 +1345,12 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) btVector3 axis = tr.getBasis().getColumn(0); btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit; btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit; - btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit; - btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit; - getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0)); + if (minTh <= maxTh) + { + btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit; + btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit; + getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0)); + } axis = tr.getBasis().getColumn(1); btScalar ay = p6DOF->getAngle(1); btScalar az = p6DOF->getAngle(2); @@ -1533,6 +1539,8 @@ void btDiscreteDynamicsWorld::serialize(btSerializer* serializer) serializeRigidBodies(serializer); + serializeContactManifolds(serializer); + serializer->finishSerialization(); } diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp index 1d10bad922..d705bf2381 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp @@ -50,63 +50,6 @@ subject to the following restrictions: #include "LinearMath/btSerializer.h" -struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::IslandCallback -{ - btContactSolverInfo* m_solverInfo; - btConstraintSolver* m_solver; - btIDebugDraw* m_debugDrawer; - btDispatcher* m_dispatcher; - - InplaceSolverIslandCallbackMt( - btConstraintSolver* solver, - btStackAlloc* stackAlloc, - btDispatcher* dispatcher) - :m_solverInfo(NULL), - m_solver(solver), - m_debugDrawer(NULL), - m_dispatcher(dispatcher) - { - - } - - InplaceSolverIslandCallbackMt& operator=(InplaceSolverIslandCallbackMt& other) - { - btAssert(0); - (void)other; - return *this; - } - - SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btIDebugDraw* debugDrawer) - { - btAssert(solverInfo); - m_solverInfo = solverInfo; - m_debugDrawer = debugDrawer; - } - - - virtual void processIsland( btCollisionObject** bodies, - int numBodies, - btPersistentManifold** manifolds, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - int islandId - ) - { - m_solver->solveGroup( bodies, - numBodies, - manifolds, - numManifolds, - constraints, - numConstraints, - *m_solverInfo, - m_debugDrawer, - m_dispatcher - ); - } - -}; - /// /// btConstraintSolverPoolMt @@ -209,7 +152,12 @@ void btConstraintSolverPoolMt::reset() /// btDiscreteDynamicsWorldMt /// -btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolverPoolMt* constraintSolver, btCollisionConfiguration* collisionConfiguration) +btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, + btBroadphaseInterface* pairCache, + btConstraintSolverPoolMt* constraintSolver, + btConstraintSolver* constraintSolverMt, + btCollisionConfiguration* collisionConfiguration +) : btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration) { if (m_ownsIslandManager) @@ -217,31 +165,18 @@ btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, b m_islandManager->~btSimulationIslandManager(); btAlignedFree( m_islandManager); } - { - void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallbackMt),16); - m_solverIslandCallbackMt = new (mem) InplaceSolverIslandCallbackMt (m_constraintSolver, 0, dispatcher); - } { void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16); btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt(); im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize ); m_islandManager = im; } + m_constraintSolverMt = constraintSolverMt; } btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt() { - if (m_solverIslandCallbackMt) - { - m_solverIslandCallbackMt->~InplaceSolverIslandCallbackMt(); - btAlignedFree(m_solverIslandCallbackMt); - } - if (m_ownsConstraintSolver) - { - m_constraintSolver->~btConstraintSolver(); - btAlignedFree(m_constraintSolver); - } } @@ -249,12 +184,17 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo { BT_PROFILE("solveConstraints"); - m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer()); m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); /// solve all the constraints for this island btSimulationIslandManagerMt* im = static_cast<btSimulationIslandManagerMt*>(m_islandManager); - im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, m_solverIslandCallbackMt ); + btSimulationIslandManagerMt::SolverParams solverParams; + solverParams.m_solverPool = m_constraintSolver; + solverParams.m_solverMt = m_constraintSolverMt; + solverParams.m_solverInfo = &solverInfo; + solverParams.m_debugDrawer = m_debugDrawer; + solverParams.m_dispatcher = getCollisionWorld()->getDispatcher(); + im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, solverParams ); m_constraintSolver->allSolved(solverInfo, m_debugDrawer); } @@ -325,3 +265,14 @@ void btDiscreteDynamicsWorldMt::integrateTransforms( btScalar timeStep ) } } + +int btDiscreteDynamicsWorldMt::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep ) +{ + int numSubSteps = btDiscreteDynamicsWorld::stepSimulation(timeStep, maxSubSteps, fixedTimeStep); + if (btITaskScheduler* scheduler = btGetTaskScheduler()) + { + // tell Bullet's threads to sleep, so other threads can run + scheduler->sleepWorkerThreadsHint(); + } + return numSubSteps; +} diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h index 2f144cdda4..667fe5800e 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h @@ -21,7 +21,6 @@ subject to the following restrictions: #include "btSimulationIslandManagerMt.h" #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" -struct InplaceSolverIslandCallbackMt; /// /// btConstraintSolverPoolMt - masquerades as a constraint solver, but really it is a threadsafe pool of them. @@ -88,7 +87,7 @@ private: ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld { protected: - InplaceSolverIslandCallbackMt* m_solverIslandCallbackMt; + btConstraintSolver* m_constraintSolverMt; virtual void solveConstraints(btContactSolverInfo& solverInfo) BT_OVERRIDE; @@ -126,9 +125,12 @@ public: btDiscreteDynamicsWorldMt(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btConstraintSolverPoolMt* constraintSolver, // Note this should be a solver-pool for multi-threading + btConstraintSolver* constraintSolverMt, // single multi-threaded solver for large islands (or NULL) btCollisionConfiguration* collisionConfiguration ); virtual ~btDiscreteDynamicsWorldMt(); + + virtual int stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep ) BT_OVERRIDE; }; #endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp index 99b34353c7..fc54f0ba6e 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp @@ -22,6 +22,7 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionDispatch/btCollisionWorld.h" #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolverMt.h" // for s_minimumContactManifoldsForBatching //#include <stdio.h> #include "LinearMath/btQuickprof.h" @@ -275,7 +276,7 @@ btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::allocateIsland void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld ) { - BT_PROFILE("islandUnionFindAndQuickSort"); + BT_PROFILE("buildIslands"); btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); @@ -314,13 +315,11 @@ void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btColl btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); if (colObj0->getIslandTag() == islandId) { - if (colObj0->getActivationState()== ACTIVE_TAG) - { - allSleeping = false; - } - if (colObj0->getActivationState()== DISABLE_DEACTIVATION) + if (colObj0->getActivationState()== ACTIVE_TAG || + colObj0->getActivationState()== DISABLE_DEACTIVATION) { allSleeping = false; + break; } } } @@ -546,59 +545,103 @@ void btSimulationIslandManagerMt::mergeIslands() } -void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback ) +void btSimulationIslandManagerMt::solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams) +{ + btPersistentManifold** manifolds = island.manifoldArray.size() ? &island.manifoldArray[ 0 ] : NULL; + btTypedConstraint** constraintsPtr = island.constraintArray.size() ? &island.constraintArray[ 0 ] : NULL; + solver->solveGroup( &island.bodyArray[ 0 ], + island.bodyArray.size(), + manifolds, + island.manifoldArray.size(), + constraintsPtr, + island.constraintArray.size(), + *solverParams.m_solverInfo, + solverParams.m_debugDrawer, + solverParams.m_dispatcher + ); +} + + +void btSimulationIslandManagerMt::serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams ) { BT_PROFILE( "serialIslandDispatch" ); // serial dispatch btAlignedObjectArray<Island*>& islands = *islandsPtr; + btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool; for ( int i = 0; i < islands.size(); ++i ) { - Island* island = islands[ i ]; - btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; - btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; - callback->processIsland( &island->bodyArray[ 0 ], - island->bodyArray.size(), - manifolds, - island->manifoldArray.size(), - constraintsPtr, - island->constraintArray.size(), - island->id - ); + solveIsland(solver, *islands[ i ], solverParams); } } + struct UpdateIslandDispatcher : public btIParallelForBody { - btAlignedObjectArray<btSimulationIslandManagerMt::Island*>* islandsPtr; - btSimulationIslandManagerMt::IslandCallback* callback; + btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& m_islandsPtr; + const btSimulationIslandManagerMt::SolverParams& m_solverParams; + + UpdateIslandDispatcher(btAlignedObjectArray<btSimulationIslandManagerMt::Island*>& islandsPtr, const btSimulationIslandManagerMt::SolverParams& solverParams) + : m_islandsPtr(islandsPtr), m_solverParams(solverParams) + {} void forLoop( int iBegin, int iEnd ) const BT_OVERRIDE { + btConstraintSolver* solver = m_solverParams.m_solverPool; for ( int i = iBegin; i < iEnd; ++i ) { - btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ]; - btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; - btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; - callback->processIsland( &island->bodyArray[ 0 ], - island->bodyArray.size(), - manifolds, - island->manifoldArray.size(), - constraintsPtr, - island->constraintArray.size(), - island->id - ); + btSimulationIslandManagerMt::Island* island = m_islandsPtr[ i ]; + btSimulationIslandManagerMt::solveIsland( solver, *island, m_solverParams ); } } }; -void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback ) + +void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams ) { BT_PROFILE( "parallelIslandDispatch" ); - int grainSize = 1; // iterations per task - UpdateIslandDispatcher dispatcher; - dispatcher.islandsPtr = islandsPtr; - dispatcher.callback = callback; - btParallelFor( 0, islandsPtr->size(), grainSize, dispatcher ); + // + // if there are islands with many contacts, it may be faster to submit these + // large islands *serially* to a single parallel constraint solver, and then later + // submit the remaining smaller islands in parallel to multiple sequential solvers. + // + // Some task schedulers do not deal well with nested parallelFor loops. One implementation + // of OpenMP was actually slower than doing everything single-threaded. Intel TBB + // on the other hand, seems to do a pretty respectable job with it. + // + // When solving islands in parallel, the worst case performance happens when there + // is one very large island and then perhaps a smattering of very small + // islands -- one worker thread takes the large island and the remaining workers + // tear through the smaller islands and then sit idle waiting for the first worker + // to finish. Solving islands in parallel works best when there are numerous small + // islands, roughly equal in size. + // + // By contrast, the other approach -- the parallel constraint solver -- is only + // able to deliver a worthwhile speedup when the island is large. For smaller islands, + // it is difficult to extract a useful amount of parallelism -- the overhead of grouping + // the constraints into batches and sending the batches to worker threads can nullify + // any gains from parallelism. + // + + UpdateIslandDispatcher dispatcher(*islandsPtr, solverParams); + // We take advantage of the fact the islands are sorted in order of decreasing size + int iBegin = 0; + if (solverParams.m_solverMt) + { + while ( iBegin < islandsPtr->size() ) + { + btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ iBegin ]; + if ( island->manifoldArray.size() < btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching ) + { + // OK to submit the rest of the array in parallel + break; + } + // serial dispatch to parallel solver for large islands (if any) + solveIsland(solverParams.m_solverMt, *island, solverParams); + ++iBegin; + } + } + // parallel dispatch to sequential solvers for rest + btParallelFor( iBegin, islandsPtr->size(), 1, dispatcher ); } @@ -606,15 +649,14 @@ void btSimulationIslandManagerMt::parallelIslandDispatch( btAlignedObjectArray<I void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld, btAlignedObjectArray<btTypedConstraint*>& constraints, - IslandCallback* callback + const SolverParams& solverParams ) { + BT_PROFILE("buildAndProcessIslands"); btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); buildIslands(dispatcher,collisionWorld); - BT_PROFILE("processIslands"); - if(!getSplitIslands()) { btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer(); @@ -646,14 +688,17 @@ void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatch } } btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[ 0 ] : NULL; - callback->processIsland(&collisionObjects[0], - collisionObjects.size(), - manifolds, - maxNumManifolds, - constraintsPtr, - constraints.size(), - -1 - ); + btConstraintSolver* solver = solverParams.m_solverMt ? solverParams.m_solverMt : solverParams.m_solverPool; + solver->solveGroup(&collisionObjects[0], + collisionObjects.size(), + manifolds, + maxNumManifolds, + constraintsPtr, + constraints.size(), + *solverParams.m_solverInfo, + solverParams.m_debugDrawer, + solverParams.m_dispatcher + ); } else { @@ -673,6 +718,6 @@ void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatch mergeIslands(); } // dispatch islands to solver - m_islandDispatch( &m_activeIslands, callback ); + m_islandDispatch( &m_activeIslands, solverParams ); } } diff --git a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h index 9a781aaef1..563577a6f4 100644 --- a/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h +++ b/thirdparty/bullet/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h @@ -19,7 +19,9 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" class btTypedConstraint; - +class btConstraintSolver; +struct btContactSolverInfo; +class btIDebugDraw; /// /// SimulationIslandManagerMt -- Multithread capable version of SimulationIslandManager @@ -45,22 +47,19 @@ public: void append( const Island& other ); // add bodies, manifolds, constraints to my own }; - struct IslandCallback + struct SolverParams { - virtual ~IslandCallback() {}; - - virtual void processIsland( btCollisionObject** bodies, - int numBodies, - btPersistentManifold** manifolds, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - int islandId - ) = 0; + btConstraintSolver* m_solverPool; + btConstraintSolver* m_solverMt; + btContactSolverInfo* m_solverInfo; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; }; - typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, IslandCallback* callback ); - static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback ); - static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, IslandCallback* callback ); + static void solveIsland(btConstraintSolver* solver, Island& island, const SolverParams& solverParams); + + typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray<Island*>* islands, const SolverParams& solverParams ); + static void serialIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams ); + static void parallelIslandDispatch( btAlignedObjectArray<Island*>* islandsPtr, const SolverParams& solverParams ); protected: btAlignedObjectArray<Island*> m_allocatedIslands; // owner of all Islands btAlignedObjectArray<Island*> m_activeIslands; // islands actively in use @@ -83,7 +82,11 @@ public: btSimulationIslandManagerMt(); virtual ~btSimulationIslandManagerMt(); - virtual void buildAndProcessIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld, btAlignedObjectArray<btTypedConstraint*>& constraints, IslandCallback* callback ); + virtual void buildAndProcessIslands( btDispatcher* dispatcher, + btCollisionWorld* collisionWorld, + btAlignedObjectArray<btTypedConstraint*>& constraints, + const SolverParams& solverParams + ); virtual void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld); @@ -106,5 +109,6 @@ public: } }; + #endif //BT_SIMULATION_ISLAND_MANAGER_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index 62865e0c78..0e85b55728 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -112,14 +112,15 @@ btMultiBody::btMultiBody(int n_links, m_userObjectPointer(0), m_userIndex2(-1), m_userIndex(-1), + m_companionId(-1), m_linearDamping(0.04f), m_angularDamping(0.04f), m_useGyroTerm(true), - m_maxAppliedImpulse(1000.f), + m_maxAppliedImpulse(1000.f), m_maxCoordinateVelocity(100.f), - m_hasSelfCollision(true), + m_hasSelfCollision(true), __posUpdated(false), - m_dofCount(0), + m_dofCount(0), m_posVarCnt(0), m_useRK4(false), m_useGlobalVelocities(false), @@ -136,6 +137,9 @@ btMultiBody::btMultiBody(int n_links, m_baseForce.setValue(0, 0, 0); m_baseTorque.setValue(0, 0, 0); + + clearConstraintForces(); + clearForcesAndTorques(); } btMultiBody::~btMultiBody() @@ -740,13 +744,13 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar const btScalar DAMPING_K1_ANGULAR = m_angularDamping; const btScalar DAMPING_K2_ANGULAR= m_angularDamping; - btVector3 base_vel = getBaseVel(); - btVector3 base_omega = getBaseOmega(); + const btVector3 base_vel = getBaseVel(); + const btVector3 base_omega = getBaseOmega(); // Temporary matrices/vectors -- use scratch space from caller // so that we don't have to keep reallocating every frame - scratch_r.resize(2*m_dofCount + 6); //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount + scratch_r.resize(2*m_dofCount + 7); //multidof? ("Y"s use it and it is used to store qdd) => 2 x m_dofCount scratch_v.resize(8*num_links + 6); scratch_m.resize(4*num_links + 4); @@ -777,7 +781,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar // hhat is NOT stored for the base (but ahat is) btSpatialForceVector * h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0); btSpatialMotionVector * spatAcc = (btSpatialMotionVector *)v_ptr; - v_ptr += num_links * 2 + 2; + v_ptr += num_links * 2 + 2; // // Y_i, invD_i btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0; @@ -815,13 +819,13 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar } else { - btVector3 baseForce = isConstraintPass? m_baseConstraintForce : m_baseForce; - btVector3 baseTorque = isConstraintPass? m_baseConstraintTorque : m_baseTorque; + const btVector3& baseForce = isConstraintPass? m_baseConstraintForce : m_baseForce; + const btVector3& baseTorque = isConstraintPass? m_baseConstraintTorque : m_baseTorque; //external forces zeroAccSpatFrc[0].setVector(-(rot_from_parent[0] * baseTorque), -(rot_from_parent[0] * baseForce)); //adding damping terms (only) - btScalar linDampMult = 1., angDampMult = 1.; + const btScalar linDampMult = 1., angDampMult = 1.; zeroAccSpatFrc[0].addVector(angDampMult * m_baseInertia * spatVel[0].getAngular() * (DAMPING_K1_ANGULAR + DAMPING_K2_ANGULAR * spatVel[0].getAngular().safeNorm()), linDampMult * m_baseMass * spatVel[0].getLinear() * (DAMPING_K1_LINEAR + DAMPING_K2_LINEAR * spatVel[0].getLinear().safeNorm())); @@ -963,16 +967,15 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar // Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof] - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1]) - - spatCoriolisAcc[i].dot(hDof) - ; - } + - spatCoriolisAcc[i].dot(hDof); - for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) - { - btScalar *D_row = &D[dof * m_links[i].m_dofCount]; + } + for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) + { + btScalar *D_row = &D[dof * m_links[i].m_dofCount]; for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) { - btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2]; + const btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2]; D_row[dof2] = m_links[i].m_axes[dof].dot(hDof2); } } @@ -983,14 +986,20 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar case btMultibodyLink::ePrismatic: case btMultibodyLink::eRevolute: { - invDi[0] = 1.0f / D[0]; + if (D[0]>=SIMD_EPSILON) + { + invDi[0] = 1.0f / D[0]; + } else + { + invDi[0] = 0; + } break; } case btMultibodyLink::eSpherical: case btMultibodyLink::ePlanar: { - btMatrix3x3 D3x3; D3x3.setValue(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]); - btMatrix3x3 invD3x3; invD3x3 = D3x3.inverse(); + const btMatrix3x3 D3x3(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]); + const btMatrix3x3 invD3x3(D3x3.inverse()); //unroll the loop? for(int row = 0; row < 3; ++row) @@ -1016,7 +1025,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) { - btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2]; + const btSpatialForceVector &hDof2 = h[m_links[i].m_dofOffset + dof2]; // spatForceVecTemps[dof] += hDof2 * invDi[dof2 * m_links[i].m_dofCount + dof]; } @@ -1027,7 +1036,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar //determine (h*D^{-1}) * h^{T} for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) { - btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; // dyadTemp -= symmetricSpatialOuterProduct(hDof, spatForceVecTemps[dof]); } @@ -1048,7 +1057,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) { - btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; // spatForceVecTemps[0] += hDof * invD_times_Y[dof]; } @@ -1099,7 +1108,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) { - btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; + const btSpatialForceVector &hDof = h[m_links[i].m_dofOffset + dof]; // Y_minus_hT_a[dof] = Y[m_links[i].m_dofOffset + dof] - spatAcc[i+1].dot(hDof); } @@ -1159,12 +1168,12 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar } // transform base accelerations back to the world frame. - btVector3 omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular(); + const btVector3 omegadot_out = rot_from_parent[0].transpose() * spatAcc[0].getAngular(); output[0] = omegadot_out[0]; output[1] = omegadot_out[1]; output[2] = omegadot_out[2]; - btVector3 vdot_out = rot_from_parent[0].transpose() * (spatAcc[0].getLinear() + spatVel[0].getAngular().cross(spatVel[0].getLinear())); + const btVector3 vdot_out = rot_from_parent[0].transpose() * (spatAcc[0].getLinear() + spatVel[0].getAngular().cross(spatVel[0].getLinear())); output[3] = vdot_out[0]; output[4] = vdot_out[1]; output[5] = vdot_out[2]; @@ -1266,12 +1275,29 @@ void btMultiBody::solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bo if (num_links == 0) { // in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier - result[0] = rhs_bot[0] / m_baseInertia[0]; - result[1] = rhs_bot[1] / m_baseInertia[1]; + + if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON)) + { + result[0] = rhs_bot[0] / m_baseInertia[0]; + result[1] = rhs_bot[1] / m_baseInertia[1]; result[2] = rhs_bot[2] / m_baseInertia[2]; - result[3] = rhs_top[0] / m_baseMass; - result[4] = rhs_top[1] / m_baseMass; - result[5] = rhs_top[2] / m_baseMass; + } else + { + result[0] = 0; + result[1] = 0; + result[2] = 0; + } + if (m_baseMass>=SIMD_EPSILON) + { + result[3] = rhs_top[0] / m_baseMass; + result[4] = rhs_top[1] / m_baseMass; + result[5] = rhs_top[2] / m_baseMass; + } else + { + result[3] = 0; + result[4] = 0; + result[5] = 0; + } } else { if (!m_cachedInertiaValid) @@ -1322,9 +1348,21 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV if (num_links == 0) { // in the case of 0 m_links (i.e. a plain rigid body, not a multibody) rhs * invI is easier - result.setAngular(rhs.getAngular() / m_baseInertia); - result.setLinear(rhs.getLinear() / m_baseMass); - } else + if ((m_baseInertia[0] >= SIMD_EPSILON) && (m_baseInertia[1] >= SIMD_EPSILON) && (m_baseInertia[2] >= SIMD_EPSILON)) + { + result.setAngular(rhs.getAngular() / m_baseInertia); + } else + { + result.setAngular(btVector3(0,0,0)); + } + if (m_baseMass>=SIMD_EPSILON) + { + result.setLinear(rhs.getLinear() / m_baseMass); + } else + { + result.setLinear(btVector3(0,0,0)); + } + } else { /// Special routine for calculating the inverse of a spatial inertia matrix ///the 6x6 matrix is stored as 4 blocks of 3x3 matrices @@ -1808,6 +1846,7 @@ void btMultiBody::fillConstraintJacobianMultiDof(int link, void btMultiBody::wakeUp() { + m_sleepTimer = 0; m_awake = true; } @@ -1956,7 +1995,11 @@ int btMultiBody::calculateSerializeBufferSize() const const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* serializer) const { btMultiBodyData* mbd = (btMultiBodyData*) dataBuffer; - getBaseWorldTransform().serialize(mbd->m_baseWorldTransform); + getBasePos().serialize(mbd->m_baseWorldPosition); + getWorldToBaseRot().inverse().serialize(mbd->m_baseWorldOrientation); + getBaseVel().serialize(mbd->m_baseLinearVelocity); + getBaseOmega().serialize(mbd->m_baseAngularVelocity); + mbd->m_baseMass = this->getBaseMass(); getBaseInertia().serialize(mbd->m_baseInertia); { @@ -1982,6 +2025,12 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali memPtr->m_posVarCount = getLink(i).m_posVarCount; getLink(i).m_inertiaLocal.serialize(memPtr->m_linkInertia); + + getLink(i).m_absFrameTotVelocity.m_topVec.serialize(memPtr->m_absFrameTotVelocityTop); + getLink(i).m_absFrameTotVelocity.m_bottomVec.serialize(memPtr->m_absFrameTotVelocityBottom); + getLink(i).m_absFrameLocVelocity.m_topVec.serialize(memPtr->m_absFrameLocVelocityTop); + getLink(i).m_absFrameLocVelocity.m_bottomVec.serialize(memPtr->m_absFrameLocVelocityBottom); + memPtr->m_linkMass = getLink(i).m_mass; memPtr->m_parentIndex = getLink(i).m_parent; memPtr->m_jointDamping = getLink(i).m_jointDamping; @@ -1991,7 +2040,7 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce; memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity; - getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset); + getLink(i).m_eVector.serialize(memPtr->m_parentComToThisPivotOffset); getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset); getLink(i).m_zeroRotParentToThis.serialize(memPtr->m_zeroRotParentToThis); btAssert(memPtr->m_dofCount<=3); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h index 655165ac18..5cd00e5173 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.h @@ -702,15 +702,18 @@ private: int m_companionId; btScalar m_linearDamping; btScalar m_angularDamping; - bool m_useGyroTerm; + bool m_useGyroTerm; btScalar m_maxAppliedImpulse; btScalar m_maxCoordinateVelocity; bool m_hasSelfCollision; - bool __posUpdated; - int m_dofCount, m_posVarCnt; + bool __posUpdated; + int m_dofCount, m_posVarCnt; + bool m_useRK4, m_useGlobalVelocities; - + //for global velocities, see 8.3.2B Proposed resolution in Jakub Stepien PhD Thesis + //https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing + ///the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only bool m_internalNeedsJointFeedback; }; @@ -718,12 +721,17 @@ private: struct btMultiBodyLinkDoubleData { btQuaternionDoubleData m_zeroRotParentToThis; - btVector3DoubleData m_parentComToThisComOffset; + btVector3DoubleData m_parentComToThisPivotOffset; btVector3DoubleData m_thisPivotToThisComOffset; btVector3DoubleData m_jointAxisTop[6]; btVector3DoubleData m_jointAxisBottom[6]; btVector3DoubleData m_linkInertia; // inertia of the base (in local frame; diagonal) + btVector3DoubleData m_absFrameTotVelocityTop; + btVector3DoubleData m_absFrameTotVelocityBottom; + btVector3DoubleData m_absFrameLocVelocityTop; + btVector3DoubleData m_absFrameLocVelocityBottom; + double m_linkMass; int m_parentIndex; int m_jointType; @@ -751,11 +759,16 @@ struct btMultiBodyLinkDoubleData struct btMultiBodyLinkFloatData { btQuaternionFloatData m_zeroRotParentToThis; - btVector3FloatData m_parentComToThisComOffset; + btVector3FloatData m_parentComToThisPivotOffset; btVector3FloatData m_thisPivotToThisComOffset; btVector3FloatData m_jointAxisTop[6]; btVector3FloatData m_jointAxisBottom[6]; - btVector3FloatData m_linkInertia; // inertia of the base (in local frame; diagonal) + btVector3FloatData m_linkInertia; // inertia of the base (in local frame; diagonal) + btVector3FloatData m_absFrameTotVelocityTop; + btVector3FloatData m_absFrameTotVelocityBottom; + btVector3FloatData m_absFrameLocVelocityTop; + btVector3FloatData m_absFrameLocVelocityBottom; + int m_dofCount; float m_linkMass; int m_parentIndex; @@ -784,29 +797,38 @@ struct btMultiBodyLinkFloatData ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 struct btMultiBodyDoubleData { - btTransformDoubleData m_baseWorldTransform; + btVector3DoubleData m_baseWorldPosition; + btQuaternionDoubleData m_baseWorldOrientation; + btVector3DoubleData m_baseLinearVelocity; + btVector3DoubleData m_baseAngularVelocity; btVector3DoubleData m_baseInertia; // inertia of the base (in local frame; diagonal) double m_baseMass; + int m_numLinks; + char m_padding[4]; char *m_baseName; btMultiBodyLinkDoubleData *m_links; btCollisionObjectDoubleData *m_baseCollider; - char *m_paddingPtr; - int m_numLinks; - char m_padding[4]; + + }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 struct btMultiBodyFloatData { - char *m_baseName; - btMultiBodyLinkFloatData *m_links; - btCollisionObjectFloatData *m_baseCollider; - btTransformFloatData m_baseWorldTransform; + btVector3FloatData m_baseWorldPosition; + btQuaternionFloatData m_baseWorldOrientation; + btVector3FloatData m_baseLinearVelocity; + btVector3FloatData m_baseAngularVelocity; + btVector3FloatData m_baseInertia; // inertia of the base (in local frame; diagonal) - float m_baseMass; int m_numLinks; + + char *m_baseName; + btMultiBodyLinkFloatData *m_links; + btCollisionObjectFloatData *m_baseCollider; + }; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index d52852dd8e..9f61874b83 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -253,7 +253,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr { vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1); if (angConstraint) { - denom0 = rb0->getInvMass() + constraintNormalAng.dot(vec); + denom0 = constraintNormalAng.dot(solverConstraint.m_angularComponentA); } else { denom0 = rb0->getInvMass() + constraintNormalLin.dot(vec); @@ -277,7 +277,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr { vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2); if (angConstraint) { - denom1 = rb1->getInvMass() + constraintNormalAng.dot(vec); + denom1 = constraintNormalAng.dot(-solverConstraint.m_angularComponentB); } else { denom1 = rb1->getInvMass() + constraintNormalLin.dot(vec); @@ -315,7 +315,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr } else if(rb0) { - rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1); + rel_vel += rb0->getLinearVelocity().dot(solverConstraint.m_contactNormal1); + rel_vel += rb0->getAngularVelocity().dot(solverConstraint.m_relpos1CrossNormal); } if (multiBodyB) { @@ -327,7 +328,8 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr } else if(rb1) { - rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2); + rel_vel += rb1->getLinearVelocity().dot(solverConstraint.m_contactNormal2); + rel_vel += rb1->getAngularVelocity().dot(solverConstraint.m_relpos2CrossNormal); } solverConstraint.m_friction = 0.f;//cp.m_combinedFriction; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h index 83521b9501..a2ae571273 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraint.h @@ -119,6 +119,14 @@ public: return m_bodyB; } + int getLinkA() const + { + return m_linkA; + } + int getLinkB() const + { + return m_linkB; + } void internalSetAppliedImpulse(int dof, btScalar appliedImpulse) { btAssert(dof>=0); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 1e2d074096..cd84826e1a 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -39,7 +39,7 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[index]; btScalar residual = resolveSingleConstraintRowGeneric(constraint); - leastSquaredResidual += residual*residual; + leastSquaredResidual = btMax(leastSquaredResidual,residual*residual); if(constraint.m_multiBodyA) constraint.m_multiBodyA->setPosUpdated(false); @@ -60,36 +60,101 @@ btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btColl residual = resolveSingleConstraintRowGeneric(constraint); } - leastSquaredResidual += residual*residual; + leastSquaredResidual = btMax(leastSquaredResidual,residual*residual); if(constraint.m_multiBodyA) constraint.m_multiBodyA->setPosUpdated(false); if(constraint.m_multiBodyB) constraint.m_multiBodyB->setPosUpdated(false); } - - //solve featherstone frictional contact - for (int j1=0;j1<this->m_multiBodyFrictionContactConstraints.size();j1++) + //solve featherstone frictional contact + if (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode&SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0)) { - if (iteration < infoGlobal.m_numIterations) + for (int j1 = 0; j1<this->m_multiBodyTorsionalFrictionContactConstraints.size(); j1++) + { + if (iteration < infoGlobal.m_numIterations) + { + int index = j1;//iteration&1? j1 : m_multiBodyTorsionalFrictionContactConstraints.size()-1-j1; + + btMultiBodySolverConstraint& frictionConstraint = m_multiBodyTorsionalFrictionContactConstraints[index]; + btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; + //adjust friction limits here + if (totalImpulse>btScalar(0)) + { + frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); + frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; + btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint); + leastSquaredResidual = btMax(leastSquaredResidual , residual*residual); + + if (frictionConstraint.m_multiBodyA) + frictionConstraint.m_multiBodyA->setPosUpdated(false); + if (frictionConstraint.m_multiBodyB) + frictionConstraint.m_multiBodyB->setPosUpdated(false); + } + } + } + + for (int j1 = 0; j1 < this->m_multiBodyFrictionContactConstraints.size(); j1++) { - int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1; + if (iteration < infoGlobal.m_numIterations) + { + int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1; + btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index]; + + btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; + j1++; + int index2 = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1; + btMultiBodySolverConstraint& frictionConstraintB = m_multiBodyFrictionContactConstraints[index2]; + btAssert(frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex); + + if (frictionConstraint.m_frictionIndex == frictionConstraintB.m_frictionIndex) + { + frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); + frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; + frictionConstraintB.m_lowerLimit = -(frictionConstraintB.m_friction*totalImpulse); + frictionConstraintB.m_upperLimit = frictionConstraintB.m_friction*totalImpulse; + btScalar residual = resolveConeFrictionConstraintRows(frictionConstraint, frictionConstraintB); + leastSquaredResidual = btMax(leastSquaredResidual, residual*residual); + + if (frictionConstraintB.m_multiBodyA) + frictionConstraintB.m_multiBodyA->setPosUpdated(false); + if (frictionConstraintB.m_multiBodyB) + frictionConstraintB.m_multiBodyB->setPosUpdated(false); + + if (frictionConstraint.m_multiBodyA) + frictionConstraint.m_multiBodyA->setPosUpdated(false); + if (frictionConstraint.m_multiBodyB) + frictionConstraint.m_multiBodyB->setPosUpdated(false); + } + } + } - btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index]; - btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; - //adjust friction limits here - if (totalImpulse>btScalar(0)) + + } + else + { + for (int j1 = 0; j1<this->m_multiBodyFrictionContactConstraints.size(); j1++) + { + if (iteration < infoGlobal.m_numIterations) { - frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); - frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; - btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint); - leastSquaredResidual += residual*residual; - - if(frictionConstraint.m_multiBodyA) - frictionConstraint.m_multiBodyA->setPosUpdated(false); - if(frictionConstraint.m_multiBodyB) - frictionConstraint.m_multiBodyB->setPosUpdated(false); + int index = j1;//iteration&1? j1 : m_multiBodyFrictionContactConstraints.size()-1-j1; + + btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[index]; + btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse; + //adjust friction limits here + if (totalImpulse>btScalar(0)) + { + frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse); + frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse; + btScalar residual = resolveSingleConstraintRowGeneric(frictionConstraint); + leastSquaredResidual = btMax(leastSquaredResidual, residual*residual); + + if (frictionConstraint.m_multiBodyA) + frictionConstraint.m_multiBodyA->setPosUpdated(false); + if (frictionConstraint.m_multiBodyB) + frictionConstraint.m_multiBodyB->setPosUpdated(false); + } } } } @@ -101,6 +166,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionOb m_multiBodyNonContactConstraints.resize(0); m_multiBodyNormalContactConstraints.resize(0); m_multiBodyFrictionContactConstraints.resize(0); + m_multiBodyTorsionalFrictionContactConstraints.resize(0); + m_data.m_jacobians.resize(0); m_data.m_deltaVelocitiesUnitImpulse.resize(0); m_data.m_deltaVelocities.resize(0); @@ -128,82 +195,267 @@ void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar im btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c) { - btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm; - btScalar deltaVelADotn=0; - btScalar deltaVelBDotn=0; + btScalar deltaImpulse = c.m_rhs - btScalar(c.m_appliedImpulse)*c.m_cfm; + btScalar deltaVelADotn = 0; + btScalar deltaVelBDotn = 0; btSolverBody* bodyA = 0; btSolverBody* bodyB = 0; - int ndofA=0; - int ndofB=0; + int ndofA = 0; + int ndofB = 0; if (c.m_multiBodyA) { - ndofA = c.m_multiBodyA->getNumDofs() + 6; - for (int i = 0; i < ndofA; ++i) - deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i]; - } else if(c.m_solverBodyIdA >= 0) + ndofA = c.m_multiBodyA->getNumDofs() + 6; + for (int i = 0; i < ndofA; ++i) + deltaVelADotn += m_data.m_jacobians[c.m_jacAindex + i] * m_data.m_deltaVelocities[c.m_deltaVelAindex + i]; + } + else if (c.m_solverBodyIdA >= 0) { bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA]; - deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); + deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); } if (c.m_multiBodyB) { - ndofB = c.m_multiBodyB->getNumDofs() + 6; - for (int i = 0; i < ndofB; ++i) - deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i]; - } else if(c.m_solverBodyIdB >= 0) + ndofB = c.m_multiBodyB->getNumDofs() + 6; + for (int i = 0; i < ndofB; ++i) + deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex + i] * m_data.m_deltaVelocities[c.m_deltaVelBindex + i]; + } + else if (c.m_solverBodyIdB >= 0) { bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB]; - deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); + deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); } - - deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom - deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv; + + deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom + deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv; const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse; - + if (sum < c.m_lowerLimit) { - deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse; + deltaImpulse = c.m_lowerLimit - c.m_appliedImpulse; c.m_appliedImpulse = c.m_lowerLimit; } - else if (sum > c.m_upperLimit) + else if (sum > c.m_upperLimit) { - deltaImpulse = c.m_upperLimit-c.m_appliedImpulse; + deltaImpulse = c.m_upperLimit - c.m_appliedImpulse; c.m_appliedImpulse = c.m_upperLimit; } else { c.m_appliedImpulse = sum; } - + if (c.m_multiBodyA) { - applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA); + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA); #ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity - c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse); + c.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse); #endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS - } else if(c.m_solverBodyIdA >= 0) + } + else if (c.m_solverBodyIdA >= 0) { - bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(),c.m_angularComponentA,deltaImpulse); + bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(), c.m_angularComponentA, deltaImpulse); } if (c.m_multiBodyB) { - applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB); + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB); #ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity - c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse); + c.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse); #endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS - } else if(c.m_solverBodyIdB >= 0) + } + else if (c.m_solverBodyIdB >= 0) { - bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse); + bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(), c.m_angularComponentB, deltaImpulse); } - return deltaImpulse; + btScalar deltaVel =deltaImpulse/c.m_jacDiagABInv; + return deltaVel; +} + + +btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1,const btMultiBodySolverConstraint& cB) +{ + int ndofA=0; + int ndofB=0; + btSolverBody* bodyA = 0; + btSolverBody* bodyB = 0; + btScalar deltaImpulseB = 0.f; + btScalar sumB = 0.f; + { + deltaImpulseB = cB.m_rhs-btScalar(cB.m_appliedImpulse)*cB.m_cfm; + btScalar deltaVelADotn=0; + btScalar deltaVelBDotn=0; + if (cB.m_multiBodyA) + { + ndofA = cB.m_multiBodyA->getNumDofs() + 6; + for (int i = 0; i < ndofA; ++i) + deltaVelADotn += m_data.m_jacobians[cB.m_jacAindex+i] * m_data.m_deltaVelocities[cB.m_deltaVelAindex+i]; + } else if(cB.m_solverBodyIdA >= 0) + { + bodyA = &m_tmpSolverBodyPool[cB.m_solverBodyIdA]; + deltaVelADotn += cB.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cB.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); + } + + if (cB.m_multiBodyB) + { + ndofB = cB.m_multiBodyB->getNumDofs() + 6; + for (int i = 0; i < ndofB; ++i) + deltaVelBDotn += m_data.m_jacobians[cB.m_jacBindex+i] * m_data.m_deltaVelocities[cB.m_deltaVelBindex+i]; + } else if(cB.m_solverBodyIdB >= 0) + { + bodyB = &m_tmpSolverBodyPool[cB.m_solverBodyIdB]; + deltaVelBDotn += cB.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cB.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); + } + + + deltaImpulseB -= deltaVelADotn*cB.m_jacDiagABInv;//m_jacDiagABInv = 1./denom + deltaImpulseB -= deltaVelBDotn*cB.m_jacDiagABInv; + sumB = btScalar(cB.m_appliedImpulse) + deltaImpulseB; + } + + btScalar deltaImpulseA = 0.f; + btScalar sumA = 0.f; + const btMultiBodySolverConstraint& cA = cA1; + { + { + deltaImpulseA = cA.m_rhs-btScalar(cA.m_appliedImpulse)*cA.m_cfm; + btScalar deltaVelADotn=0; + btScalar deltaVelBDotn=0; + if (cA.m_multiBodyA) + { + ndofA = cA.m_multiBodyA->getNumDofs() + 6; + for (int i = 0; i < ndofA; ++i) + deltaVelADotn += m_data.m_jacobians[cA.m_jacAindex+i] * m_data.m_deltaVelocities[cA.m_deltaVelAindex+i]; + } else if(cA.m_solverBodyIdA >= 0) + { + bodyA = &m_tmpSolverBodyPool[cA.m_solverBodyIdA]; + deltaVelADotn += cA.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + cA.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity()); + } + + if (cA.m_multiBodyB) + { + ndofB = cA.m_multiBodyB->getNumDofs() + 6; + for (int i = 0; i < ndofB; ++i) + deltaVelBDotn += m_data.m_jacobians[cA.m_jacBindex+i] * m_data.m_deltaVelocities[cA.m_deltaVelBindex+i]; + } else if(cA.m_solverBodyIdB >= 0) + { + bodyB = &m_tmpSolverBodyPool[cA.m_solverBodyIdB]; + deltaVelBDotn += cA.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + cA.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity()); + } + + + deltaImpulseA -= deltaVelADotn*cA.m_jacDiagABInv;//m_jacDiagABInv = 1./denom + deltaImpulseA -= deltaVelBDotn*cA.m_jacDiagABInv; + sumA = btScalar(cA.m_appliedImpulse) + deltaImpulseA; + } + } + + if (sumA*sumA+sumB*sumB>=cA.m_lowerLimit*cB.m_lowerLimit) + { + btScalar angle = btAtan2(sumA,sumB); + btScalar sumAclipped = btFabs(cA.m_lowerLimit*btSin(angle)); + btScalar sumBclipped = btFabs(cB.m_lowerLimit*btCos(angle)); + + + if (sumA < -sumAclipped) + { + deltaImpulseA = -sumAclipped - cA.m_appliedImpulse; + cA.m_appliedImpulse = -sumAclipped; + } + else if (sumA > sumAclipped) + { + deltaImpulseA = sumAclipped - cA.m_appliedImpulse; + cA.m_appliedImpulse = sumAclipped; + } + else + { + cA.m_appliedImpulse = sumA; + } + + if (sumB < -sumBclipped) + { + deltaImpulseB = -sumBclipped - cB.m_appliedImpulse; + cB.m_appliedImpulse = -sumBclipped; + } + else if (sumB > sumBclipped) + { + deltaImpulseB = sumBclipped - cB.m_appliedImpulse; + cB.m_appliedImpulse = sumBclipped; + } + else + { + cB.m_appliedImpulse = sumB; + } + //deltaImpulseA = sumAclipped-cA.m_appliedImpulse; + //cA.m_appliedImpulse = sumAclipped; + //deltaImpulseB = sumBclipped-cB.m_appliedImpulse; + //cB.m_appliedImpulse = sumBclipped; + } + else + { + cA.m_appliedImpulse = sumA; + cB.m_appliedImpulse = sumB; + } + + if (cA.m_multiBodyA) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex],deltaImpulseA,cA.m_deltaVelAindex,ndofA); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + cA.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacAindex],deltaImpulseA); +#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } else if(cA.m_solverBodyIdA >= 0) + { + bodyA->internalApplyImpulse(cA.m_contactNormal1*bodyA->internalGetInvMass(),cA.m_angularComponentA,deltaImpulseA); + + } + if (cA.m_multiBodyB) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex],deltaImpulseA,cA.m_deltaVelBindex,ndofB); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + cA.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cA.m_jacBindex],deltaImpulseA); +#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } else if(cA.m_solverBodyIdB >= 0) + { + bodyB->internalApplyImpulse(cA.m_contactNormal2*bodyB->internalGetInvMass(),cA.m_angularComponentB,deltaImpulseA); + } + + if (cB.m_multiBodyA) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex],deltaImpulseB,cB.m_deltaVelAindex,ndofA); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + cB.m_multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacAindex],deltaImpulseB); +#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } else if(cB.m_solverBodyIdA >= 0) + { + bodyA->internalApplyImpulse(cB.m_contactNormal1*bodyA->internalGetInvMass(),cB.m_angularComponentA,deltaImpulseB); + } + if (cB.m_multiBodyB) + { + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex],deltaImpulseB,cB.m_deltaVelBindex,ndofB); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + cB.m_multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[cB.m_jacBindex],deltaImpulseB); +#endif //DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } else if(cB.m_solverBodyIdB >= 0) + { + bodyB->internalApplyImpulse(cB.m_contactNormal2*bodyB->internalGetInvMass(),cB.m_angularComponentB,deltaImpulseB); + } + + btScalar deltaVel =deltaImpulseA/cA.m_jacDiagABInv+deltaImpulseB/cB.m_jacDiagABInv; + return deltaVel; } @@ -908,7 +1160,10 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyTorsionalF btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip) { BT_PROFILE("addMultiBodyRollingFrictionConstraint"); - btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing(); + + bool useTorsionalAndConeFriction = (infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS && ((infoGlobal.m_solverMode&SOLVER_DISABLE_IMPLICIT_CONE_FRICTION) == 0)); + + btMultiBodySolverConstraint& solverConstraint = useTorsionalAndConeFriction? m_multiBodyTorsionalFrictionContactConstraints.expandNonInitializing() : m_multiBodyFrictionContactConstraints.expandNonInitializing(); solverConstraint.m_orgConstraint = 0; solverConstraint.m_orgDofIndex = -1; @@ -1151,6 +1406,7 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher) { + //printf("btMultiBodyConstraintSolver::solveGroup: numBodies=%d, numConstraints=%d\n", numBodies, numConstraints); return btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher); } @@ -1234,27 +1490,12 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv if (c.m_multiBodyA) { - - if(c.m_multiBodyA->isMultiDof()) - { - c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse); - } - else - { - c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse); - } + c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse); } if (c.m_multiBodyB) { - if(c.m_multiBodyB->isMultiDof()) - { - c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse); - } - else - { - c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse); - } + c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse); } #endif @@ -1416,6 +1657,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher) { + //printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints); + //printf("solveMultiBodyGroup start\n"); m_tmpMultiBodyConstraints = multiBodyConstraints; m_tmpNumMultiBodyConstraints = numMultiBodyConstraints; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index 489347d874..29f484e1d8 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -36,6 +36,7 @@ protected: btMultiBodyConstraintArray m_multiBodyNormalContactConstraints; btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints; + btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints; btMultiBodyJacobianData m_data; @@ -45,6 +46,9 @@ protected: btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c); + //solve 2 friction directions and clamp against the implicit friction cone + btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint& cA1, const btMultiBodySolverConstraint& cB); + void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal); diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index 9eacc22647..9c5f3ad8a9 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -277,7 +277,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: m_multiBodyConstraints.resize(0); } - + void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) + { + m_solver = solver; + } + virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) { if (islandId<0) @@ -348,7 +352,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: for (i=0;i<numCurMultiBodyConstraints;i++) m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]); - if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize) + if ((m_multiBodyConstraints.size()+m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize) { processConstraints(); } else @@ -394,6 +398,22 @@ btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld () delete m_solverMultiBodyIslandCallback; } +void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver) +{ + m_multiBodyConstraintSolver = solver; + m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver); + btDiscreteDynamicsWorld::setConstraintSolver(solver); +} + +void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver) +{ + if (solver->getSolverType()==BT_MULTIBODY_SOLVER) + { + m_multiBodyConstraintSolver = (btMultiBodyConstraintSolver*)solver; + } + btDiscreteDynamicsWorld::setConstraintSolver(solver); +} + void btMultiBodyDynamicsWorld::forwardKinematics() { @@ -411,6 +431,8 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) BT_PROFILE("solveConstraints"); + clearMultiBodyConstraintForces(); + m_sortedConstraints.resize( m_constraints.size()); int i; for (i=0;i<getNumConstraints();i++) @@ -433,8 +455,6 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) m_solverMultiBodyIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer()); m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); - /// solve all the constraints for this island - m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverMultiBodyIslandCallback); #ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY { @@ -669,7 +689,9 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) } } - clearMultiBodyConstraintForces(); + /// solve all the constraints for this island + m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback); + m_solverMultiBodyIslandCallback->processConstraints(); @@ -824,21 +846,24 @@ void btMultiBodyDynamicsWorld::debugDrawWorld() { btMultiBody* bod = m_multiBodies[b]; bod->forwardKinematics(m_scratch_world_to_local1,m_scratch_local_origin1); - - getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1); - + + if (mode & btIDebugDraw::DBG_DrawFrames) + { + getDebugDrawer()->drawTransform(bod->getBaseWorldTransform(), 0.1); + } for (int m = 0; m<bod->getNumLinks(); m++) { const btTransform& tr = bod->getLink(m).m_cachedWorldTransform; - - getDebugDrawer()->drawTransform(tr, 0.1); - + if (mode & btIDebugDraw::DBG_DrawFrames) + { + getDebugDrawer()->drawTransform(tr, 0.1); + } //draw the joint axis if (bod->getLink(m).m_jointType==btMultibodyLink::eRevolute) { - btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec); + btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec)*0.1; btVector4 color(0,0,0,1);//1,1,1); btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); @@ -847,7 +872,7 @@ void btMultiBodyDynamicsWorld::debugDrawWorld() } if (bod->getLink(m).m_jointType==btMultibodyLink::eFixed) { - btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec); + btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec)*0.1; btVector4 color(0,0,0,1);//1,1,1); btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); @@ -856,7 +881,7 @@ void btMultiBodyDynamicsWorld::debugDrawWorld() } if (bod->getLink(m).m_jointType==btMultibodyLink::ePrismatic) { - btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec); + btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec)*0.1; btVector4 color(0,0,0,1);//1,1,1); btVector3 from = vec+tr.getOrigin()-quatRotate(tr.getRotation(),bod->getLink(m).m_dVector); @@ -970,6 +995,8 @@ void btMultiBodyDynamicsWorld::serialize(btSerializer* serializer) serializeCollisionObjects(serializer); + serializeContactManifolds(serializer); + serializer->finishSerialization(); } @@ -988,4 +1015,17 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer) } } -}
\ No newline at end of file + //serialize all multibody links (collision objects) + for (i=0;i<m_collisionObjects.size();i++) + { + btCollisionObject* colObj = m_collisionObjects[i]; + if (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + int len = colObj->calculateSerializeBufferSize(); + btChunk* chunk = serializer->allocate(len,1); + const char* structType = colObj->serialize(chunk->m_oldPtr, serializer); + serializer->finalizeChunk(chunk,structType,BT_MB_LINKCOLLIDER_CODE,colObj); + } + } + +} diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h index c0c132bbba..2fbf089d81 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h @@ -109,6 +109,8 @@ public: virtual void applyGravity(); virtual void serialize(btSerializer* serializer); + virtual void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver); + virtual void setConstraintSolver(btConstraintSolver* solver); }; #endif //BT_MULTIBODY_DYNAMICS_WORLD_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp index 1f94117aa9..af48e94a83 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.cpp @@ -65,13 +65,16 @@ int btMultiBodyFixedConstraint::getIslandIdA() const if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -83,16 +86,17 @@ int btMultiBodyFixedConstraint::getIslandIdB() const return m_rigidBodyB->getIslandTag(); if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp index 5fdb7007d8..09ddd65cd8 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp @@ -45,16 +45,18 @@ btMultiBodyGearConstraint::~btMultiBodyGearConstraint() int btMultiBodyGearConstraint::getIslandIdA() const { - if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) + { + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -64,16 +66,17 @@ int btMultiBodyGearConstraint::getIslandIdB() const { if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } @@ -134,6 +137,10 @@ void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray& if (m_erp!=0) { btScalar currentPositionA = m_bodyA->getJointPosMultiDof(m_linkA)[dof]; + if (m_gearAuxLink >= 0) + { + currentPositionA -= m_bodyA->getJointPosMultiDof(m_gearAuxLink)[dof]; + } btScalar currentPositionB = m_gearRatio*m_bodyA->getJointPosMultiDof(m_linkB)[dof]; btScalar diff = currentPositionB+currentPositionA; btScalar desiredPositionDiff = this->m_relativePositionTarget; diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp index 6d173b66a1..35c929f7ce 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp @@ -53,17 +53,22 @@ btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint() { } + int btMultiBodyJointLimitConstraint::getIslandIdA() const { - if(m_bodyA) + + if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -71,18 +76,19 @@ int btMultiBodyJointLimitConstraint::getIslandIdA() const int btMultiBodyJointLimitConstraint::getIslandIdB() const { - if(m_bodyB) + if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index e0921178e9..2a70ea97e5 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -74,29 +74,37 @@ btMultiBodyJointMotor::~btMultiBodyJointMotor() int btMultiBodyJointMotor::getIslandIdA() const { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (this->m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + { + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); + } } return -1; } int btMultiBodyJointMotor::getIslandIdB() const { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + { + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } + } return -1; } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h index 01828e5843..21c9e7a557 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLink.h @@ -182,6 +182,8 @@ btVector3 m_appliedConstraintForce; // In WORLD frame m_cachedRVector.setValue(0, 0, 0); m_appliedForce.setValue( 0, 0, 0); m_appliedTorque.setValue(0, 0, 0); + m_appliedConstraintForce.setValue(0,0,0); + m_appliedConstraintTorque.setValue(0,0,0); // m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f; m_jointPos[3] = 1.f; //"quat.w" diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h index 671e15d314..7092e62b5a 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h @@ -19,6 +19,16 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "btMultiBody.h" +#include "LinearMath/btSerializer.h" + +#ifdef BT_USE_DOUBLE_PRECISION +#define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData +#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData" +#else +#define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData +#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData" +#endif + class btMultiBodyLinkCollider : public btCollisionObject { @@ -119,7 +129,49 @@ public: } return true; } + + virtual int calculateSerializeBufferSize() const; + + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const; + +}; + + +struct btMultiBodyLinkColliderFloatData +{ + btCollisionObjectFloatData m_colObjData; + btMultiBodyFloatData *m_multiBody; + int m_link; + char m_padding[4]; }; +struct btMultiBodyLinkColliderDoubleData +{ + btCollisionObjectDoubleData m_colObjData; + btMultiBodyDoubleData *m_multiBody; + int m_link; + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const +{ + return sizeof(btMultiBodyLinkColliderData); +} + +SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const +{ + btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer; + btCollisionObject::serialize(&dataOut->m_colObjData,serializer); + + dataOut->m_link = this->m_link; + dataOut->m_multiBody = (btMultiBodyData*)serializer->getUniquePointer(m_multiBody); + + // Fill padding with zeros to appease msan. + memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding)); + + return btMultiBodyLinkColliderDataName; +} + #endif //BT_FEATHERSTONE_LINK_COLLIDER_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp new file mode 100644 index 0000000000..338e8af0ab --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.cpp @@ -0,0 +1,966 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2018 Google Inc. 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. +*/ + +#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h" + +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" +#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h" + +#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + +static bool interleaveContactAndFriction = false; + +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; +}; + +// Helper function to compute a delta velocity in the constraint space. +static btScalar computeDeltaVelocityInConstraintSpace( + const btVector3& angularDeltaVelocity, + const btVector3& contactNormal, + btScalar invMass, + const btVector3& angularJacobian, + const btVector3& linearJacobian) +{ + return angularDeltaVelocity.dot(angularJacobian) + contactNormal.dot(linearJacobian) * invMass; +} + +// Faster version of computeDeltaVelocityInConstraintSpace that can be used when contactNormal and linearJacobian are +// identical. +static btScalar computeDeltaVelocityInConstraintSpace( + const btVector3& angularDeltaVelocity, + btScalar invMass, + const btVector3& angularJacobian) +{ + return angularDeltaVelocity.dot(angularJacobian) + invMass; +} + +// Helper function to compute a delta velocity in the constraint space. +static btScalar computeDeltaVelocityInConstraintSpace(const btScalar* deltaVelocity, const btScalar* jacobian, int size) +{ + btScalar result = 0; + for (int i = 0; i < size; ++i) + result += deltaVelocity[i] * jacobian[i]; + + return result; +} + +static btScalar computeConstraintMatrixDiagElementMultiBody( + const btAlignedObjectArray<btSolverBody>& solverBodyPool, + const btMultiBodyJacobianData& data, + const btMultiBodySolverConstraint& constraint) +{ + btScalar ret = 0; + + const btMultiBody* multiBodyA = constraint.m_multiBodyA; + const btMultiBody* multiBodyB = constraint.m_multiBodyB; + + if (multiBodyA) + { + const btScalar* jacA = &data.m_jacobians[constraint.m_jacAindex]; + const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex]; + const int ndofA = multiBodyA->getNumDofs() + 6; + ret += computeDeltaVelocityInConstraintSpace(deltaA, jacA, ndofA); + } + else + { + const int solverBodyIdA = constraint.m_solverBodyIdA; + btAssert(solverBodyIdA != -1); + const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA]; + const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0; + ret += computeDeltaVelocityInConstraintSpace( + constraint.m_relpos1CrossNormal, + invMassA, + constraint.m_angularComponentA); + } + + if (multiBodyB) + { + const btScalar* jacB = &data.m_jacobians[constraint.m_jacBindex]; + const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex]; + const int ndofB = multiBodyB->getNumDofs() + 6; + ret += computeDeltaVelocityInConstraintSpace(deltaB, jacB, ndofB); + } + else + { + const int solverBodyIdB = constraint.m_solverBodyIdB; + btAssert(solverBodyIdB != -1); + const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB]; + const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0; + ret += computeDeltaVelocityInConstraintSpace( + constraint.m_relpos2CrossNormal, + invMassB, + constraint.m_angularComponentB); + } + + return ret; +} + +static btScalar computeConstraintMatrixOffDiagElementMultiBody( + const btAlignedObjectArray<btSolverBody>& solverBodyPool, + const btMultiBodyJacobianData& data, + const btMultiBodySolverConstraint& constraint, + const btMultiBodySolverConstraint& offDiagConstraint) +{ + btScalar offDiagA = btScalar(0); + + const btMultiBody* multiBodyA = constraint.m_multiBodyA; + const btMultiBody* multiBodyB = constraint.m_multiBodyB; + const btMultiBody* offDiagMultiBodyA = offDiagConstraint.m_multiBodyA; + const btMultiBody* offDiagMultiBodyB = offDiagConstraint.m_multiBodyB; + + // Assumed at least one system is multibody + btAssert(multiBodyA || multiBodyB); + btAssert(offDiagMultiBodyA || offDiagMultiBodyB); + + if (offDiagMultiBodyA) + { + const btScalar* offDiagJacA = &data.m_jacobians[offDiagConstraint.m_jacAindex]; + + if (offDiagMultiBodyA == multiBodyA) + { + const int ndofA = multiBodyA->getNumDofs() + 6; + const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex]; + offDiagA += computeDeltaVelocityInConstraintSpace(deltaA, offDiagJacA, ndofA); + } + else if (offDiagMultiBodyA == multiBodyB) + { + const int ndofB = multiBodyB->getNumDofs() + 6; + const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex]; + offDiagA += computeDeltaVelocityInConstraintSpace(deltaB, offDiagJacA, ndofB); + } + } + else + { + const int solverBodyIdA = constraint.m_solverBodyIdA; + const int solverBodyIdB = constraint.m_solverBodyIdB; + + const int offDiagSolverBodyIdA = offDiagConstraint.m_solverBodyIdA; + btAssert(offDiagSolverBodyIdA != -1); + + if (offDiagSolverBodyIdA == solverBodyIdA) + { + btAssert(solverBodyIdA != -1); + const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA]; + const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0; + offDiagA += computeDeltaVelocityInConstraintSpace( + offDiagConstraint.m_relpos1CrossNormal, + offDiagConstraint.m_contactNormal1, + invMassA, constraint.m_angularComponentA, + constraint.m_contactNormal1); + } + else if (offDiagSolverBodyIdA == solverBodyIdB) + { + btAssert(solverBodyIdB != -1); + const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB]; + const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0; + offDiagA += computeDeltaVelocityInConstraintSpace( + offDiagConstraint.m_relpos1CrossNormal, + offDiagConstraint.m_contactNormal1, + invMassB, + constraint.m_angularComponentB, + constraint.m_contactNormal2); + } + } + + if (offDiagMultiBodyB) + { + const btScalar* offDiagJacB = &data.m_jacobians[offDiagConstraint.m_jacBindex]; + + if (offDiagMultiBodyB == multiBodyA) + { + const int ndofA = multiBodyA->getNumDofs() + 6; + const btScalar* deltaA = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacAindex]; + offDiagA += computeDeltaVelocityInConstraintSpace(deltaA, offDiagJacB, ndofA); + } + else if (offDiagMultiBodyB == multiBodyB) + { + const int ndofB = multiBodyB->getNumDofs() + 6; + const btScalar* deltaB = &data.m_deltaVelocitiesUnitImpulse[constraint.m_jacBindex]; + offDiagA += computeDeltaVelocityInConstraintSpace(deltaB, offDiagJacB, ndofB); + } + } + else + { + const int solverBodyIdA = constraint.m_solverBodyIdA; + const int solverBodyIdB = constraint.m_solverBodyIdB; + + const int offDiagSolverBodyIdB = offDiagConstraint.m_solverBodyIdB; + btAssert(offDiagSolverBodyIdB != -1); + + if (offDiagSolverBodyIdB == solverBodyIdA) + { + btAssert(solverBodyIdA != -1); + const btSolverBody* solverBodyA = &solverBodyPool[solverBodyIdA]; + const btScalar invMassA = solverBodyA->m_originalBody ? solverBodyA->m_originalBody->getInvMass() : 0.0; + offDiagA += computeDeltaVelocityInConstraintSpace( + offDiagConstraint.m_relpos2CrossNormal, + offDiagConstraint.m_contactNormal2, + invMassA, constraint.m_angularComponentA, + constraint.m_contactNormal1); + } + else if (offDiagSolverBodyIdB == solverBodyIdB) + { + btAssert(solverBodyIdB != -1); + const btSolverBody* solverBodyB = &solverBodyPool[solverBodyIdB]; + const btScalar invMassB = solverBodyB->m_originalBody ? solverBodyB->m_originalBody->getInvMass() : 0.0; + offDiagA += computeDeltaVelocityInConstraintSpace( + offDiagConstraint.m_relpos2CrossNormal, + offDiagConstraint.m_contactNormal2, + invMassB, constraint.m_angularComponentB, + constraint.m_contactNormal2); + } + } + + return offDiagA; +} + +void btMultiBodyMLCPConstraintSolver::createMLCPFast(const btContactSolverInfo& infoGlobal) +{ + createMLCPFastRigidBody(infoGlobal); + createMLCPFastMultiBody(infoGlobal); +} + +void btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal) +{ + int numContactRows = interleaveContactAndFriction ? 3 : 1; + + int numConstraintRows = m_allConstraintPtrArray.size(); + + if (numConstraintRows == 0) + return; + + 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 btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal) +{ + const int multiBodyNumConstraints = m_multiBodyAllConstraintPtrArray.size(); + + if (multiBodyNumConstraints == 0) + return; + + // 1. Compute b + { + BT_PROFILE("init b (rhs)"); + + m_multiBodyB.resize(multiBodyNumConstraints); + m_multiBodyB.setZero(); + + for (int i = 0; i < multiBodyNumConstraints; ++i) + { + const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i]; + const btScalar jacDiag = constraint.m_jacDiagABInv; + + if (!btFuzzyZero(jacDiag)) + { + // Note that rhsPenetration is currently always zero because the split impulse hasn't been implemented for multibody yet. + const btScalar rhs = constraint.m_rhs; + m_multiBodyB[i] = rhs / jacDiag; + } + } + } + + // 2. Compute lo and hi + { + BT_PROFILE("init lo/ho"); + + m_multiBodyLo.resize(multiBodyNumConstraints); + m_multiBodyHi.resize(multiBodyNumConstraints); + + for (int i = 0; i < multiBodyNumConstraints; ++i) + { + const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i]; + m_multiBodyLo[i] = constraint.m_lowerLimit; + m_multiBodyHi[i] = constraint.m_upperLimit; + } + } + + // 3. Construct A matrix by using the impulse testing + { + BT_PROFILE("Compute A"); + + { + BT_PROFILE("m_A.resize"); + m_multiBodyA.resize(multiBodyNumConstraints, multiBodyNumConstraints); + } + + for (int i = 0; i < multiBodyNumConstraints; ++i) + { + // Compute the diagonal of A, which is A(i, i) + const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i]; + const btScalar diagA = computeConstraintMatrixDiagElementMultiBody(m_tmpSolverBodyPool, m_data, constraint); + m_multiBodyA.setElem(i, i, diagA); + + // Computes the off-diagonals of A: + // a. The rest of i-th row of A, from A(i, i+1) to A(i, n) + // b. The rest of i-th column of A, from A(i+1, i) to A(n, i) + for (int j = i + 1; j < multiBodyNumConstraints; ++j) + { + const btMultiBodySolverConstraint& offDiagConstraint = *m_multiBodyAllConstraintPtrArray[j]; + const btScalar offDiagA = computeConstraintMatrixOffDiagElementMultiBody(m_tmpSolverBodyPool, m_data, constraint, offDiagConstraint); + + // Set the off-diagonal values of A. Note that A is symmetric. + m_multiBodyA.setElem(i, j, offDiagA); + m_multiBodyA.setElem(j, i, offDiagA); + } + } + } + + // Add CFM to the diagonal of m_A + for (int i = 0; i < m_multiBodyA.rows(); ++i) + { + m_multiBodyA.setElem(i, i, m_multiBodyA(i, i) + infoGlobal.m_globalCfm / infoGlobal.m_timeStep); + } + + // 4. Initialize x + { + BT_PROFILE("resize/init x"); + + m_multiBodyX.resize(multiBodyNumConstraints); + + if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING) + { + for (int i = 0; i < multiBodyNumConstraints; ++i) + { + const btMultiBodySolverConstraint& constraint = *m_multiBodyAllConstraintPtrArray[i]; + m_multiBodyX[i] = constraint.m_appliedImpulse; + } + } + else + { + m_multiBodyX.setZero(); + } + } +} + +bool btMultiBodyMLCPConstraintSolver::solveMLCP(const btContactSolverInfo& infoGlobal) +{ + bool result = true; + + if (m_A.rows() != 0) + { + // If using split impulse, we solve 2 separate (M)LCPs + if (infoGlobal.m_splitImpulse) + { + const btMatrixXu Acopy = m_A; + const btAlignedObjectArray<int> limitDependenciesCopy = m_limitDependencies; + // TODO(JS): Do we really need these copies when solveMLCP takes them as const? + + 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); + } + } + + if (!result) + return false; + + if (m_multiBodyA.rows() != 0) + { + result = m_solver->solveMLCP(m_multiBodyA, m_multiBodyB, m_multiBodyX, m_multiBodyLo, m_multiBodyHi, m_multiBodyLimitDependencies, infoGlobal.m_numIterations); + } + + return result; +} + +btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup( + btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifoldPtr, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& infoGlobal, + btIDebugDraw* debugDrawer) +{ + // 1. Setup for rigid-bodies + btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup( + bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + + // 2. Setup for multi-bodies + // a. Collect all different kinds of constraint as pointers into one array, m_allConstraintPtrArray + // b. Set the index array for frictional contact constraints, m_limitDependencies + { + BT_PROFILE("gather constraint data"); + + int dindex = 0; + + const int numRigidBodyConstraints = m_tmpSolverNonContactConstraintPool.size() + m_tmpSolverContactConstraintPool.size() + m_tmpSolverContactFrictionConstraintPool.size(); + const int numMultiBodyConstraints = m_multiBodyNonContactConstraints.size() + m_multiBodyNormalContactConstraints.size() + m_multiBodyFrictionContactConstraints.size(); + + m_allConstraintPtrArray.resize(0); + m_multiBodyAllConstraintPtrArray.resize(0); + + // i. Setup for rigid bodies + + m_limitDependencies.resize(numRigidBodyConstraints); + + for (int i = 0; i < m_tmpSolverNonContactConstraintPool.size(); ++i) + { + m_allConstraintPtrArray.push_back(&m_tmpSolverNonContactConstraintPool[i]); + m_limitDependencies[dindex++] = -1; + } + + int firstContactConstraintOffset = dindex; + + // The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead + if (interleaveContactAndFriction) + { + for (int i = 0; i < m_tmpSolverContactConstraintPool.size(); i++) + { + const int numFrictionPerContact = m_tmpSolverContactConstraintPool.size() == m_tmpSolverContactFrictionConstraintPool.size() ? 1 : 2; + + 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); + } + + // ii. Setup for multibodies + + dindex = 0; + + m_multiBodyLimitDependencies.resize(numMultiBodyConstraints); + + for (int i = 0; i < m_multiBodyNonContactConstraints.size(); ++i) + { + m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNonContactConstraints[i]); + m_multiBodyLimitDependencies[dindex++] = -1; + } + + firstContactConstraintOffset = dindex; + + // The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead + if (interleaveContactAndFriction) + { + for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i) + { + const int numtiBodyNumFrictionPerContact = m_multiBodyNormalContactConstraints.size() == m_multiBodyFrictionContactConstraints.size() ? 1 : 2; + + m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNormalContactConstraints[i]); + m_multiBodyLimitDependencies[dindex++] = -1; + + btMultiBodySolverConstraint& frictionContactConstraint1 = m_multiBodyFrictionContactConstraints[i * numtiBodyNumFrictionPerContact]; + m_multiBodyAllConstraintPtrArray.push_back(&frictionContactConstraint1); + + const int findex = (frictionContactConstraint1.m_frictionIndex * (1 + numtiBodyNumFrictionPerContact)) + firstContactConstraintOffset; + + m_multiBodyLimitDependencies[dindex++] = findex; + + if (numtiBodyNumFrictionPerContact == 2) + { + btMultiBodySolverConstraint& frictionContactConstraint2 = m_multiBodyFrictionContactConstraints[i * numtiBodyNumFrictionPerContact + 1]; + m_multiBodyAllConstraintPtrArray.push_back(&frictionContactConstraint2); + + m_multiBodyLimitDependencies[dindex++] = findex; + } + } + } + else + { + for (int i = 0; i < m_multiBodyNormalContactConstraints.size(); ++i) + { + m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyNormalContactConstraints[i]); + m_multiBodyLimitDependencies[dindex++] = -1; + } + for (int i = 0; i < m_multiBodyFrictionContactConstraints.size(); ++i) + { + m_multiBodyAllConstraintPtrArray.push_back(&m_multiBodyFrictionContactConstraints[i]); + m_multiBodyLimitDependencies[dindex++] = m_multiBodyFrictionContactConstraints[i].m_frictionIndex + firstContactConstraintOffset; + } + } + + if (!m_multiBodyAllConstraintPtrArray.size()) + { + m_multiBodyA.resize(0, 0); + m_multiBodyB.resize(0); + m_multiBodyX.resize(0); + m_multiBodyLo.resize(0); + m_multiBodyHi.resize(0); + } + } + + // Construct MLCP terms + { + BT_PROFILE("createMLCPFast"); + createMLCPFast(infoGlobal); + } + + return btScalar(0); +} + +btScalar btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) +{ + bool result = true; + { + BT_PROFILE("solveMLCP"); + result = solveMLCP(infoGlobal); + } + + // Fallback to btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations if the solution isn't valid. + if (!result) + { + m_fallback++; + return btMultiBodyConstraintSolver::solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer); + } + + { + BT_PROFILE("process MLCP results"); + + for (int i = 0; i < m_allConstraintPtrArray.size(); ++i) + { + const btSolverConstraint& c = *m_allConstraintPtrArray[i]; + + const btScalar deltaImpulse = m_x[i] - c.m_appliedImpulse; + c.m_appliedImpulse = m_x[i]; + + int sbA = c.m_solverBodyIdA; + int sbB = c.m_solverBodyIdB; + + btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA]; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB]; + + 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) + { + const btScalar deltaPushImpulse = m_xSplit[i] - c.m_appliedPushImpulse; + solverBodyA.internalApplyPushImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaPushImpulse); + solverBodyB.internalApplyPushImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaPushImpulse); + c.m_appliedPushImpulse = m_xSplit[i]; + } + } + + for (int i = 0; i < m_multiBodyAllConstraintPtrArray.size(); ++i) + { + btMultiBodySolverConstraint& c = *m_multiBodyAllConstraintPtrArray[i]; + + const btScalar deltaImpulse = m_multiBodyX[i] - c.m_appliedImpulse; + c.m_appliedImpulse = m_multiBodyX[i]; + + btMultiBody* multiBodyA = c.m_multiBodyA; + if (multiBodyA) + { + const int ndofA = multiBodyA->getNumDofs() + 6; + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + multiBodyA->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse); +#endif // DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } + else + { + const int sbA = c.m_solverBodyIdA; + btSolverBody& solverBodyA = m_tmpSolverBodyPool[sbA]; + solverBodyA.internalApplyImpulse(c.m_contactNormal1 * solverBodyA.internalGetInvMass(), c.m_angularComponentA, deltaImpulse); + } + + btMultiBody* multiBodyB = c.m_multiBodyB; + if (multiBodyB) + { + const int ndofB = multiBodyB->getNumDofs() + 6; + applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse, c.m_deltaVelBindex, ndofB); +#ifdef DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + //note: update of the actual velocities (below) in the multibody does not have to happen now since m_deltaVelocities can be applied after all iterations + //it would make the multibody solver more like the regular one with m_deltaVelocities being equivalent to btSolverBody::m_deltaLinearVelocity/m_deltaAngularVelocity + multiBodyB->applyDeltaVeeMultiDof2(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex], deltaImpulse); +#endif // DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS + } + else + { + const int sbB = c.m_solverBodyIdB; + btSolverBody& solverBodyB = m_tmpSolverBodyPool[sbB]; + solverBodyB.internalApplyImpulse(c.m_contactNormal2 * solverBodyB.internalGetInvMass(), c.m_angularComponentB, deltaImpulse); + } + } + } + + return btScalar(0); +} + +btMultiBodyMLCPConstraintSolver::btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver) + : m_solver(solver), m_fallback(0) +{ + // Do nothing +} + +btMultiBodyMLCPConstraintSolver::~btMultiBodyMLCPConstraintSolver() +{ + // Do nothing +} + +void btMultiBodyMLCPConstraintSolver::setMLCPSolver(btMLCPSolverInterface* solver) +{ + m_solver = solver; +} + +int btMultiBodyMLCPConstraintSolver::getNumFallbacks() const +{ + return m_fallback; +} + +void btMultiBodyMLCPConstraintSolver::setNumFallbacks(int num) +{ + m_fallback = num; +} + +btConstraintSolverType btMultiBodyMLCPConstraintSolver::getSolverType() const +{ + return BT_MLCP_SOLVER; +} diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h new file mode 100644 index 0000000000..6be36ba142 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h @@ -0,0 +1,187 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2018 Google Inc. 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. +*/ + +#ifndef BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H +#define BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H + +#include "LinearMath/btMatrixX.h" +#include "LinearMath/btThreads.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" + +class btMLCPSolverInterface; +class btMultiBody; + +class btMultiBodyMLCPConstraintSolver : public btMultiBodyConstraintSolver +{ +protected: + /// \name MLCP Formulation for Rigid Bodies + /// \{ + + /// A matrix in the MLCP formulation + btMatrixXu m_A; + + /// b vector in the MLCP formulation. + btVectorXu m_b; + + /// Constraint impulse, which is an output of MLCP solving. + btVectorXu m_x; + + /// Lower bound of constraint impulse, \c m_x. + btVectorXu m_lo; + + /// Upper bound of constraint impulse, \c m_x. + btVectorXu m_hi; + + /// \} + + /// \name Cache Variables for Split Impulse for Rigid Bodies + /// When using 'split impulse' we solve two separate (M)LCPs + /// \{ + + /// Split impulse Cache vector corresponding to \c m_b. + btVectorXu m_bSplit; + + /// Split impulse cache vector corresponding to \c m_x. + btVectorXu m_xSplit; + + /// \} + + /// \name MLCP Formulation for Multibodies + /// \{ + + /// A matrix in the MLCP formulation + btMatrixXu m_multiBodyA; + + /// b vector in the MLCP formulation. + btVectorXu m_multiBodyB; + + /// Constraint impulse, which is an output of MLCP solving. + btVectorXu m_multiBodyX; + + /// Lower bound of constraint impulse, \c m_x. + btVectorXu m_multiBodyLo; + + /// Upper bound of constraint impulse, \c m_x. + btVectorXu m_multiBodyHi; + + /// \} + + /// Indices of normal contact constraint associated with frictional contact constraint for rigid bodies. + /// + /// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate + /// normal contact impulse. For example, i-th element represents the index of a normal constraint that is + /// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint. + /// Otherwise, -1. + btAlignedObjectArray<int> m_limitDependencies; + + /// Indices of normal contact constraint associated with frictional contact constraint for multibodies. + /// + /// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate + /// normal contact impulse. For example, i-th element represents the index of a normal constraint that is + /// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint. + /// Otherwise, -1. + btAlignedObjectArray<int> m_multiBodyLimitDependencies; + + /// Array of all the rigid body constraints + btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray; + + /// Array of all the multibody constraints + btAlignedObjectArray<btMultiBodySolverConstraint*> m_multiBodyAllConstraintPtrArray; + + /// MLCP solver + btMLCPSolverInterface* m_solver; + + /// Count of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver fails. + int m_fallback; + + /// \name MLCP Scratch Variables + /// The following scratch variables are not stateful -- contents are cleared prior to each use. + /// They are only cached here to avoid extra memory allocations and deallocations and to ensure + /// that multiple instances of the solver can be run in parallel. + /// + /// \{ + + /// Cache variable for constraint Jacobian matrix. + btMatrixXu m_scratchJ3; + + /// Cache variable for constraint Jacobian times inverse mass matrix. + btMatrixXu m_scratchJInvM3; + + /// Cache variable for offsets. + btAlignedObjectArray<int> m_scratchOfs; + + /// \} + + /// Constructs MLCP terms, which are \c m_A, \c m_b, \c m_lo, and \c m_hi. + virtual void createMLCPFast(const btContactSolverInfo& infoGlobal); + + /// Constructs MLCP terms for constraints of two rigid bodies + void createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal); + + /// Constructs MLCP terms for constraints of two multi-bodies or one rigid body and one multibody + void createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal); + + /// Solves MLCP and returns the success + virtual bool solveMLCP(const btContactSolverInfo& infoGlobal); + + // Documentation inherited + btScalar solveGroupCacheFriendlySetup( + btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifoldPtr, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& infoGlobal, + btIDebugDraw* debugDrawer) BT_OVERRIDE; + + // Documentation inherited + btScalar solveGroupCacheFriendlyIterations( + btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifoldPtr, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& infoGlobal, + btIDebugDraw* debugDrawer) BT_OVERRIDE; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR() + + /// Constructor + /// + /// \param[in] solver MLCP solver. Assumed it's not null. + /// \param[in] maxLCPSize Maximum size of LCP to solve using MLCP solver. If the MLCP size exceeds this number, sequaltial impulse method will be used. + explicit btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver); + + /// Destructor + virtual ~btMultiBodyMLCPConstraintSolver(); + + /// Sets MLCP solver. Assumed it's not null. + void setMLCPSolver(btMLCPSolverInterface* solver); + + /// Returns the number of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP + /// solver fails. + int getNumFallbacks() const; + + /// Sets the number of fallbacks. This function may be used to reset the number to zero. + void setNumFallbacks(int num); + + /// Returns the constraint solver type. + virtual btConstraintSolverType getSolverType() const; +}; + +#endif // BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp index 125d52ad0b..2b59f0b7a6 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp @@ -64,13 +64,16 @@ int btMultiBodyPoint2Point::getIslandIdA() const if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -82,16 +85,17 @@ int btMultiBodyPoint2Point::getIslandIdB() const return m_rigidBodyB->getIslandTag(); if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp index 3b64b8183f..43f26f9833 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp @@ -68,13 +68,16 @@ int btMultiBodySliderConstraint::getIslandIdA() const if (m_bodyA) { - btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); - if (col) - return col->getIslandTag(); - for (int i=0;i<m_bodyA->getNumLinks();i++) + if (m_linkA < 0) { - if (m_bodyA->getLink(i).m_collider) - return m_bodyA->getLink(i).m_collider->getIslandTag(); + btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider(); + if (col) + return col->getIslandTag(); + } + else + { + if (m_bodyA->getLink(m_linkA).m_collider) + return m_bodyA->getLink(m_linkA).m_collider->getIslandTag(); } } return -1; @@ -86,20 +89,20 @@ int btMultiBodySliderConstraint::getIslandIdB() const return m_rigidBodyB->getIslandTag(); if (m_bodyB) { - btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); - if (col) - return col->getIslandTag(); - - for (int i=0;i<m_bodyB->getNumLinks();i++) + if (m_linkB < 0) { - col = m_bodyB->getLink(i).m_collider; + btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider(); if (col) return col->getIslandTag(); } + else + { + if (m_bodyB->getLink(m_linkB).m_collider) + return m_bodyB->getLink(m_linkB).m_collider->getIslandTag(); + } } return -1; } - void btMultiBodySliderConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal) { // Convert local points back to world diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp index a7b1688469..f299aa34e8 100644 --- a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp +++ b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp @@ -121,12 +121,19 @@ void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT btQuaternion rotatingOrn(right,-wheel.m_rotation); btMatrix3x3 rotatingMat(rotatingOrn); - btMatrix3x3 basis2( - right[0],fwd[0],up[0], - right[1],fwd[1],up[1], - right[2],fwd[2],up[2] - ); - + btMatrix3x3 basis2; + basis2[0][m_indexRightAxis] = -right[0]; + basis2[1][m_indexRightAxis] = -right[1]; + basis2[2][m_indexRightAxis] = -right[2]; + + basis2[0][m_indexUpAxis] = up[0]; + basis2[1][m_indexUpAxis] = up[1]; + basis2[2][m_indexUpAxis] = up[2]; + + basis2[0][m_indexForwardAxis] = fwd[0]; + basis2[1][m_indexForwardAxis] = fwd[1]; + basis2[2][m_indexForwardAxis] = fwd[2]; + wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2); wheel.m_worldTransform.setOrigin( wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength @@ -493,8 +500,8 @@ struct btWheelContactPoint }; -btScalar calcRollingFriction(btWheelContactPoint& contactPoint); -btScalar calcRollingFriction(btWheelContactPoint& contactPoint) +btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround); +btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround) { btScalar j1=0.f; @@ -513,7 +520,7 @@ btScalar calcRollingFriction(btWheelContactPoint& contactPoint) btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel); // calculate j that moves us to zero relative velocity - j1 = -vrel * contactPoint.m_jacDiagABInv; + j1 = -vrel * contactPoint.m_jacDiagABInv/btScalar(numWheelsOnGround); btSetMin(j1, maxImpulse); btSetMax(j1, -maxImpulse); @@ -567,7 +574,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) const btTransform& wheelTrans = getWheelTransformWS( i ); btMatrix3x3 wheelBasis0 = wheelTrans.getBasis(); - m_axle[i] = btVector3( + m_axle[i] = -btVector3( wheelBasis0[0][m_indexRightAxis], wheelBasis0[1][m_indexRightAxis], wheelBasis0[2][m_indexRightAxis]); @@ -615,7 +622,8 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) btScalar defaultRollingFrictionImpulse = 0.f; btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse; btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse); - rollingFriction = calcRollingFriction(contactPt); + btAssert(numWheelsOnGround > 0); + rollingFriction = calcRollingFriction(contactPt, numWheelsOnGround); } } diff --git a/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp b/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp index 1dc22f860a..1b3fd268a0 100644 --- a/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp +++ b/thirdparty/bullet/BulletInverseDynamics/IDErrorMessages.hpp @@ -7,19 +7,19 @@ #if !defined(BT_ID_WO_BULLET) && !defined(BT_USE_INVERSE_DYNAMICS_WITH_BULLET2) #include "Bullet3Common/b3Logging.h" -#define error_message(...) b3Error(__VA_ARGS__) -#define warning_message(...) b3Warning(__VA_ARGS__) +#define bt_id_error_message(...) b3Error(__VA_ARGS__) +#define bt_id_warning_message(...) b3Warning(__VA_ARGS__) #define id_printf(...) b3Printf(__VA_ARGS__) #else // BT_ID_WO_BULLET #include <cstdio> /// print error message with file/line information -#define error_message(...) \ +#define bt_id_error_message(...) \ do { \ fprintf(stderr, "[Error:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \ fprintf(stderr, __VA_ARGS__); \ } while (0) /// print warning message with file/line information -#define warning_message(...) \ +#define bt_id_warning_message(...) \ do { \ fprintf(stderr, "[Warning:%s:%d] ", __INVDYN_FILE_WO_DIR__, __LINE__); \ fprintf(stderr, __VA_ARGS__); \ diff --git a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp b/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp index 99fe20e492..d279d3435c 100644 --- a/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp +++ b/thirdparty/bullet/BulletInverseDynamics/IDMath.cpp @@ -81,7 +81,7 @@ idScalar maxAbsMat3x(const mat3x &m) { void mul(const mat33 &a, const mat3x &b, mat3x *result) { if (b.cols() != result->cols()) { - error_message("size missmatch. b.cols()= %d, result->cols()= %d\n", + bt_id_error_message("size missmatch. b.cols()= %d, result->cols()= %d\n", static_cast<int>(b.cols()), static_cast<int>(result->cols())); abort(); } @@ -97,7 +97,7 @@ void mul(const mat33 &a, const mat3x &b, mat3x *result) { } void add(const mat3x &a, const mat3x &b, mat3x *result) { if (a.cols() != b.cols()) { - error_message("size missmatch. a.cols()= %d, b.cols()= %d\n", + bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n", static_cast<int>(a.cols()), static_cast<int>(b.cols())); abort(); } @@ -109,7 +109,7 @@ void add(const mat3x &a, const mat3x &b, mat3x *result) { } void sub(const mat3x &a, const mat3x &b, mat3x *result) { if (a.cols() != b.cols()) { - error_message("size missmatch. a.cols()= %d, b.cols()= %d\n", + bt_id_error_message("size missmatch. a.cols()= %d, b.cols()= %d\n", static_cast<int>(a.cols()), static_cast<int>(b.cols())); abort(); } @@ -305,10 +305,10 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) // the determinant of the inertia tensor about the joint axis is almost // zero and can have a very small negative value. if (!isPositiveSemiDefiniteFuzzy(I)) { - error_message("invalid inertia matrix for body %d, not positive definite " + bt_id_error_message("invalid inertia matrix for body %d, not positive definite " "(fixed joint)\n", index); - error_message("matrix is:\n" + bt_id_error_message("matrix is:\n" "[%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n" "%.20e %.20e %.20e]\n", @@ -321,8 +321,8 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) // check triangle inequality, must have I(i,i)+I(j,j)>=I(k,k) if (!has_fixed_joint) { if (I(0, 0) + I(1, 1) < I(2, 2)) { - error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index); - error_message("matrix is:\n" + bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index); + bt_id_error_message("matrix is:\n" "[%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n" "%.20e %.20e %.20e]\n", @@ -331,8 +331,8 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) return false; } if (I(0, 0) + I(1, 1) < I(2, 2)) { - error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index); - error_message("matrix is:\n" + bt_id_error_message("invalid inertia tensor for body %d, I(0,0) + I(1,1) < I(2,2)\n", index); + bt_id_error_message("matrix is:\n" "[%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n" "%.20e %.20e %.20e]\n", @@ -341,8 +341,8 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) return false; } if (I(1, 1) + I(2, 2) < I(0, 0)) { - error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index); - error_message("matrix is:\n" + bt_id_error_message("invalid inertia tensor for body %d, I(1,1) + I(2,2) < I(0,0)\n", index); + bt_id_error_message("matrix is:\n" "[%.20e %.20e %.20e;\n" "%.20e %.20e %.20e;\n" "%.20e %.20e %.20e]\n", @@ -354,25 +354,25 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) // check positive/zero diagonal elements for (int i = 0; i < 3; i++) { if (I(i, i) < 0) { // accept zero - error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i)); + bt_id_error_message("invalid inertia tensor, I(%d,%d)= %e <0\n", i, i, I(i, i)); return false; } } // check symmetry if (BT_ID_FABS(I(1, 0) - I(0, 1)) > kIsZero) { - error_message("invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= " + bt_id_error_message("invalid inertia tensor for body %d I(1,0)!=I(0,1). I(1,0)-I(0,1)= " "%e\n", index, I(1, 0) - I(0, 1)); return false; } if (BT_ID_FABS(I(2, 0) - I(0, 2)) > kIsZero) { - error_message("invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= " + bt_id_error_message("invalid inertia tensor for body %d I(2,0)!=I(0,2). I(2,0)-I(0,2)= " "%e\n", index, I(2, 0) - I(0, 2)); return false; } if (BT_ID_FABS(I(1, 2) - I(2, 1)) > kIsZero) { - error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index, + bt_id_error_message("invalid inertia tensor body %d I(1,2)!=I(2,1). I(1,2)-I(2,1)= %e\n", index, I(1, 2) - I(2, 1)); return false; } @@ -381,7 +381,7 @@ bool isValidInertiaMatrix(const mat33 &I, const int index, bool has_fixed_joint) bool isValidTransformMatrix(const mat33 &m) { #define print_mat(x) \ - error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \ + bt_id_error_message("matrix is [%e, %e, %e; %e, %e, %e; %e, %e, %e]\n", x(0, 0), x(0, 1), x(0, 2), \ x(1, 0), x(1, 1), x(1, 2), x(2, 0), x(2, 1), x(2, 2)) // check for unit length column vectors @@ -389,7 +389,7 @@ bool isValidTransformMatrix(const mat33 &m) { const idScalar length_minus_1 = BT_ID_FABS(m(0, i) * m(0, i) + m(1, i) * m(1, i) + m(2, i) * m(2, i) - 1.0); if (length_minus_1 > kAxisLengthEpsilon) { - error_message("Not a valid rotation matrix (column %d not unit length)\n" + bt_id_error_message("Not a valid rotation matrix (column %d not unit length)\n" "column = [%.18e %.18e %.18e]\n" "length-1.0= %.18e\n", i, m(0, i), m(1, i), m(2, i), length_minus_1); @@ -399,23 +399,23 @@ bool isValidTransformMatrix(const mat33 &m) { } // check for orthogonal column vectors if (BT_ID_FABS(m(0, 0) * m(0, 1) + m(1, 0) * m(1, 1) + m(2, 0) * m(2, 1)) > kAxisLengthEpsilon) { - error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n"); + bt_id_error_message("Not a valid rotation matrix (columns 0 and 1 not orthogonal)\n"); print_mat(m); return false; } if (BT_ID_FABS(m(0, 0) * m(0, 2) + m(1, 0) * m(1, 2) + m(2, 0) * m(2, 2)) > kAxisLengthEpsilon) { - error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); + bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); print_mat(m); return false; } if (BT_ID_FABS(m(0, 1) * m(0, 2) + m(1, 1) * m(1, 2) + m(2, 1) * m(2, 2)) > kAxisLengthEpsilon) { - error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); + bt_id_error_message("Not a valid rotation matrix (columns 0 and 2 not orthogonal)\n"); print_mat(m); return false; } // check determinant (rotation not reflection) if (determinant(m) <= 0) { - error_message("Not a valid rotation matrix (determinant <=0)\n"); + bt_id_error_message("Not a valid rotation matrix (determinant <=0)\n"); print_mat(m); return false; } diff --git a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp index c67588d49f..becfe0f4a2 100644 --- a/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp +++ b/thirdparty/bullet/BulletInverseDynamics/MultiBodyTree.cpp @@ -83,11 +83,11 @@ int MultiBodyTree::numDoFs() const { return m_impl->m_num_dofs; } int MultiBodyTree::calculateInverseDynamics(const vecx &q, const vecx &u, const vecx &dot_u, vecx *joint_forces) { if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateInverseDynamics(q, u, dot_u, joint_forces)) { - error_message("error in inverse dynamics calculation\n"); + bt_id_error_message("error in inverse dynamics calculation\n"); return -1; } return 0; @@ -97,13 +97,13 @@ int MultiBodyTree::calculateMassMatrix(const vecx &q, const bool update_kinemati const bool initialize_matrix, const bool set_lower_triangular_matrix, matxx *mass_matrix) { if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateMassMatrix(q, update_kinematics, initialize_matrix, set_lower_triangular_matrix, mass_matrix)) { - error_message("error in mass matrix calculation\n"); + bt_id_error_message("error in mass matrix calculation\n"); return -1; } return 0; @@ -121,12 +121,12 @@ int MultiBodyTree::calculateKinematics(const vecx& q, const vecx& u, const vecx& setZero(m_impl->m_world_gravity); if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateKinematics(q, u, dot_u, MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY_ACCELERATION)) { - error_message("error in kinematics calculation\n"); + bt_id_error_message("error in kinematics calculation\n"); return -1; } @@ -137,12 +137,12 @@ int MultiBodyTree::calculateKinematics(const vecx& q, const vecx& u, const vecx& int MultiBodyTree::calculatePositionKinematics(const vecx& q) { if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateKinematics(q, q, q, MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) { - error_message("error in kinematics calculation\n"); + bt_id_error_message("error in kinematics calculation\n"); return -1; } return 0; @@ -150,12 +150,12 @@ int MultiBodyTree::calculatePositionKinematics(const vecx& q) { int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx& q, const vecx& u) { if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateKinematics(q, u, u, MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) { - error_message("error in kinematics calculation\n"); + bt_id_error_message("error in kinematics calculation\n"); return -1; } return 0; @@ -165,12 +165,12 @@ int MultiBodyTree::calculatePositionAndVelocityKinematics(const vecx& q, const v #if (defined BT_ID_HAVE_MAT3X) && (defined BT_ID_WITH_JACOBIANS) int MultiBodyTree::calculateJacobians(const vecx& q, const vecx& u) { if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateJacobians(q, u, MultiBodyTree::MultiBodyImpl::POSITION_VELOCITY)) { - error_message("error in jacobian calculation\n"); + bt_id_error_message("error in jacobian calculation\n"); return -1; } return 0; @@ -178,12 +178,12 @@ int MultiBodyTree::calculateJacobians(const vecx& q, const vecx& u) { int MultiBodyTree::calculateJacobians(const vecx& q){ if (false == m_is_finalized) { - error_message("system has not been initialized\n"); + bt_id_error_message("system has not been initialized\n"); return -1; } if (-1 == m_impl->calculateJacobians(q, q, MultiBodyTree::MultiBodyImpl::POSITION_ONLY)) { - error_message("error in jacobian calculation\n"); + bt_id_error_message("error in jacobian calculation\n"); return -1; } return 0; @@ -214,7 +214,7 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ const vec3 &body_r_body_com, const mat33 &body_I_body, const int user_int, void *user_ptr) { if (body_index < 0) { - error_message("body index must be positive (got %d)\n", body_index); + bt_id_error_message("body index must be positive (got %d)\n", body_index); return -1; } vec3 body_axis_of_motion(body_axis_of_motion_); @@ -223,14 +223,14 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ case PRISMATIC: // check if axis is unit vector if (!isUnitVector(body_axis_of_motion)) { - warning_message( + bt_id_warning_message( "axis of motion not a unit axis ([%f %f %f]), will use normalized vector\n", body_axis_of_motion(0), body_axis_of_motion(1), body_axis_of_motion(2)); idScalar length = BT_ID_SQRT(BT_ID_POW(body_axis_of_motion(0), 2) + BT_ID_POW(body_axis_of_motion(1), 2) + BT_ID_POW(body_axis_of_motion(2), 2)); if (length < BT_ID_SQRT(std::numeric_limits<idScalar>::min())) { - error_message("axis of motion vector too short (%e)\n", length); + bt_id_error_message("axis of motion vector too short (%e)\n", length); return -1; } body_axis_of_motion = (1.0 / length) * body_axis_of_motion; @@ -241,14 +241,14 @@ int MultiBodyTree::addBody(int body_index, int parent_index, JointType joint_typ case FLOATING: break; default: - error_message("unknown joint type %d\n", joint_type); + bt_id_error_message("unknown joint type %d\n", joint_type); return -1; } // sanity check for mass properties. Zero mass is OK. if (mass < 0) { m_mass_parameters_are_valid = false; - error_message("Body %d has invalid mass %e\n", body_index, mass); + bt_id_error_message("Body %d has invalid mass %e\n", body_index, mass); if (!m_accept_invalid_mass_parameters) { return -1; } @@ -296,7 +296,7 @@ int MultiBodyTree::finalize() { const int &num_dofs = m_init_cache->numDoFs(); if(num_dofs<=0) { - error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs); + bt_id_error_message("Need num_dofs>=1, but num_dofs= %d\n", num_dofs); //return -1; } @@ -331,6 +331,22 @@ int MultiBodyTree::finalize() { rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref; rigid_body.m_joint_type = joint.m_type; + int user_int; + if (-1 == m_init_cache->getUserInt(index, &user_int)) { + return -1; + } + if (-1 == m_impl->setUserInt(index, user_int)) { + return -1; + } + + void* user_ptr; + if (-1 == m_init_cache->getUserPtr(index, &user_ptr)) { + return -1; + } + if (-1 == m_impl->setUserPtr(index, user_ptr)) { + return -1; + } + // Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized // matrices. switch (rigid_body.m_joint_type) { @@ -370,14 +386,14 @@ int MultiBodyTree::finalize() { rigid_body.m_Jac_JT(2) = 0.0; break; default: - error_message("unsupported joint type %d\n", rigid_body.m_joint_type); + bt_id_error_message("unsupported joint type %d\n", rigid_body.m_joint_type); return -1; } } // 4 assign degree of freedom indices & build per-joint-type index arrays if (-1 == m_impl->generateIndexSets()) { - error_message("generating index sets\n"); + bt_id_error_message("generating index sets\n"); return -1; } diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp index 5bb4a33bdd..c179daeec6 100644 --- a/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp +++ b/thirdparty/bullet/BulletInverseDynamics/details/IDLinearMathInterface.hpp @@ -49,9 +49,9 @@ inline mat33 operator*(const idScalar& s, const mat33& a) { return a * s; } class vecx : public btVectorX<idScalar> { public: - vecx(int size) : btVectorX(size) {} + vecx(int size) : btVectorX<idScalar>(size) {} const vecx& operator=(const btVectorX<idScalar>& rhs) { - *static_cast<btVectorX*>(this) = rhs; + *static_cast<btVectorX<idScalar>*>(this) = rhs; return *this; } @@ -78,7 +78,7 @@ inline vecx operator+(const vecx& a, const vecx& b) { vecx result(a.size()); // TODO: error handling for a.size() != b.size()?? if (a.size() != b.size()) { - error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); + bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); abort(); } for (int i = 0; i < a.size(); i++) { @@ -92,7 +92,7 @@ inline vecx operator-(const vecx& a, const vecx& b) { vecx result(a.size()); // TODO: error handling for a.size() != b.size()?? if (a.size() != b.size()) { - error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); + bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); abort(); } for (int i = 0; i < a.size(); i++) { @@ -121,7 +121,7 @@ public: } void operator=(const mat3x& rhs) { if (m_cols != rhs.m_cols) { - error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols()); + bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols()); abort(); } for(int i=0;i<rows();i++) { @@ -139,7 +139,7 @@ public: inline vec3 operator*(const mat3x& a, const vecx& b) { vec3 result; if (a.cols() != b.size()) { - error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size()); + bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size()); abort(); } result(0)=0.0; diff --git a/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp b/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp index 4d3f6c87e9..c89db5e123 100644 --- a/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp +++ b/thirdparty/bullet/BulletInverseDynamics/details/IDMatVec.hpp @@ -123,7 +123,7 @@ public: }; void operator=(const mat3x& rhs) { if (m_cols != rhs.m_cols) { - error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols()); + bt_id_error_message("size missmatch, cols= %d but rhs.cols= %d\n", cols(), rhs.cols()); abort(); } for(int i=0;i<3*m_cols;i++) { @@ -336,7 +336,7 @@ inline vec3 operator/(const vec3& a, const idScalar& s) { inline const vecx& vecx::operator=(const vecx& rhs) { if (size() != rhs.size()) { - error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size()); + bt_id_error_message("size missmatch, size()= %d but rhs.size()= %d\n", size(), rhs.size()); abort(); } if (&rhs != this) { @@ -356,7 +356,7 @@ inline vecx operator+(const vecx& a, const vecx& b) { vecx result(a.size()); // TODO: error handling for a.size() != b.size()?? if (a.size() != b.size()) { - error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); + bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); abort(); } for (int i = 0; i < a.size(); i++) { @@ -369,7 +369,7 @@ inline vecx operator-(const vecx& a, const vecx& b) { vecx result(a.size()); // TODO: error handling for a.size() != b.size()?? if (a.size() != b.size()) { - error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); + bt_id_error_message("size missmatch. a.size()= %d, b.size()= %d\n", a.size(), b.size()); abort(); } for (int i = 0; i < a.size(); i++) { @@ -389,7 +389,7 @@ inline vecx operator/(const vecx& a, const idScalar& s) { inline vec3 operator*(const mat3x& a, const vecx& b) { vec3 result; if (a.cols() != b.size()) { - error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size()); + bt_id_error_message("size missmatch. a.cols()= %d, b.size()= %d\n", a.cols(), b.size()); abort(); } result(0)=0.0; diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp index b35c55df61..e8563238c3 100644 --- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp +++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp @@ -80,7 +80,7 @@ int MultiBodyTree::MultiBodyImpl::bodyNumDoFs(const JointType &type) const { case FLOATING: return 6; } - error_message("unknown joint type %d\n", type); + bt_id_error_message("unknown joint type %d\n", type); return 0; } @@ -136,13 +136,13 @@ int MultiBodyTree::MultiBodyImpl::generateIndexSets() { q_index += 6; break; default: - error_message("unsupported joint type %d\n", body.m_joint_type); + bt_id_error_message("unsupported joint type %d\n", body.m_joint_type); return -1; } } // sanity check if (q_index != m_num_dofs) { - error_message("internal error, q_index= %d but num_dofs %d\n", q_index, m_num_dofs); + bt_id_error_message("internal error, q_index= %d but num_dofs %d\n", q_index, m_num_dofs); return -1; } @@ -155,10 +155,10 @@ int MultiBodyTree::MultiBodyImpl::generateIndexSets() { } else { if (-1 == parent) { // multiple bodies are directly linked to the environment, ie, not a single root - error_message("building index sets parent(%zu)= -1 (multiple roots)\n", child); + bt_id_error_message("building index sets parent(%zu)= -1 (multiple roots)\n", child); } else { // should never happen - error_message( + bt_id_error_message( "building index sets. parent_index[%zu]= %d, but m_parent_index.size()= %d\n", child, parent, static_cast<int>(m_parent_index.size())); } @@ -234,7 +234,7 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const const vecx &dot_u, vecx *joint_forces) { if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs || joint_forces->size() != m_num_dofs) { - error_message("wrong vector dimension. system has %d DOFs,\n" + bt_id_error_message("wrong vector dimension. system has %d DOFs,\n" "but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d, dim(joint_forces)= %d\n", m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()), static_cast<int>(dot_u.size()), static_cast<int>(joint_forces->size())); @@ -242,7 +242,7 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const } // 1. relative kinematics if(-1 == calculateKinematics(q,u,dot_u, POSITION_VELOCITY_ACCELERATION)) { - error_message("error in calculateKinematics\n"); + bt_id_error_message("error in calculateKinematics\n"); return -1; } // 2. update contributions to equations of motion for every body. @@ -322,14 +322,14 @@ int MultiBodyTree::MultiBodyImpl::calculateInverseDynamics(const vecx &q, const int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx &u, const vecx& dot_u, const KinUpdateType type) { if (q.size() != m_num_dofs || u.size() != m_num_dofs || dot_u.size() != m_num_dofs ) { - error_message("wrong vector dimension. system has %d DOFs,\n" + bt_id_error_message("wrong vector dimension. system has %d DOFs,\n" "but dim(q)= %d, dim(u)= %d, dim(dot_u)= %d\n", m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size()), static_cast<int>(dot_u.size())); return -1; } if(type != POSITION_ONLY && type != POSITION_VELOCITY && type != POSITION_VELOCITY_ACCELERATION) { - error_message("invalid type %d\n", type); + bt_id_error_message("invalid type %d\n", type); return -1; } @@ -516,13 +516,13 @@ void MultiBodyTree::MultiBodyImpl::addRelativeJacobianComponent(RigidBody&body) int MultiBodyTree::MultiBodyImpl::calculateJacobians(const vecx& q, const vecx& u, const KinUpdateType type) { if (q.size() != m_num_dofs || u.size() != m_num_dofs) { - error_message("wrong vector dimension. system has %d DOFs,\n" + bt_id_error_message("wrong vector dimension. system has %d DOFs,\n" "but dim(q)= %d, dim(u)= %d\n", m_num_dofs, static_cast<int>(q.size()), static_cast<int>(u.size())); return -1; } if(type != POSITION_ONLY && type != POSITION_VELOCITY) { - error_message("invalid type %d\n", type); + bt_id_error_message("invalid type %d\n", type); return -1; } @@ -606,7 +606,7 @@ static inline int jointNumDoFs(const JointType &type) { return 6; } // this should never happen - error_message("invalid joint type\n"); + bt_id_error_message("invalid joint type\n"); // TODO add configurable abort/crash function abort(); return 0; @@ -626,7 +626,7 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool if (q.size() != m_num_dofs || mass_matrix->rows() != m_num_dofs || mass_matrix->cols() != m_num_dofs) { - error_message("Dimension error. System has %d DOFs,\n" + bt_id_error_message("Dimension error. System has %d DOFs,\n" "but dim(q)= %d, dim(mass_matrix)= %d x %d\n", m_num_dofs, static_cast<int>(q.size()), static_cast<int>(mass_matrix->rows()), static_cast<int>(mass_matrix->cols())); @@ -734,7 +734,7 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool // 1. for multi-dof joints, rest of the dofs of this body for (int row = col - 1; row >= q_index_min; row--) { if (FLOATING != body.m_joint_type) { - error_message("??\n"); + bt_id_error_message("??\n"); return -1; } setSixDoFJacobians(row - q_index_min, Jac_JR, Jac_JT); @@ -788,7 +788,7 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool #define CHECK_IF_BODY_INDEX_IS_VALID(index) \ do { \ if (index < 0 || index >= m_num_bodies) { \ - error_message("invalid index %d (num_bodies= %d)\n", index, m_num_bodies); \ + bt_id_error_message("invalid index %d (num_bodies= %d)\n", index, m_num_bodies); \ return -1; \ } \ } while (0) diff --git a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp index 47b4ab3890..e9511b7076 100644 --- a/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp +++ b/thirdparty/bullet/BulletInverseDynamics/details/MultiBodyTreeInitCache.cpp @@ -29,13 +29,13 @@ int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_ind m_num_dofs += 6; break; default: - error_message("unknown joint type %d\n", joint_type); + bt_id_error_message("unknown joint type %d\n", joint_type); return -1; } if(-1 == parent_index) { if(m_root_index>=0) { - error_message("trying to add body %d as root, but already added %d as root body\n", + bt_id_error_message("trying to add body %d as root, but already added %d as root body\n", body_index, m_root_index); return -1; } @@ -63,7 +63,7 @@ int MultiBodyTree::InitCache::addBody(const int body_index, const int parent_ind } int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inertia) const { if (index < 0 || index > static_cast<int>(m_inertias.size())) { - error_message("index out of range\n"); + bt_id_error_message("index out of range\n"); return -1; } @@ -73,7 +73,7 @@ int MultiBodyTree::InitCache::getInertiaData(const int index, InertiaData* inert int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const { if (index < 0 || index > static_cast<int>(m_user_int.size())) { - error_message("index out of range\n"); + bt_id_error_message("index out of range\n"); return -1; } *user_int = m_user_int[index]; @@ -82,7 +82,7 @@ int MultiBodyTree::InitCache::getUserInt(const int index, int* user_int) const { int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const { if (index < 0 || index > static_cast<int>(m_user_ptr.size())) { - error_message("index out of range\n"); + bt_id_error_message("index out of range\n"); return -1; } *user_ptr = m_user_ptr[index]; @@ -91,7 +91,7 @@ int MultiBodyTree::InitCache::getUserPtr(const int index, void** user_ptr) const int MultiBodyTree::InitCache::getJointData(const int index, JointData* joint) const { if (index < 0 || index > static_cast<int>(m_joints.size())) { - error_message("index out of range\n"); + bt_id_error_message("index out of range\n"); return -1; } *joint = m_joints[index]; diff --git a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp index 4e76dca9db..6facce4e86 100644 --- a/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp +++ b/thirdparty/bullet/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp @@ -157,7 +157,7 @@ void btSoftMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* coll void btSoftMultiBodyDynamicsWorld::debugDrawWorld() { - btDiscreteDynamicsWorld::debugDrawWorld(); + btMultiBodyDynamicsWorld::debugDrawWorld(); if (getDebugDrawer()) { @@ -357,10 +357,14 @@ void btSoftMultiBodyDynamicsWorld::serialize(btSerializer* serializer) serializeSoftBodies(serializer); + serializeMultiBodies(serializer); + serializeRigidBodies(serializer); serializeCollisionObjects(serializer); + serializeContactManifolds(serializer); + serializer->finishSerialization(); } diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp new file mode 100644 index 0000000000..49510d1660 --- /dev/null +++ b/thirdparty/bullet/LinearMath/TaskScheduler/btTaskScheduler.cpp @@ -0,0 +1,802 @@ + +#include "LinearMath/btMinMax.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btThreads.h" +#include "LinearMath/btQuickprof.h" +#include <stdio.h> +#include <algorithm> + + + +#if BT_THREADSAFE + +#include "btThreadSupportInterface.h" + +#if defined( _WIN32 ) + +#define WIN32_LEAN_AND_MEAN + +#include <windows.h> + +#endif + + +typedef unsigned long long btU64; +static const int kCacheLineSize = 64; + +void btSpinPause() +{ +#if defined( _WIN32 ) + YieldProcessor(); +#endif +} + + +struct WorkerThreadStatus +{ + enum Type + { + kInvalid, + kWaitingForWork, + kWorking, + kSleeping, + }; +}; + + +ATTRIBUTE_ALIGNED64(class) WorkerThreadDirectives +{ + static const int kMaxThreadCount = BT_MAX_THREAD_COUNT; + // directives for all worker threads packed into a single cacheline + char m_threadDirs[kMaxThreadCount]; + +public: + enum Type + { + kInvalid, + kGoToSleep, // go to sleep + kStayAwakeButIdle, // wait for not checking job queue + kScanForJobs, // actively scan job queue for jobs + }; + WorkerThreadDirectives() + { + for ( int i = 0; i < kMaxThreadCount; ++i ) + { + m_threadDirs[ i ] = 0; + } + } + + Type getDirective(int threadId) + { + btAssert(threadId < kMaxThreadCount); + return static_cast<Type>(m_threadDirs[threadId]); + } + + void setDirectiveByRange(int threadBegin, int threadEnd, Type dir) + { + btAssert( threadBegin < threadEnd ); + btAssert( threadEnd <= kMaxThreadCount ); + char dirChar = static_cast<char>(dir); + for ( int i = threadBegin; i < threadEnd; ++i ) + { + m_threadDirs[ i ] = dirChar; + } + } +}; + +class JobQueue; + +ATTRIBUTE_ALIGNED64(struct) ThreadLocalStorage +{ + int m_threadId; + WorkerThreadStatus::Type m_status; + int m_numJobsFinished; + btSpinMutex m_mutex; + btScalar m_sumResult; + WorkerThreadDirectives * m_directive; + JobQueue* m_queue; + btClock* m_clock; + unsigned int m_cooldownTime; +}; + + +struct IJob +{ + virtual void executeJob(int threadId) = 0; +}; + +class ParallelForJob : public IJob +{ + const btIParallelForBody* m_body; + int m_begin; + int m_end; + +public: + ParallelForJob( int iBegin, int iEnd, const btIParallelForBody& body ) + { + m_body = &body; + m_begin = iBegin; + m_end = iEnd; + } + virtual void executeJob(int threadId) BT_OVERRIDE + { + BT_PROFILE( "executeJob" ); + + // call the functor body to do the work + m_body->forLoop( m_begin, m_end ); + } +}; + + +class ParallelSumJob : public IJob +{ + const btIParallelSumBody* m_body; + ThreadLocalStorage* m_threadLocalStoreArray; + int m_begin; + int m_end; + +public: + ParallelSumJob( int iBegin, int iEnd, const btIParallelSumBody& body, ThreadLocalStorage* tls ) + { + m_body = &body; + m_threadLocalStoreArray = tls; + m_begin = iBegin; + m_end = iEnd; + } + virtual void executeJob( int threadId ) BT_OVERRIDE + { + BT_PROFILE( "executeJob" ); + + // call the functor body to do the work + btScalar val = m_body->sumLoop( m_begin, m_end ); +#if BT_PARALLEL_SUM_DETERMINISTISM + // by truncating bits of the result, we can make the parallelSum deterministic (at the expense of precision) + const float TRUNC_SCALE = float(1<<19); + val = floor(val*TRUNC_SCALE+0.5f)/TRUNC_SCALE; // truncate some bits +#endif + m_threadLocalStoreArray[threadId].m_sumResult += val; + } +}; + + +ATTRIBUTE_ALIGNED64(class) JobQueue +{ + btThreadSupportInterface* m_threadSupport; + btCriticalSection* m_queueLock; + btSpinMutex m_mutex; + + btAlignedObjectArray<IJob*> m_jobQueue; + char* m_jobMem; + int m_jobMemSize; + bool m_queueIsEmpty; + int m_tailIndex; + int m_headIndex; + int m_allocSize; + bool m_useSpinMutex; + btAlignedObjectArray<JobQueue*> m_neighborContexts; + char m_cachePadding[kCacheLineSize]; // prevent false sharing + + void freeJobMem() + { + if ( m_jobMem ) + { + // free old + btAlignedFree(m_jobMem); + m_jobMem = NULL; + } + } + void resizeJobMem(int newSize) + { + if (newSize > m_jobMemSize) + { + freeJobMem(); + m_jobMem = static_cast<char*>(btAlignedAlloc(newSize, kCacheLineSize)); + m_jobMemSize = newSize; + } + } + +public: + + JobQueue() + { + m_jobMem = NULL; + m_jobMemSize = 0; + m_threadSupport = NULL; + m_queueLock = NULL; + m_headIndex = 0; + m_tailIndex = 0; + m_useSpinMutex = false; + } + ~JobQueue() + { + exit(); + } + void exit() + { + freeJobMem(); + if (m_queueLock && m_threadSupport) + { + m_threadSupport->deleteCriticalSection(m_queueLock); + m_queueLock = NULL; + m_threadSupport = 0; + } + } + + void init(btThreadSupportInterface* threadSup, btAlignedObjectArray<JobQueue>* contextArray) + { + m_threadSupport = threadSup; + if (threadSup) + { + m_queueLock = m_threadSupport->createCriticalSection(); + } + setupJobStealing(contextArray, contextArray->size()); + } + void setupJobStealing(btAlignedObjectArray<JobQueue>* contextArray, int numActiveContexts) + { + btAlignedObjectArray<JobQueue>& contexts = *contextArray; + int selfIndex = 0; + for (int i = 0; i < contexts.size(); ++i) + { + if ( this == &contexts[ i ] ) + { + selfIndex = i; + break; + } + } + int numNeighbors = btMin(2, contexts.size() - 1); + int neighborOffsets[ ] = {-1, 1, -2, 2, -3, 3}; + int numOffsets = sizeof(neighborOffsets)/sizeof(neighborOffsets[0]); + m_neighborContexts.reserve( numNeighbors ); + m_neighborContexts.resizeNoInitialize(0); + for (int i = 0; i < numOffsets && m_neighborContexts.size() < numNeighbors; i++) + { + int neighborIndex = selfIndex + neighborOffsets[i]; + if ( neighborIndex >= 0 && neighborIndex < numActiveContexts) + { + m_neighborContexts.push_back( &contexts[ neighborIndex ] ); + } + } + } + + bool isQueueEmpty() const {return m_queueIsEmpty;} + void lockQueue() + { + if ( m_useSpinMutex ) + { + m_mutex.lock(); + } + else + { + m_queueLock->lock(); + } + } + void unlockQueue() + { + if ( m_useSpinMutex ) + { + m_mutex.unlock(); + } + else + { + m_queueLock->unlock(); + } + } + void clearQueue(int jobCount, int jobSize) + { + lockQueue(); + m_headIndex = 0; + m_tailIndex = 0; + m_allocSize = 0; + m_queueIsEmpty = true; + int jobBufSize = jobSize * jobCount; + // make sure we have enough memory allocated to store jobs + if ( jobBufSize > m_jobMemSize ) + { + resizeJobMem( jobBufSize ); + } + // make sure job queue is big enough + if ( jobCount > m_jobQueue.capacity() ) + { + m_jobQueue.reserve( jobCount ); + } + unlockQueue(); + m_jobQueue.resizeNoInitialize( 0 ); + } + void* allocJobMem(int jobSize) + { + btAssert(m_jobMemSize >= (m_allocSize + jobSize)); + void* jobMem = &m_jobMem[m_allocSize]; + m_allocSize += jobSize; + return jobMem; + } + void submitJob( IJob* job ) + { + btAssert( reinterpret_cast<char*>( job ) >= &m_jobMem[ 0 ] && reinterpret_cast<char*>( job ) < &m_jobMem[ 0 ] + m_allocSize ); + m_jobQueue.push_back( job ); + lockQueue(); + m_tailIndex++; + m_queueIsEmpty = false; + unlockQueue(); + } + IJob* consumeJobFromOwnQueue() + { + if ( m_queueIsEmpty ) + { + // lock free path. even if this is taken erroneously it isn't harmful + return NULL; + } + IJob* job = NULL; + lockQueue(); + if ( !m_queueIsEmpty ) + { + job = m_jobQueue[ m_headIndex++ ]; + btAssert( reinterpret_cast<char*>( job ) >= &m_jobMem[ 0 ] && reinterpret_cast<char*>( job ) < &m_jobMem[ 0 ] + m_allocSize ); + if ( m_headIndex == m_tailIndex ) + { + m_queueIsEmpty = true; + } + } + unlockQueue(); + return job; + } + IJob* consumeJob() + { + if (IJob* job = consumeJobFromOwnQueue()) + { + return job; + } + // own queue is empty, try to steal from neighbor + for (int i = 0; i < m_neighborContexts.size(); ++i) + { + JobQueue* otherContext = m_neighborContexts[ i ]; + if ( IJob* job = otherContext->consumeJobFromOwnQueue() ) + { + return job; + } + } + return NULL; + } +}; + + +static void WorkerThreadFunc( void* userPtr ) +{ + BT_PROFILE( "WorkerThreadFunc" ); + ThreadLocalStorage* localStorage = (ThreadLocalStorage*) userPtr; + JobQueue* jobQueue = localStorage->m_queue; + + bool shouldSleep = false; + int threadId = localStorage->m_threadId; + while (! shouldSleep) + { + // do work + localStorage->m_mutex.lock(); + while ( IJob* job = jobQueue->consumeJob() ) + { + localStorage->m_status = WorkerThreadStatus::kWorking; + job->executeJob( threadId ); + localStorage->m_numJobsFinished++; + } + localStorage->m_status = WorkerThreadStatus::kWaitingForWork; + localStorage->m_mutex.unlock(); + btU64 clockStart = localStorage->m_clock->getTimeMicroseconds(); + // while queue is empty, + while (jobQueue->isQueueEmpty()) + { + // todo: spin wait a bit to avoid hammering the empty queue + btSpinPause(); + if ( localStorage->m_directive->getDirective(threadId) == WorkerThreadDirectives::kGoToSleep ) + { + shouldSleep = true; + break; + } + // if jobs are incoming, + if ( localStorage->m_directive->getDirective( threadId ) == WorkerThreadDirectives::kScanForJobs ) + { + clockStart = localStorage->m_clock->getTimeMicroseconds(); // reset clock + } + else + { + for ( int i = 0; i < 50; ++i ) + { + btSpinPause(); + btSpinPause(); + btSpinPause(); + btSpinPause(); + if (localStorage->m_directive->getDirective( threadId ) == WorkerThreadDirectives::kScanForJobs || !jobQueue->isQueueEmpty()) + { + break; + } + } + // if no jobs incoming and queue has been empty for the cooldown time, sleep + btU64 timeElapsed = localStorage->m_clock->getTimeMicroseconds() - clockStart; + if (timeElapsed > localStorage->m_cooldownTime) + { + shouldSleep = true; + break; + } + } + } + } + { + BT_PROFILE("sleep"); + // go sleep + localStorage->m_mutex.lock(); + localStorage->m_status = WorkerThreadStatus::kSleeping; + localStorage->m_mutex.unlock(); + } +} + + +class btTaskSchedulerDefault : public btITaskScheduler +{ + btThreadSupportInterface* m_threadSupport; + WorkerThreadDirectives* m_workerDirective; + btAlignedObjectArray<JobQueue> m_jobQueues; + btAlignedObjectArray<JobQueue*> m_perThreadJobQueues; + btAlignedObjectArray<ThreadLocalStorage> m_threadLocalStorage; + btSpinMutex m_antiNestingLock; // prevent nested parallel-for + btClock m_clock; + int m_numThreads; + int m_numWorkerThreads; + int m_numActiveJobQueues; + int m_maxNumThreads; + int m_numJobs; + static const int kFirstWorkerThreadId = 1; +public: + + btTaskSchedulerDefault() : btITaskScheduler("ThreadSupport") + { + m_threadSupport = NULL; + m_workerDirective = NULL; + } + + virtual ~btTaskSchedulerDefault() + { + waitForWorkersToSleep(); + + for ( int i = 0; i < m_jobQueues.size(); ++i ) + { + m_jobQueues[i].exit(); + } + + if (m_threadSupport) + { + delete m_threadSupport; + m_threadSupport = NULL; + } + if (m_workerDirective) + { + btAlignedFree(m_workerDirective); + m_workerDirective = NULL; + } + } + + void init() + { + btThreadSupportInterface::ConstructionInfo constructionInfo( "TaskScheduler", WorkerThreadFunc ); + m_threadSupport = btThreadSupportInterface::create( constructionInfo ); + m_workerDirective = static_cast<WorkerThreadDirectives*>(btAlignedAlloc(sizeof(*m_workerDirective), 64)); + + m_numWorkerThreads = m_threadSupport->getNumWorkerThreads(); + m_maxNumThreads = m_threadSupport->getNumWorkerThreads() + 1; + m_numThreads = m_maxNumThreads; + // ideal to have one job queue for each physical processor (except for the main thread which needs no queue) + int numThreadsPerQueue = m_threadSupport->getLogicalToPhysicalCoreRatio(); + int numJobQueues = (numThreadsPerQueue == 1) ? (m_maxNumThreads-1) : (m_maxNumThreads / numThreadsPerQueue); + m_jobQueues.resize(numJobQueues); + m_numActiveJobQueues = numJobQueues; + for ( int i = 0; i < m_jobQueues.size(); ++i ) + { + m_jobQueues[i].init( m_threadSupport, &m_jobQueues ); + } + m_perThreadJobQueues.resize(m_numThreads); + for ( int i = 0; i < m_numThreads; i++ ) + { + JobQueue* jq = NULL; + // only worker threads get a job queue + if (i > 0) + { + if (numThreadsPerQueue == 1) + { + // one queue per worker thread + jq = &m_jobQueues[ i - kFirstWorkerThreadId ]; + } + else + { + // 2 threads share each queue + jq = &m_jobQueues[ i / numThreadsPerQueue ]; + } + } + m_perThreadJobQueues[i] = jq; + } + m_threadLocalStorage.resize(m_numThreads); + for ( int i = 0; i < m_numThreads; i++ ) + { + ThreadLocalStorage& storage = m_threadLocalStorage[i]; + storage.m_threadId = i; + storage.m_directive = m_workerDirective; + storage.m_status = WorkerThreadStatus::kSleeping; + storage.m_cooldownTime = 100; // 100 microseconds, threads go to sleep after this long if they have nothing to do + storage.m_clock = &m_clock; + storage.m_queue = m_perThreadJobQueues[i]; + } + setWorkerDirectives( WorkerThreadDirectives::kGoToSleep ); // no work for them yet + setNumThreads( m_threadSupport->getCacheFriendlyNumThreads() ); + } + + void setWorkerDirectives(WorkerThreadDirectives::Type dir) + { + m_workerDirective->setDirectiveByRange(kFirstWorkerThreadId, m_numThreads, dir); + } + + virtual int getMaxNumThreads() const BT_OVERRIDE + { + return m_maxNumThreads; + } + + virtual int getNumThreads() const BT_OVERRIDE + { + return m_numThreads; + } + + virtual void setNumThreads( int numThreads ) BT_OVERRIDE + { + m_numThreads = btMax( btMin(numThreads, int(m_maxNumThreads)), 1 ); + m_numWorkerThreads = m_numThreads - 1; + m_numActiveJobQueues = 0; + // if there is at least 1 worker, + if ( m_numWorkerThreads > 0 ) + { + // re-setup job stealing between queues to avoid attempting to steal from an inactive job queue + JobQueue* lastActiveContext = m_perThreadJobQueues[ m_numThreads - 1 ]; + int iLastActiveContext = lastActiveContext - &m_jobQueues[0]; + m_numActiveJobQueues = iLastActiveContext + 1; + for ( int i = 0; i < m_jobQueues.size(); ++i ) + { + m_jobQueues[ i ].setupJobStealing( &m_jobQueues, m_numActiveJobQueues ); + } + } + m_workerDirective->setDirectiveByRange(m_numThreads, BT_MAX_THREAD_COUNT, WorkerThreadDirectives::kGoToSleep); + } + + void waitJobs() + { + BT_PROFILE( "waitJobs" ); + // have the main thread work until the job queues are empty + int numMainThreadJobsFinished = 0; + for ( int i = 0; i < m_numActiveJobQueues; ++i ) + { + while ( IJob* job = m_jobQueues[i].consumeJob() ) + { + job->executeJob( 0 ); + numMainThreadJobsFinished++; + } + } + + // done with jobs for now, tell workers to rest (but not sleep) + setWorkerDirectives( WorkerThreadDirectives::kStayAwakeButIdle ); + + btU64 clockStart = m_clock.getTimeMicroseconds(); + // wait for workers to finish any jobs in progress + while ( true ) + { + int numWorkerJobsFinished = 0; + for ( int iThread = kFirstWorkerThreadId; iThread < m_numThreads; ++iThread ) + { + ThreadLocalStorage* storage = &m_threadLocalStorage[iThread]; + storage->m_mutex.lock(); + numWorkerJobsFinished += storage->m_numJobsFinished; + storage->m_mutex.unlock(); + } + if (numWorkerJobsFinished + numMainThreadJobsFinished == m_numJobs) + { + break; + } + btU64 timeElapsed = m_clock.getTimeMicroseconds() - clockStart; + btAssert(timeElapsed < 1000); + if (timeElapsed > 100000) + { + break; + } + btSpinPause(); + } + } + + void wakeWorkers(int numWorkersToWake) + { + BT_PROFILE( "wakeWorkers" ); + btAssert( m_workerDirective->getDirective(1) == WorkerThreadDirectives::kScanForJobs ); + int numDesiredWorkers = btMin(numWorkersToWake, m_numWorkerThreads); + int numActiveWorkers = 0; + for ( int iWorker = 0; iWorker < m_numWorkerThreads; ++iWorker ) + { + // note this count of active workers is not necessarily totally reliable, because a worker thread could be + // just about to put itself to sleep. So we may on occasion fail to wake up all the workers. It should be rare. + ThreadLocalStorage& storage = m_threadLocalStorage[ kFirstWorkerThreadId + iWorker ]; + if (storage.m_status != WorkerThreadStatus::kSleeping) + { + numActiveWorkers++; + } + } + for ( int iWorker = 0; iWorker < m_numWorkerThreads && numActiveWorkers < numDesiredWorkers; ++iWorker ) + { + ThreadLocalStorage& storage = m_threadLocalStorage[ kFirstWorkerThreadId + iWorker ]; + if (storage.m_status == WorkerThreadStatus::kSleeping) + { + m_threadSupport->runTask( iWorker, &storage ); + numActiveWorkers++; + } + } + } + + void waitForWorkersToSleep() + { + BT_PROFILE( "waitForWorkersToSleep" ); + setWorkerDirectives( WorkerThreadDirectives::kGoToSleep ); + m_threadSupport->waitForAllTasks(); + for ( int i = kFirstWorkerThreadId; i < m_numThreads; i++ ) + { + ThreadLocalStorage& storage = m_threadLocalStorage[i]; + btAssert( storage.m_status == WorkerThreadStatus::kSleeping ); + } + } + + virtual void sleepWorkerThreadsHint() BT_OVERRIDE + { + BT_PROFILE( "sleepWorkerThreadsHint" ); + // hint the task scheduler that we may not be using these threads for a little while + setWorkerDirectives( WorkerThreadDirectives::kGoToSleep ); + } + + void prepareWorkerThreads() + { + for ( int i = kFirstWorkerThreadId; i < m_numThreads; ++i ) + { + ThreadLocalStorage& storage = m_threadLocalStorage[i]; + storage.m_mutex.lock(); + storage.m_numJobsFinished = 0; + storage.m_mutex.unlock(); + } + setWorkerDirectives( WorkerThreadDirectives::kScanForJobs ); + } + + virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_ThreadSupport" ); + btAssert( iEnd >= iBegin ); + btAssert( grainSize >= 1 ); + int iterationCount = iEnd - iBegin; + if ( iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock() ) + { + typedef ParallelForJob JobType; + int jobCount = ( iterationCount + grainSize - 1 ) / grainSize; + m_numJobs = jobCount; + btAssert( jobCount >= 2 ); // need more than one job for multithreading + int jobSize = sizeof( JobType ); + + for (int i = 0; i < m_numActiveJobQueues; ++i) + { + m_jobQueues[i].clearQueue( jobCount, jobSize ); + } + // prepare worker threads for incoming work + prepareWorkerThreads(); + // submit all of the jobs + int iJob = 0; + int iThread = kFirstWorkerThreadId; // first worker thread + for ( int i = iBegin; i < iEnd; i += grainSize ) + { + btAssert( iJob < jobCount ); + int iE = btMin( i + grainSize, iEnd ); + JobQueue* jq = m_perThreadJobQueues[ iThread ]; + btAssert(jq); + btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues); + void* jobMem = jq->allocJobMem(jobSize); + JobType* job = new ( jobMem ) ParallelForJob( i, iE, body ); // placement new + jq->submitJob( job ); + iJob++; + iThread++; + if ( iThread >= m_numThreads ) + { + iThread = kFirstWorkerThreadId; // first worker thread + } + } + wakeWorkers( jobCount - 1 ); + + // put the main thread to work on emptying the job queue and then wait for all workers to finish + waitJobs(); + m_antiNestingLock.unlock(); + } + else + { + BT_PROFILE( "parallelFor_mainThread" ); + // just run on main thread + body.forLoop( iBegin, iEnd ); + } + } + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelSum_ThreadSupport" ); + btAssert( iEnd >= iBegin ); + btAssert( grainSize >= 1 ); + int iterationCount = iEnd - iBegin; + if ( iterationCount > grainSize && m_numWorkerThreads > 0 && m_antiNestingLock.tryLock() ) + { + typedef ParallelSumJob JobType; + int jobCount = ( iterationCount + grainSize - 1 ) / grainSize; + m_numJobs = jobCount; + btAssert( jobCount >= 2 ); // need more than one job for multithreading + int jobSize = sizeof( JobType ); + for (int i = 0; i < m_numActiveJobQueues; ++i) + { + m_jobQueues[i].clearQueue( jobCount, jobSize ); + } + + // initialize summation + for ( int iThread = 0; iThread < m_numThreads; ++iThread ) + { + m_threadLocalStorage[iThread].m_sumResult = btScalar(0); + } + + // prepare worker threads for incoming work + prepareWorkerThreads(); + // submit all of the jobs + int iJob = 0; + int iThread = kFirstWorkerThreadId; // first worker thread + for ( int i = iBegin; i < iEnd; i += grainSize ) + { + btAssert( iJob < jobCount ); + int iE = btMin( i + grainSize, iEnd ); + JobQueue* jq = m_perThreadJobQueues[ iThread ]; + btAssert(jq); + btAssert((jq - &m_jobQueues[0]) < m_numActiveJobQueues); + void* jobMem = jq->allocJobMem(jobSize); + JobType* job = new ( jobMem ) ParallelSumJob( i, iE, body, &m_threadLocalStorage[0] ); // placement new + jq->submitJob( job ); + iJob++; + iThread++; + if ( iThread >= m_numThreads ) + { + iThread = kFirstWorkerThreadId; // first worker thread + } + } + wakeWorkers( jobCount - 1 ); + + // put the main thread to work on emptying the job queue and then wait for all workers to finish + waitJobs(); + + // add up all the thread sums + btScalar sum = btScalar(0); + for ( int iThread = 0; iThread < m_numThreads; ++iThread ) + { + sum += m_threadLocalStorage[ iThread ].m_sumResult; + } + m_antiNestingLock.unlock(); + return sum; + } + else + { + BT_PROFILE( "parallelSum_mainThread" ); + // just run on main thread + return body.sumLoop( iBegin, iEnd ); + } + } +}; + + + +btITaskScheduler* btCreateDefaultTaskScheduler() +{ + btTaskSchedulerDefault* ts = new btTaskSchedulerDefault(); + ts->init(); + return ts; +} + +#else // #if BT_THREADSAFE + +btITaskScheduler* btCreateDefaultTaskScheduler() +{ + return NULL; +} + +#endif // #else // #if BT_THREADSAFE diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h new file mode 100644 index 0000000000..a0ad802b1e --- /dev/null +++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportInterface.h @@ -0,0 +1,70 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#ifndef BT_THREAD_SUPPORT_INTERFACE_H +#define BT_THREAD_SUPPORT_INTERFACE_H + + + +class btCriticalSection +{ +public: + btCriticalSection() {} + virtual ~btCriticalSection() {} + + virtual void lock() = 0; + virtual void unlock() = 0; +}; + + +class btThreadSupportInterface +{ +public: + + virtual ~btThreadSupportInterface() {} + + virtual int getNumWorkerThreads() const = 0; // number of worker threads (total number of logical processors - 1) + virtual int getCacheFriendlyNumThreads() const = 0; // the number of logical processors sharing a single L3 cache + virtual int getLogicalToPhysicalCoreRatio() const = 0; // the number of logical processors per physical processor (usually 1 or 2) + virtual void runTask( int threadIndex, void* userData ) = 0; + virtual void waitForAllTasks() = 0; + + virtual btCriticalSection* createCriticalSection() = 0; + virtual void deleteCriticalSection( btCriticalSection* criticalSection ) = 0; + + typedef void( *ThreadFunc )( void* userPtr ); + + struct ConstructionInfo + { + ConstructionInfo( const char* uniqueName, + ThreadFunc userThreadFunc, + int threadStackSize = 65535 + ) + :m_uniqueName( uniqueName ), + m_userThreadFunc( userThreadFunc ), + m_threadStackSize( threadStackSize ) + { + } + + const char* m_uniqueName; + ThreadFunc m_userThreadFunc; + int m_threadStackSize; + }; + + static btThreadSupportInterface* create( const ConstructionInfo& info ); +}; + +#endif //BT_THREAD_SUPPORT_INTERFACE_H + diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp new file mode 100644 index 0000000000..50ca060dfe --- /dev/null +++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportPosix.cpp @@ -0,0 +1,365 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com + +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. +*/ + + +#if BT_THREADSAFE && !defined( _WIN32 ) + + +#include "LinearMath/btScalar.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btThreads.h" +#include "LinearMath/btMinMax.h" +#include "btThreadSupportInterface.h" + +#include <stdio.h> +#include <errno.h> +#include <unistd.h> + + +#ifndef _XOPEN_SOURCE +#define _XOPEN_SOURCE 600 //for definition of pthread_barrier_t, see http://pages.cs.wisc.edu/~travitch/pthreads_primer.html +#endif //_XOPEN_SOURCE +#include <pthread.h> +#include <semaphore.h> +#include <unistd.h> //for sysconf + + +/// +/// getNumHardwareThreads() +/// +/// +/// https://stackoverflow.com/questions/150355/programmatically-find-the-number-of-cores-on-a-machine +/// +#if __cplusplus >= 201103L + +#include <thread> + +int btGetNumHardwareThreads() +{ + return btMin<int>(BT_MAX_THREAD_COUNT, std::thread::hardware_concurrency()); +} + +#else + +int btGetNumHardwareThreads() +{ + return btMin<int>(BT_MAX_THREAD_COUNT, sysconf( _SC_NPROCESSORS_ONLN )); +} + +#endif + + +// btThreadSupportPosix helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +class btThreadSupportPosix : public btThreadSupportInterface +{ +public: + struct btThreadStatus + { + int m_taskId; + int m_commandId; + int m_status; + + ThreadFunc m_userThreadFunc; + void* m_userPtr; //for taskDesc etc + + pthread_t thread; + //each tread will wait until this signal to start its work + sem_t* startSemaphore; + + // this is a copy of m_mainSemaphore, + //each tread will signal once it is finished with its work + sem_t* m_mainSemaphore; + unsigned long threadUsed; + }; +private: + typedef unsigned long long UINT64; + + btAlignedObjectArray<btThreadStatus> m_activeThreadStatus; + // m_mainSemaphoresemaphore will signal, if and how many threads are finished with their work + sem_t* m_mainSemaphore; + int m_numThreads; + UINT64 m_startedThreadsMask; + void startThreads( const ConstructionInfo& threadInfo ); + void stopThreads(); + int waitForResponse(); + +public: + btThreadSupportPosix( const ConstructionInfo& threadConstructionInfo ); + virtual ~btThreadSupportPosix(); + + virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; } + // TODO: return the number of logical processors sharing the first L3 cache + virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return m_numThreads + 1; } + // TODO: detect if CPU has hyperthreading enabled + virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return 1; } + + virtual void runTask( int threadIndex, void* userData ) BT_OVERRIDE; + virtual void waitForAllTasks() BT_OVERRIDE; + + virtual btCriticalSection* createCriticalSection() BT_OVERRIDE; + virtual void deleteCriticalSection( btCriticalSection* criticalSection ) BT_OVERRIDE; +}; + + +#define checkPThreadFunction(returnValue) \ + if(0 != returnValue) { \ + printf("PThread problem at line %i in file %s: %i %d\n", __LINE__, __FILE__, returnValue, errno); \ + } + +// The number of threads should be equal to the number of available cores +// Todo: each worker should be linked to a single core, using SetThreadIdealProcessor. + + +btThreadSupportPosix::btThreadSupportPosix( const ConstructionInfo& threadConstructionInfo ) +{ + startThreads( threadConstructionInfo ); +} + +// cleanup/shutdown Libspe2 +btThreadSupportPosix::~btThreadSupportPosix() +{ + stopThreads(); +} + +#if (defined (__APPLE__)) +#define NAMED_SEMAPHORES +#endif + + +static sem_t* createSem( const char* baseName ) +{ + static int semCount = 0; +#ifdef NAMED_SEMAPHORES + /// Named semaphore begin + char name[ 32 ]; + snprintf( name, 32, "/%8.s-%4.d-%4.4d", baseName, getpid(), semCount++ ); + sem_t* tempSem = sem_open( name, O_CREAT, 0600, 0 ); + + if ( tempSem != reinterpret_cast<sem_t *>( SEM_FAILED ) ) + { + // printf("Created \"%s\" Semaphore %p\n", name, tempSem); + } + else + { + //printf("Error creating Semaphore %d\n", errno); + exit( -1 ); + } + /// Named semaphore end +#else + sem_t* tempSem = new sem_t; + checkPThreadFunction( sem_init( tempSem, 0, 0 ) ); +#endif + return tempSem; +} + +static void destroySem( sem_t* semaphore ) +{ +#ifdef NAMED_SEMAPHORES + checkPThreadFunction( sem_close( semaphore ) ); +#else + checkPThreadFunction( sem_destroy( semaphore ) ); + delete semaphore; +#endif +} + +static void *threadFunction( void *argument ) +{ + btThreadSupportPosix::btThreadStatus* status = ( btThreadSupportPosix::btThreadStatus* )argument; + + while ( 1 ) + { + checkPThreadFunction( sem_wait( status->startSemaphore ) ); + void* userPtr = status->m_userPtr; + + if ( userPtr ) + { + btAssert( status->m_status ); + status->m_userThreadFunc( userPtr ); + status->m_status = 2; + checkPThreadFunction( sem_post( status->m_mainSemaphore ) ); + status->threadUsed++; + } + else + { + //exit Thread + status->m_status = 3; + checkPThreadFunction( sem_post( status->m_mainSemaphore ) ); + printf( "Thread with taskId %i exiting\n", status->m_taskId ); + break; + } + } + + printf( "Thread TERMINATED\n" ); + return 0; +} + +///send messages to SPUs +void btThreadSupportPosix::runTask( int threadIndex, void* userData ) +{ + ///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished + btThreadStatus& threadStatus = m_activeThreadStatus[ threadIndex ]; + btAssert( threadIndex >= 0 ); + btAssert( threadIndex < m_activeThreadStatus.size() ); + + threadStatus.m_commandId = 1; + threadStatus.m_status = 1; + threadStatus.m_userPtr = userData; + m_startedThreadsMask |= UINT64( 1 ) << threadIndex; + + // fire event to start new task + checkPThreadFunction( sem_post( threadStatus.startSemaphore ) ); +} + + +///check for messages from SPUs +int btThreadSupportPosix::waitForResponse() +{ + ///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response + ///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback' + + btAssert( m_activeThreadStatus.size() ); + + // wait for any of the threads to finish + checkPThreadFunction( sem_wait( m_mainSemaphore ) ); + // get at least one thread which has finished + size_t last = -1; + + for ( size_t t = 0; t < size_t( m_activeThreadStatus.size() ); ++t ) + { + if ( 2 == m_activeThreadStatus[ t ].m_status ) + { + last = t; + break; + } + } + + btThreadStatus& threadStatus = m_activeThreadStatus[ last ]; + + btAssert( threadStatus.m_status > 1 ); + threadStatus.m_status = 0; + + // need to find an active spu + btAssert( last >= 0 ); + m_startedThreadsMask &= ~( UINT64( 1 ) << last ); + + return last; +} + + +void btThreadSupportPosix::waitForAllTasks() +{ + while ( m_startedThreadsMask ) + { + waitForResponse(); + } +} + + +void btThreadSupportPosix::startThreads( const ConstructionInfo& threadConstructionInfo ) +{ + m_numThreads = btGetNumHardwareThreads() - 1; // main thread exists already + printf( "%s creating %i threads.\n", __FUNCTION__, m_numThreads ); + m_activeThreadStatus.resize( m_numThreads ); + m_startedThreadsMask = 0; + + m_mainSemaphore = createSem( "main" ); + //checkPThreadFunction(sem_wait(mainSemaphore)); + + for ( int i = 0; i < m_numThreads; i++ ) + { + printf( "starting thread %d\n", i ); + btThreadStatus& threadStatus = m_activeThreadStatus[ i ]; + threadStatus.startSemaphore = createSem( "threadLocal" ); + checkPThreadFunction( pthread_create( &threadStatus.thread, NULL, &threadFunction, (void*) &threadStatus ) ); + + threadStatus.m_userPtr = 0; + threadStatus.m_taskId = i; + threadStatus.m_commandId = 0; + threadStatus.m_status = 0; + threadStatus.m_mainSemaphore = m_mainSemaphore; + threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc; + threadStatus.threadUsed = 0; + + printf( "started thread %d \n", i ); + } +} + +///tell the task scheduler we are done with the SPU tasks +void btThreadSupportPosix::stopThreads() +{ + for ( size_t t = 0; t < size_t( m_activeThreadStatus.size() ); ++t ) + { + btThreadStatus& threadStatus = m_activeThreadStatus[ t ]; + printf( "%s: Thread %i used: %ld\n", __FUNCTION__, int( t ), threadStatus.threadUsed ); + + threadStatus.m_userPtr = 0; + checkPThreadFunction( sem_post( threadStatus.startSemaphore ) ); + checkPThreadFunction( sem_wait( m_mainSemaphore ) ); + + printf( "destroy semaphore\n" ); + destroySem( threadStatus.startSemaphore ); + printf( "semaphore destroyed\n" ); + checkPThreadFunction( pthread_join( threadStatus.thread, 0 ) ); + + } + printf( "destroy main semaphore\n" ); + destroySem( m_mainSemaphore ); + printf( "main semaphore destroyed\n" ); + m_activeThreadStatus.clear(); +} + +class btCriticalSectionPosix : public btCriticalSection +{ + pthread_mutex_t m_mutex; + +public: + btCriticalSectionPosix() + { + pthread_mutex_init( &m_mutex, NULL ); + } + virtual ~btCriticalSectionPosix() + { + pthread_mutex_destroy( &m_mutex ); + } + + virtual void lock() + { + pthread_mutex_lock( &m_mutex ); + } + virtual void unlock() + { + pthread_mutex_unlock( &m_mutex ); + } +}; + + +btCriticalSection* btThreadSupportPosix::createCriticalSection() +{ + return new btCriticalSectionPosix(); +} + +void btThreadSupportPosix::deleteCriticalSection( btCriticalSection* cs ) +{ + delete cs; +} + + +btThreadSupportInterface* btThreadSupportInterface::create( const ConstructionInfo& info ) +{ + return new btThreadSupportPosix( info ); +} + +#endif // BT_THREADSAFE && !defined( _WIN32 ) + diff --git a/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp new file mode 100644 index 0000000000..00edac650b --- /dev/null +++ b/thirdparty/bullet/LinearMath/TaskScheduler/btThreadSupportWin32.cpp @@ -0,0 +1,472 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2018 Erwin Coumans http://bulletphysics.com + +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. +*/ + +#if defined( _WIN32 ) && BT_THREADSAFE + +#include "LinearMath/btScalar.h" +#include "LinearMath/btMinMax.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btThreads.h" +#include "btThreadSupportInterface.h" +#include <windows.h> +#include <stdio.h> + + +struct btProcessorInfo +{ + int numLogicalProcessors; + int numCores; + int numNumaNodes; + int numL1Cache; + int numL2Cache; + int numL3Cache; + int numPhysicalPackages; + static const int maxNumTeamMasks = 32; + int numTeamMasks; + UINT64 processorTeamMasks[ maxNumTeamMasks ]; +}; + +UINT64 getProcessorTeamMask( const btProcessorInfo& procInfo, int procId ) +{ + UINT64 procMask = UINT64( 1 ) << procId; + for ( int i = 0; i < procInfo.numTeamMasks; ++i ) + { + if ( procMask & procInfo.processorTeamMasks[ i ] ) + { + return procInfo.processorTeamMasks[ i ]; + } + } + return 0; +} + +int getProcessorTeamIndex( const btProcessorInfo& procInfo, int procId ) +{ + UINT64 procMask = UINT64( 1 ) << procId; + for ( int i = 0; i < procInfo.numTeamMasks; ++i ) + { + if ( procMask & procInfo.processorTeamMasks[ i ] ) + { + return i; + } + } + return -1; +} + +int countSetBits( ULONG64 bits ) +{ + int count = 0; + while ( bits ) + { + if ( bits & 1 ) + { + count++; + } + bits >>= 1; + } + return count; +} + + +typedef BOOL( WINAPI *Pfn_GetLogicalProcessorInformation )( PSYSTEM_LOGICAL_PROCESSOR_INFORMATION, PDWORD ); + + +void getProcessorInformation( btProcessorInfo* procInfo ) +{ + memset( procInfo, 0, sizeof( *procInfo ) ); + Pfn_GetLogicalProcessorInformation getLogicalProcInfo = + (Pfn_GetLogicalProcessorInformation) GetProcAddress( GetModuleHandle( TEXT( "kernel32" ) ), "GetLogicalProcessorInformation" ); + if ( getLogicalProcInfo == NULL ) + { + // no info + return; + } + PSYSTEM_LOGICAL_PROCESSOR_INFORMATION buf = NULL; + DWORD bufSize = 0; + while ( true ) + { + if ( getLogicalProcInfo( buf, &bufSize ) ) + { + break; + } + else + { + if ( GetLastError() == ERROR_INSUFFICIENT_BUFFER ) + { + if ( buf ) + { + free( buf ); + } + buf = (PSYSTEM_LOGICAL_PROCESSOR_INFORMATION) malloc( bufSize ); + } + } + } + + int len = bufSize / sizeof( *buf ); + for ( int i = 0; i < len; ++i ) + { + PSYSTEM_LOGICAL_PROCESSOR_INFORMATION info = buf + i; + switch ( info->Relationship ) + { + case RelationNumaNode: + procInfo->numNumaNodes++; + break; + + case RelationProcessorCore: + procInfo->numCores++; + procInfo->numLogicalProcessors += countSetBits( info->ProcessorMask ); + break; + + case RelationCache: + if ( info->Cache.Level == 1 ) + { + procInfo->numL1Cache++; + } + else if ( info->Cache.Level == 2 ) + { + procInfo->numL2Cache++; + } + else if ( info->Cache.Level == 3 ) + { + procInfo->numL3Cache++; + // processors that share L3 cache are considered to be on the same team + // because they can more easily work together on the same data. + // Large performance penalties will occur if 2 or more threads from different + // teams attempt to frequently read and modify the same cache lines. + // + // On the AMD Ryzen 7 CPU for example, the 8 cores on the CPU are split into + // 2 CCX units of 4 cores each. Each CCX has a separate L3 cache, so if both + // CCXs are operating on the same data, many cycles will be spent keeping the + // two caches coherent. + if ( procInfo->numTeamMasks < btProcessorInfo::maxNumTeamMasks ) + { + procInfo->processorTeamMasks[ procInfo->numTeamMasks ] = info->ProcessorMask; + procInfo->numTeamMasks++; + } + } + break; + + case RelationProcessorPackage: + procInfo->numPhysicalPackages++; + break; + } + } + free( buf ); +} + + + +///btThreadSupportWin32 helps to initialize/shutdown libspe2, start/stop SPU tasks and communication +class btThreadSupportWin32 : public btThreadSupportInterface +{ +public: + struct btThreadStatus + { + int m_taskId; + int m_commandId; + int m_status; + + ThreadFunc m_userThreadFunc; + void* m_userPtr; //for taskDesc etc + + void* m_threadHandle; //this one is calling 'Win32ThreadFunc' + + void* m_eventStartHandle; + char m_eventStartHandleName[ 32 ]; + + void* m_eventCompleteHandle; + char m_eventCompleteHandleName[ 32 ]; + }; + +private: + btAlignedObjectArray<btThreadStatus> m_activeThreadStatus; + btAlignedObjectArray<void*> m_completeHandles; + int m_numThreads; + DWORD_PTR m_startedThreadMask; + btProcessorInfo m_processorInfo; + + void startThreads( const ConstructionInfo& threadInfo ); + void stopThreads(); + int waitForResponse(); + +public: + + btThreadSupportWin32( const ConstructionInfo& threadConstructionInfo ); + virtual ~btThreadSupportWin32(); + + virtual int getNumWorkerThreads() const BT_OVERRIDE { return m_numThreads; } + virtual int getCacheFriendlyNumThreads() const BT_OVERRIDE { return countSetBits(m_processorInfo.processorTeamMasks[0]); } + virtual int getLogicalToPhysicalCoreRatio() const BT_OVERRIDE { return m_processorInfo.numLogicalProcessors / m_processorInfo.numCores; } + + virtual void runTask( int threadIndex, void* userData ) BT_OVERRIDE; + virtual void waitForAllTasks() BT_OVERRIDE; + + virtual btCriticalSection* createCriticalSection() BT_OVERRIDE; + virtual void deleteCriticalSection( btCriticalSection* criticalSection ) BT_OVERRIDE; +}; + + +btThreadSupportWin32::btThreadSupportWin32( const ConstructionInfo & threadConstructionInfo ) +{ + startThreads( threadConstructionInfo ); +} + + +btThreadSupportWin32::~btThreadSupportWin32() +{ + stopThreads(); +} + + +DWORD WINAPI win32threadStartFunc( LPVOID lpParam ) +{ + btThreadSupportWin32::btThreadStatus* status = ( btThreadSupportWin32::btThreadStatus* )lpParam; + + while ( 1 ) + { + WaitForSingleObject( status->m_eventStartHandle, INFINITE ); + void* userPtr = status->m_userPtr; + + if ( userPtr ) + { + btAssert( status->m_status ); + status->m_userThreadFunc( userPtr ); + status->m_status = 2; + SetEvent( status->m_eventCompleteHandle ); + } + else + { + //exit Thread + status->m_status = 3; + printf( "Thread with taskId %i with handle %p exiting\n", status->m_taskId, status->m_threadHandle ); + SetEvent( status->m_eventCompleteHandle ); + break; + } + } + printf( "Thread TERMINATED\n" ); + return 0; +} + + +void btThreadSupportWin32::runTask( int threadIndex, void* userData ) +{ + btThreadStatus& threadStatus = m_activeThreadStatus[ threadIndex ]; + btAssert( threadIndex >= 0 ); + btAssert( int( threadIndex ) < m_activeThreadStatus.size() ); + + threadStatus.m_commandId = 1; + threadStatus.m_status = 1; + threadStatus.m_userPtr = userData; + m_startedThreadMask |= DWORD_PTR( 1 ) << threadIndex; + + ///fire event to start new task + SetEvent( threadStatus.m_eventStartHandle ); +} + + +int btThreadSupportWin32::waitForResponse() +{ + btAssert( m_activeThreadStatus.size() ); + + int last = -1; + DWORD res = WaitForMultipleObjects( m_completeHandles.size(), &m_completeHandles[ 0 ], FALSE, INFINITE ); + btAssert( res != WAIT_FAILED ); + last = res - WAIT_OBJECT_0; + + btThreadStatus& threadStatus = m_activeThreadStatus[ last ]; + btAssert( threadStatus.m_threadHandle ); + btAssert( threadStatus.m_eventCompleteHandle ); + + //WaitForSingleObject(threadStatus.m_eventCompleteHandle, INFINITE); + btAssert( threadStatus.m_status > 1 ); + threadStatus.m_status = 0; + + ///need to find an active spu + btAssert( last >= 0 ); + m_startedThreadMask &= ~( DWORD_PTR( 1 ) << last ); + + return last; +} + + +void btThreadSupportWin32::waitForAllTasks() +{ + while ( m_startedThreadMask ) + { + waitForResponse(); + } +} + + +void btThreadSupportWin32::startThreads( const ConstructionInfo& threadConstructionInfo ) +{ + static int uniqueId = 0; + uniqueId++; + btProcessorInfo& procInfo = m_processorInfo; + getProcessorInformation( &procInfo ); + DWORD_PTR dwProcessAffinityMask = 0; + DWORD_PTR dwSystemAffinityMask = 0; + if ( !GetProcessAffinityMask( GetCurrentProcess(), &dwProcessAffinityMask, &dwSystemAffinityMask ) ) + { + dwProcessAffinityMask = 0; + } + ///The number of threads should be equal to the number of available cores - 1 + m_numThreads = btMin(procInfo.numLogicalProcessors, int(BT_MAX_THREAD_COUNT)) - 1; // cap to max thread count (-1 because main thread already exists) + + m_activeThreadStatus.resize( m_numThreads ); + m_completeHandles.resize( m_numThreads ); + m_startedThreadMask = 0; + + // set main thread affinity + if ( DWORD_PTR mask = dwProcessAffinityMask & getProcessorTeamMask( procInfo, 0 )) + { + SetThreadAffinityMask( GetCurrentThread(), mask ); + SetThreadIdealProcessor( GetCurrentThread(), 0 ); + } + + for ( int i = 0; i < m_numThreads; i++ ) + { + printf( "starting thread %d\n", i ); + + btThreadStatus& threadStatus = m_activeThreadStatus[ i ]; + + LPSECURITY_ATTRIBUTES lpThreadAttributes = NULL; + SIZE_T dwStackSize = threadConstructionInfo.m_threadStackSize; + LPTHREAD_START_ROUTINE lpStartAddress = &win32threadStartFunc; + LPVOID lpParameter = &threadStatus; + DWORD dwCreationFlags = 0; + LPDWORD lpThreadId = 0; + + threadStatus.m_userPtr = 0; + + sprintf( threadStatus.m_eventStartHandleName, "es%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i ); + threadStatus.m_eventStartHandle = CreateEventA( 0, false, false, threadStatus.m_eventStartHandleName ); + + sprintf( threadStatus.m_eventCompleteHandleName, "ec%.8s%d%d", threadConstructionInfo.m_uniqueName, uniqueId, i ); + threadStatus.m_eventCompleteHandle = CreateEventA( 0, false, false, threadStatus.m_eventCompleteHandleName ); + + m_completeHandles[ i ] = threadStatus.m_eventCompleteHandle; + + HANDLE handle = CreateThread( lpThreadAttributes, dwStackSize, lpStartAddress, lpParameter, dwCreationFlags, lpThreadId ); + //SetThreadPriority( handle, THREAD_PRIORITY_HIGHEST ); + // highest priority -- can cause erratic performance when numThreads > numCores + // we don't want worker threads to be higher priority than the main thread or the main thread could get + // totally shut out and unable to tell the workers to stop + //SetThreadPriority( handle, THREAD_PRIORITY_BELOW_NORMAL ); + + { + int processorId = i + 1; // leave processor 0 for main thread + DWORD_PTR teamMask = getProcessorTeamMask( procInfo, processorId ); + if ( teamMask ) + { + // bind each thread to only execute on processors of it's assigned team + // - for single-socket Intel x86 CPUs this has no effect (only a single, shared L3 cache so there is only 1 team) + // - for multi-socket Intel this will keep threads from migrating from one socket to another + // - for AMD Ryzen this will keep threads from migrating from one CCX to another + DWORD_PTR mask = teamMask & dwProcessAffinityMask; + if ( mask ) + { + SetThreadAffinityMask( handle, mask ); + } + } + SetThreadIdealProcessor( handle, processorId ); + } + + threadStatus.m_taskId = i; + threadStatus.m_commandId = 0; + threadStatus.m_status = 0; + threadStatus.m_threadHandle = handle; + threadStatus.m_userThreadFunc = threadConstructionInfo.m_userThreadFunc; + + printf( "started %s thread %d with threadHandle %p\n", threadConstructionInfo.m_uniqueName, i, handle ); + } +} + +///tell the task scheduler we are done with the SPU tasks +void btThreadSupportWin32::stopThreads() +{ + for ( int i = 0; i < m_activeThreadStatus.size(); i++ ) + { + btThreadStatus& threadStatus = m_activeThreadStatus[ i ]; + if ( threadStatus.m_status > 0 ) + { + WaitForSingleObject( threadStatus.m_eventCompleteHandle, INFINITE ); + } + + threadStatus.m_userPtr = NULL; + SetEvent( threadStatus.m_eventStartHandle ); + WaitForSingleObject( threadStatus.m_eventCompleteHandle, INFINITE ); + + CloseHandle( threadStatus.m_eventCompleteHandle ); + CloseHandle( threadStatus.m_eventStartHandle ); + CloseHandle( threadStatus.m_threadHandle ); + + } + + m_activeThreadStatus.clear(); + m_completeHandles.clear(); +} + + +class btWin32CriticalSection : public btCriticalSection +{ +private: + CRITICAL_SECTION mCriticalSection; + +public: + btWin32CriticalSection() + { + InitializeCriticalSection( &mCriticalSection ); + } + + ~btWin32CriticalSection() + { + DeleteCriticalSection( &mCriticalSection ); + } + + void lock() + { + EnterCriticalSection( &mCriticalSection ); + } + + void unlock() + { + LeaveCriticalSection( &mCriticalSection ); + } +}; + + +btCriticalSection* btThreadSupportWin32::createCriticalSection() +{ + unsigned char* mem = (unsigned char*) btAlignedAlloc( sizeof( btWin32CriticalSection ), 16 ); + btWin32CriticalSection* cs = new( mem ) btWin32CriticalSection(); + return cs; +} + +void btThreadSupportWin32::deleteCriticalSection( btCriticalSection* criticalSection ) +{ + criticalSection->~btCriticalSection(); + btAlignedFree( criticalSection ); +} + + +btThreadSupportInterface* btThreadSupportInterface::create( const ConstructionInfo& info ) +{ + return new btThreadSupportWin32( info ); +} + + + +#endif //defined(_WIN32) && BT_THREADSAFE + diff --git a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp index e5f6040c43..0526a42283 100644 --- a/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp +++ b/thirdparty/bullet/LinearMath/btAlignedAllocator.cpp @@ -15,9 +15,11 @@ subject to the following restrictions: #include "btAlignedAllocator.h" +#ifdef BT_DEBUG_MEMORY_ALLOCATIONS int gNumAlignedAllocs = 0; int gNumAlignedFree = 0; int gTotalBytesAlignedAllocs = 0;//detect memory leaks +#endif //BT_DEBUG_MEMORY_ALLOCATIONST_DEBUG_ALLOCATIONS static void *btAllocDefault(size_t size) { @@ -246,7 +248,6 @@ void btAlignedFreeInternal (void* ptr,int line,char* filename) void* btAlignedAllocInternal (size_t size, int alignment) { - gNumAlignedAllocs++; void* ptr; ptr = sAlignedAllocFunc(size, alignment); // printf("btAlignedAllocInternal %d, %x\n",size,ptr); @@ -260,7 +261,6 @@ void btAlignedFreeInternal (void* ptr) return; } - gNumAlignedFree++; // printf("btAlignedFreeInternal %x\n",ptr); sAlignedFreeFunc(ptr); } diff --git a/thirdparty/bullet/LinearMath/btHashMap.h b/thirdparty/bullet/LinearMath/btHashMap.h index 5e9cdb6054..180e7b44af 100644 --- a/thirdparty/bullet/LinearMath/btHashMap.h +++ b/thirdparty/bullet/LinearMath/btHashMap.h @@ -17,12 +17,13 @@ subject to the following restrictions: #ifndef BT_HASH_MAP_H #define BT_HASH_MAP_H +#include <string> #include "btAlignedObjectArray.h" ///very basic hashable string implementation, compatible with btHashMap struct btHashString { - const char* m_string; + std::string m_string1; unsigned int m_hash; SIMD_FORCE_INLINE unsigned int getHash()const @@ -30,8 +31,13 @@ struct btHashString return m_hash; } + btHashString() + { + m_string1=""; + m_hash=0; + } btHashString(const char* name) - :m_string(name) + :m_string1(name) { /* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */ static const unsigned int InitialFNV = 2166136261u; @@ -40,36 +46,18 @@ struct btHashString /* Fowler / Noll / Vo (FNV) Hash */ unsigned int hash = InitialFNV; - for(int i = 0; m_string[i]; i++) + for(int i = 0; m_string1.c_str()[i]; i++) { - hash = hash ^ (m_string[i]); /* xor the low 8 bits */ + hash = hash ^ (m_string1.c_str()[i]); /* xor the low 8 bits */ hash = hash * FNVMultiple; /* multiply by the magic number */ } m_hash = hash; } - int portableStringCompare(const char* src, const char* dst) const - { - int ret = 0 ; - - while( ! (ret = *(const unsigned char *)src - *(const unsigned char *)dst) && *dst) - ++src, ++dst; - - if ( ret < 0 ) - ret = -1 ; - else if ( ret > 0 ) - ret = 1 ; - - return( ret ); - } - bool equals(const btHashString& other) const { - return (m_string == other.m_string) || - (0==portableStringCompare(m_string,other.m_string)); - + return (m_string1 == other.m_string1); } - }; const int BT_HASH_NULL=0xffffffff; diff --git a/thirdparty/bullet/LinearMath/btIDebugDraw.h b/thirdparty/bullet/LinearMath/btIDebugDraw.h index 936aaa896b..b57282717d 100644 --- a/thirdparty/bullet/LinearMath/btIDebugDraw.h +++ b/thirdparty/bullet/LinearMath/btIDebugDraw.h @@ -166,9 +166,9 @@ class btIDebugDraw virtual void drawTransform(const btTransform& transform, btScalar orthoLen) { btVector3 start = transform.getOrigin(); - drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(1.f,0.3,0.3)); - drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0.3,1.f, 0.3)); - drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0.3, 0.3,1.f)); + drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(btScalar(1.), btScalar(0.3), btScalar(0.3))); + drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(btScalar(0.3), btScalar(1.), btScalar(0.3))); + drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(btScalar(0.3), btScalar(0.3), btScalar(1.))); } virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, diff --git a/thirdparty/bullet/LinearMath/btMatrix3x3.h b/thirdparty/bullet/LinearMath/btMatrix3x3.h index 9f642a1779..6cc4993da5 100644 --- a/thirdparty/bullet/LinearMath/btMatrix3x3.h +++ b/thirdparty/bullet/LinearMath/btMatrix3x3.h @@ -289,7 +289,7 @@ public: /** @brief Set the matrix from euler angles YPR around ZYX axes * @param eulerX Roll about X axis * @param eulerY Pitch around Y axis - * @param eulerZ Yaw aboud Z axis + * @param eulerZ Yaw about Z axis * * These angles are used to produce a rotation matrix. The euler * angles are applied in ZYX order. I.e a vector is first rotated @@ -514,7 +514,7 @@ public: /**@brief Get the matrix represented as euler angles around ZYX - * @param yaw Yaw around X axis + * @param yaw Yaw around Z axis * @param pitch Pitch around Y axis * @param roll around X axis * @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/ @@ -649,6 +649,10 @@ public: ///extractRotation is from "A robust method to extract the rotational part of deformations" ///See http://dl.acm.org/citation.cfm?doid=2994258.2994269 + ///decomposes a matrix A in a orthogonal matrix R and a + ///symmetric matrix S: + ///A = R*S. + ///note that R can include both rotation and scaling. SIMD_FORCE_INLINE void extractRotation(btQuaternion &q,btScalar tolerance = 1.0e-9, int maxIter=100) { int iter =0; @@ -673,25 +677,93 @@ public: - /**@brief diagonalizes this matrix + + /**@brief diagonalizes this matrix by the Jacobi method. * @param rot stores the rotation from the coordinate system in which the matrix is diagonal to the original - * coordinate system, i.e., old_this = rot * new_this * rot^T. + * coordinate system, i.e., old_this = rot * new_this * rot^T. * @param threshold See iteration - * @param maxIter The iteration stops when we hit the given tolerance or when maxIter have been executed. + * @param iteration The iteration stops when all off-diagonal elements are less than the threshold multiplied + * by the sum of the absolute values of the diagonal, or when maxSteps have been executed. + * + * Note that this matrix is assumed to be symmetric. */ - void diagonalize(btMatrix3x3& rot, btScalar tolerance = 1.0e-9, int maxIter=100) + void diagonalize(btMatrix3x3& rot, btScalar threshold, int maxSteps) { - btQuaternion r; - r = btQuaternion::getIdentity(); - extractRotation(r,tolerance,maxIter); - rot.setRotation(r); - btMatrix3x3 rotInv = btMatrix3x3(r.inverse()); - btMatrix3x3 old = *this; - setValue(old.tdotx( rotInv[0]), old.tdoty( rotInv[0]), old.tdotz( rotInv[0]), - old.tdotx( rotInv[1]), old.tdoty( rotInv[1]), old.tdotz( rotInv[1]), - old.tdotx( rotInv[2]), old.tdoty( rotInv[2]), old.tdotz( rotInv[2])); - } + rot.setIdentity(); + for (int step = maxSteps; step > 0; step--) + { + // find off-diagonal element [p][q] with largest magnitude + int p = 0; + int q = 1; + int r = 2; + btScalar max = btFabs(m_el[0][1]); + btScalar v = btFabs(m_el[0][2]); + if (v > max) + { + q = 2; + r = 1; + max = v; + } + v = btFabs(m_el[1][2]); + if (v > max) + { + p = 1; + q = 2; + r = 0; + max = v; + } + + btScalar t = threshold * (btFabs(m_el[0][0]) + btFabs(m_el[1][1]) + btFabs(m_el[2][2])); + if (max <= t) + { + if (max <= SIMD_EPSILON * t) + { + return; + } + step = 1; + } + // compute Jacobi rotation J which leads to a zero for element [p][q] + btScalar mpq = m_el[p][q]; + btScalar theta = (m_el[q][q] - m_el[p][p]) / (2 * mpq); + btScalar theta2 = theta * theta; + btScalar cos; + btScalar sin; + if (theta2 * theta2 < btScalar(10 / SIMD_EPSILON)) + { + t = (theta >= 0) ? 1 / (theta + btSqrt(1 + theta2)) + : 1 / (theta - btSqrt(1 + theta2)); + cos = 1 / btSqrt(1 + t * t); + sin = cos * t; + } + else + { + // approximation for large theta-value, i.e., a nearly diagonal matrix + t = 1 / (theta * (2 + btScalar(0.5) / theta2)); + cos = 1 - btScalar(0.5) * t * t; + sin = cos * t; + } + + // apply rotation to matrix (this = J^T * this * J) + m_el[p][q] = m_el[q][p] = 0; + m_el[p][p] -= t * mpq; + m_el[q][q] += t * mpq; + btScalar mrp = m_el[r][p]; + btScalar mrq = m_el[r][q]; + m_el[r][p] = m_el[p][r] = cos * mrp - sin * mrq; + m_el[r][q] = m_el[q][r] = cos * mrq + sin * mrp; + + // apply rotation to rot (rot = rot * J) + for (int i = 0; i < 3; i++) + { + btVector3& row = rot[i]; + mrp = row[p]; + mrq = row[q]; + row[p] = cos * mrp - sin * mrq; + row[q] = cos * mrq + sin * mrp; + } + } + } diff --git a/thirdparty/bullet/LinearMath/btQuaternion.h b/thirdparty/bullet/LinearMath/btQuaternion.h index 7bd39e6a33..a98fec7bc4 100644 --- a/thirdparty/bullet/LinearMath/btQuaternion.h +++ b/thirdparty/bullet/LinearMath/btQuaternion.h @@ -173,10 +173,28 @@ public: sqy = m_floats[1] * m_floats[1]; sqz = m_floats[2] * m_floats[2]; squ = m_floats[3] * m_floats[3]; - rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz); - sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]); - pitchY = sarg <= btScalar(-1.0) ? btScalar(-0.5) * SIMD_PI: (sarg >= btScalar(1.0) ? btScalar(0.5) * SIMD_PI : btAsin(sarg)); - yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz); + sarg = btScalar(-2.) * (m_floats[0] * m_floats[2] - m_floats[3] * m_floats[1]); + + // If the pitch angle is PI/2 or -PI/2, we can only compute + // the sum roll + yaw. However, any combination that gives + // the right sum will produce the correct orientation, so we + // set rollX = 0 and compute yawZ. + if (sarg <= -btScalar(0.99999)) + { + pitchY = btScalar(-0.5)*SIMD_PI; + rollX = 0; + yawZ = btScalar(2) * btAtan2(m_floats[0],-m_floats[1]); + } else if (sarg >= btScalar(0.99999)) + { + pitchY = btScalar(0.5)*SIMD_PI; + rollX = 0; + yawZ = btScalar(2) * btAtan2(-m_floats[0], m_floats[1]); + } else + { + pitchY = btAsin(sarg); + rollX = btAtan2(2 * (m_floats[1] * m_floats[2] + m_floats[3] * m_floats[0]), squ - sqx - sqy + sqz); + yawZ = btAtan2(2 * (m_floats[0] * m_floats[1] + m_floats[3] * m_floats[2]), squ + sqx - sqy - sqz); + } } /**@brief Add two quaternions @@ -602,7 +620,9 @@ public: SIMD_FORCE_INLINE void serialize(struct btQuaternionData& dataOut) const; - SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionData& dataIn); + SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionFloatData& dataIn); + + SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionDoubleData& dataIn); SIMD_FORCE_INLINE void serializeFloat(struct btQuaternionFloatData& dataOut) const; @@ -1003,10 +1023,16 @@ SIMD_FORCE_INLINE void btQuaternion::serialize(struct btQuaternionData& dataOut) dataOut.m_floats[i] = m_floats[i]; } -SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionData& dataIn) +SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionFloatData& dataIn) +{ + for (int i = 0; i<4; i++) + m_floats[i] = (btScalar)dataIn.m_floats[i]; +} + +SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionDoubleData& dataIn) { for (int i=0;i<4;i++) - m_floats[i] = dataIn.m_floats[i]; + m_floats[i] = (btScalar)dataIn.m_floats[i]; } diff --git a/thirdparty/bullet/LinearMath/btQuickprof.cpp b/thirdparty/bullet/LinearMath/btQuickprof.cpp index aed3104a6e..1572b96262 100644 --- a/thirdparty/bullet/LinearMath/btQuickprof.cpp +++ b/thirdparty/bullet/LinearMath/btQuickprof.cpp @@ -680,56 +680,58 @@ void CProfileManager::dumpAll() CProfileManager::Release_Iterator(profileIterator); } +// clang-format off +#if defined(_WIN32) && (defined(__MINGW32__) || defined(__MINGW64__)) + #define BT_HAVE_TLS 1 +#elif __APPLE__ && !TARGET_OS_IPHONE + // TODO: Modern versions of iOS support TLS now with updated version checking. + #define BT_HAVE_TLS 1 +#elif __linux__ + #define BT_HAVE_TLS 1 +#endif +// __thread is broken on Andorid clang until r12b. See +// https://github.com/android-ndk/ndk/issues/8 +#if defined(__ANDROID__) && defined(__clang__) + #if __has_include(<android/ndk-version.h>) + #include <android/ndk-version.h> + #endif // __has_include(<android/ndk-version.h>) + #if defined(__NDK_MAJOR__) && \ + ((__NDK_MAJOR__ < 12) || ((__NDK_MAJOR__ == 12) && (__NDK_MINOR__ < 1))) + #undef BT_HAVE_TLS + #endif +#endif // defined(__ANDROID__) && defined(__clang__) +// clang-format on + +unsigned int btQuickprofGetCurrentThreadIndex2() { + const unsigned int kNullIndex = ~0U; - -unsigned int btQuickprofGetCurrentThreadIndex2() -{ #if BT_THREADSAFE - return btGetCurrentThreadIndex(); -#else // #if BT_THREADSAFE - const unsigned int kNullIndex = ~0U; -#ifdef _WIN32 - #if defined(__MINGW32__) || defined(__MINGW64__) - static __thread unsigned int sThreadIndex = kNullIndex; - #else - __declspec( thread ) static unsigned int sThreadIndex = kNullIndex; - #endif + return btGetCurrentThreadIndex(); #else -#ifdef __APPLE__ - #if TARGET_OS_IPHONE - unsigned int sThreadIndex = 0; - return -1; - #else - static __thread unsigned int sThreadIndex = kNullIndex; - #endif -#else//__APPLE__ -#if __linux__ - static __thread unsigned int sThreadIndex = kNullIndex; +#if defined(BT_HAVE_TLS) + static __thread unsigned int sThreadIndex = kNullIndex; +#elif defined(_WIN32) + __declspec(thread) static unsigned int sThreadIndex = kNullIndex; #else - unsigned int sThreadIndex = 0; - return -1; + unsigned int sThreadIndex = 0; + return -1; #endif -#endif//__APPLE__ - -#endif - static int gThreadCounter=0; - if ( sThreadIndex == kNullIndex ) - { - sThreadIndex = gThreadCounter++; - } - return sThreadIndex; -#endif // #else // #if BT_THREADSAFE + static int gThreadCounter = 0; + + if (sThreadIndex == kNullIndex) { + sThreadIndex = gThreadCounter++; + } + return sThreadIndex; +#endif //BT_THREADSAFE } void btEnterProfileZoneDefault(const char* name) { - CProfileManager::Start_Profile( name ); } void btLeaveProfileZoneDefault() { - CProfileManager::Stop_Profile(); } diff --git a/thirdparty/bullet/LinearMath/btQuickprof.h b/thirdparty/bullet/LinearMath/btQuickprof.h index 7b38d71b90..98a2675771 100644 --- a/thirdparty/bullet/LinearMath/btQuickprof.h +++ b/thirdparty/bullet/LinearMath/btQuickprof.h @@ -70,11 +70,12 @@ void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc); //#define BT_NO_PROFILE 1 #endif //BT_NO_PROFILE +const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64; + #ifndef BT_NO_PROFILE //btQuickprofGetCurrentThreadIndex will return -1 if thread index cannot be determined, //otherwise returns thread index in range [0..maxThreads] unsigned int btQuickprofGetCurrentThreadIndex2(); -const unsigned int BT_QUICKPROF_MAX_THREAD_COUNT = 64; #include <stdio.h>//@todo remove this, backwards compatibility diff --git a/thirdparty/bullet/LinearMath/btScalar.h b/thirdparty/bullet/LinearMath/btScalar.h index bffb2ce274..24e8454c1f 100644 --- a/thirdparty/bullet/LinearMath/btScalar.h +++ b/thirdparty/bullet/LinearMath/btScalar.h @@ -25,7 +25,7 @@ subject to the following restrictions: #include <float.h> /* SVN $Revision$ on $Date$ from http://bullet.googlecode.com*/ -#define BT_BULLET_VERSION 287 +#define BT_BULLET_VERSION 288 inline int btGetVersion() { diff --git a/thirdparty/bullet/LinearMath/btSerializer.cpp b/thirdparty/bullet/LinearMath/btSerializer.cpp index fcd2255ad5..4faa8f536b 100644 --- a/thirdparty/bullet/LinearMath/btSerializer.cpp +++ b/thirdparty/bullet/LinearMath/btSerializer.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), 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+char(8),char(0),char(-95),char(1),char(8),char(0),char(-94),char(1),char(8),char(0),char(-93),char(1),char(8),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1), +char(0),char(0),char(-90),char(1),char(48),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(94),char(0),char(28),char(0),char(15),char(0),char(-114),char(1), +char(13),char(0),char(-113),char(1),char(13),char(0),char(-112),char(1),char(13),char(0),char(-111),char(1),char(13),char(0),char(-110),char(1),char(13),char(0),char(-109),char(1), +char(13),char(0),char(-108),char(1),char(13),char(0),char(-107),char(1),char(13),char(0),char(-106),char(1),char(13),char(0),char(-105),char(1),char(4),char(0),char(-102),char(1), +char(7),char(0),char(-104),char(1),char(4),char(0),char(-103),char(1),char(4),char(0),char(124),char(1),char(7),char(0),char(-100),char(1),char(7),char(0),char(-99),char(1), +char(7),char(0),char(-98),char(1),char(4),char(0),char(-101),char(1),char(7),char(0),char(-97),char(1),char(7),char(0),char(-96),char(1),char(7),char(0),char(-95),char(1), +char(7),char(0),char(-94),char(1),char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1),char(0),char(0),char(-90),char(1), +char(50),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-87),char(1),char(16),char(0),char(-86),char(1), +char(14),char(0),char(-85),char(1),char(14),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(8),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1), +char(0),char(0),char(37),char(0),char(0),char(0),char(-81),char(1),char(93),char(0),char(-128),char(1),char(48),char(0),char(-80),char(1),char(96),char(0),char(10),char(0), +char(13),char(0),char(-87),char(1),char(15),char(0),char(-86),char(1),char(13),char(0),char(-85),char(1),char(13),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1), +char(7),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),char(0),char(0),char(-81),char(1),char(94),char(0),char(-128),char(1),char(50),char(0),char(-80),char(1), +char(97),char(0),char(4),char(0),char(50),char(0),char(-79),char(1),char(96),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0), +char(98),char(0),char(4),char(0),char(48),char(0),char(-79),char(1),char(95),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0), +}; int sBulletDNAlen= sizeof(sBulletDNAstr); diff --git a/thirdparty/bullet/LinearMath/btSerializer.h b/thirdparty/bullet/LinearMath/btSerializer.h index 89b4d74683..39be3f810e 100644 --- a/thirdparty/bullet/LinearMath/btSerializer.h +++ b/thirdparty/bullet/LinearMath/btSerializer.h @@ -62,7 +62,8 @@ enum btSerializationFlags { BT_SERIALIZE_NO_BVH = 1, BT_SERIALIZE_NO_TRIANGLEINFOMAP = 2, - BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4 + BT_SERIALIZE_NO_DUPLICATE_ASSERT = 4, + BT_SERIALIZE_CONTACT_MANIFOLDS = 8, }; class btSerializer @@ -115,6 +116,7 @@ public: #define BT_MULTIBODY_CODE BT_MAKE_ID('M','B','D','Y') +#define BT_MB_LINKCOLLIDER_CODE BT_MAKE_ID('M','B','L','C') #define BT_SOFTBODY_CODE BT_MAKE_ID('S','B','D','Y') #define BT_COLLISIONOBJECT_CODE BT_MAKE_ID('C','O','B','J') #define BT_RIGIDBODY_CODE BT_MAKE_ID('R','B','D','Y') @@ -127,9 +129,9 @@ public: #define BT_SBMATERIAL_CODE BT_MAKE_ID('S','B','M','T') #define BT_SBNODE_CODE BT_MAKE_ID('S','B','N','D') #define BT_DYNAMICSWORLD_CODE BT_MAKE_ID('D','W','L','D') +#define BT_CONTACTMANIFOLD_CODE BT_MAKE_ID('C','O','N','T') #define BT_DNA_CODE BT_MAKE_ID('D','N','A','1') - struct btPointerUid { union @@ -505,7 +507,7 @@ public: buffer[9] = '2'; buffer[10] = '8'; - buffer[11] = '7'; + buffer[11] = '8'; } diff --git a/thirdparty/bullet/LinearMath/btSerializer64.cpp b/thirdparty/bullet/LinearMath/btSerializer64.cpp index 05f59202d7..0aa5cbf30e 100644 --- a/thirdparty/bullet/LinearMath/btSerializer64.cpp +++ b/thirdparty/bullet/LinearMath/btSerializer64.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-124),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-76),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -72,528 +72,618 @@ char(105),char(115),char(116),char(97),char(110),char(99),char(101),char(84),cha char(101),char(114),char(111),char(65),char(114),char(101),char(97),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110), char(101),char(120),char(116),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(104),char(97),char(115),char(104),char(84),char(97),char(98),char(108),char(101),char(83), char(105),char(122),char(101),char(0),char(109),char(95),char(110),char(117),char(109),char(86),char(97),char(108),char(117),char(101),char(115),char(0),char(109),char(95),char(110),char(117), -char(109),char(75),char(101),char(121),char(115),char(0),char(109),char(95),char(103),char(105),char(109),char(112),char(97),char(99),char(116),char(83),char(117),char(98),char(84),char(121), -char(112),char(101),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100),char(80),char(111),char(105),char(110),char(116),char(115), -char(70),char(108),char(111),char(97),char(116),char(80),char(116),char(114),char(0),char(42),char(109),char(95),char(117),char(110),char(115),char(99),char(97),char(108),char(101),char(100), -char(80),char(111),char(105),char(110),char(116),char(115),char(68),char(111),char(117),char(98),char(108),char(101),char(80),char(116),char(114),char(0),char(109),char(95),char(110),char(117), 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+char(7),char(0),char(-94),char(1),char(7),char(0),char(-93),char(1),char(7),char(0),char(-92),char(1),char(0),char(0),char(-91),char(1),char(0),char(0),char(-90),char(1), +char(50),char(0),char(-89),char(1),char(0),char(0),char(-88),char(1),char(95),char(0),char(11),char(0),char(14),char(0),char(-87),char(1),char(16),char(0),char(-86),char(1), +char(14),char(0),char(-85),char(1),char(14),char(0),char(-84),char(1),char(14),char(0),char(-83),char(1),char(8),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1), +char(0),char(0),char(37),char(0),char(0),char(0),char(-81),char(1),char(93),char(0),char(-128),char(1),char(48),char(0),char(-80),char(1),char(96),char(0),char(10),char(0), +char(13),char(0),char(-87),char(1),char(15),char(0),char(-86),char(1),char(13),char(0),char(-85),char(1),char(13),char(0),char(-84),char(1),char(13),char(0),char(-83),char(1), +char(7),char(0),char(-82),char(1),char(4),char(0),char(-121),char(1),char(0),char(0),char(-81),char(1),char(94),char(0),char(-128),char(1),char(50),char(0),char(-80),char(1), +char(97),char(0),char(4),char(0),char(50),char(0),char(-79),char(1),char(96),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0), +char(98),char(0),char(4),char(0),char(48),char(0),char(-79),char(1),char(95),char(0),char(-78),char(1),char(4),char(0),char(-77),char(1),char(0),char(0),char(37),char(0), +}; int sBulletDNAlen64= sizeof(sBulletDNAstr64); diff --git a/thirdparty/bullet/LinearMath/btThreads.cpp b/thirdparty/bullet/LinearMath/btThreads.cpp index 59a7ea36e9..c037626ffb 100644 --- a/thirdparty/bullet/LinearMath/btThreads.cpp +++ b/thirdparty/bullet/LinearMath/btThreads.cpp @@ -453,6 +453,33 @@ void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBod #endif// #if BT_THREADSAFE } +btScalar btParallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) +{ +#if BT_THREADSAFE + +#if BT_DETECT_BAD_THREAD_INDEX + if ( !btThreadsAreRunning() ) + { + // clear out thread ids + for ( int i = 0; i < BT_MAX_THREAD_COUNT; ++i ) + { + gDebugThreadIds[ i ] = kInvalidThreadId; + } + } +#endif // #if BT_DETECT_BAD_THREAD_INDEX + + btAssert( gBtTaskScheduler != NULL ); // call btSetTaskScheduler() with a valid task scheduler first! + return gBtTaskScheduler->parallelSum( iBegin, iEnd, grainSize, body ); + +#else // #if BT_THREADSAFE + + // non-parallel version of btParallelSum + btAssert( !"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE" ); + return body.sumLoop( iBegin, iEnd ); + +#endif //#else // #if BT_THREADSAFE +} + /// /// btTaskSchedulerSequential -- non-threaded implementation of task scheduler @@ -470,6 +497,11 @@ public: BT_PROFILE( "parallelFor_sequential" ); body.forLoop( iBegin, iEnd ); } + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelSum_sequential" ); + return body.sumLoop( iBegin, iEnd ); + } }; @@ -514,11 +546,25 @@ public: #pragma omp parallel for schedule( static, 1 ) for ( int i = iBegin; i < iEnd; i += grainSize ) { - BT_PROFILE( "OpenMP_job" ); + BT_PROFILE( "OpenMP_forJob" ); body.forLoop( i, ( std::min )( i + grainSize, iEnd ) ); } btPopThreadsAreRunning(); } + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelFor_OpenMP" ); + btPushThreadsAreRunning(); + btScalar sum = btScalar( 0 ); +#pragma omp parallel for schedule( static, 1 ) reduction(+:sum) + for ( int i = iBegin; i < iEnd; i += grainSize ) + { + BT_PROFILE( "OpenMP_sumJob" ); + sum += body.sumLoop( i, ( std::min )( i + grainSize, iEnd ) ); + } + btPopThreadsAreRunning(); + return sum; + } }; #endif // #if BT_USE_OPENMP && BT_THREADSAFE @@ -571,22 +617,21 @@ public: btResetThreadIndexCounter(); } } - struct BodyAdapter + struct ForBodyAdapter { const btIParallelForBody* mBody; + ForBodyAdapter( const btIParallelForBody* body ) : mBody( body ) {} void operator()( const tbb::blocked_range<int>& range ) const { - BT_PROFILE( "TBB_job" ); + BT_PROFILE( "TBB_forJob" ); mBody->forLoop( range.begin(), range.end() ); } }; virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) BT_OVERRIDE { BT_PROFILE( "parallelFor_TBB" ); - // TBB dispatch - BodyAdapter tbbBody; - tbbBody.mBody = &body; + ForBodyAdapter tbbBody( &body ); btPushThreadsAreRunning(); tbb::parallel_for( tbb::blocked_range<int>( iBegin, iEnd, grainSize ), tbbBody, @@ -594,6 +639,29 @@ public: ); btPopThreadsAreRunning(); } + struct SumBodyAdapter + { + const btIParallelSumBody* mBody; + btScalar mSum; + + SumBodyAdapter( const btIParallelSumBody* body ) : mBody( body ), mSum( btScalar( 0 ) ) {} + SumBodyAdapter( const SumBodyAdapter& src, tbb::split ) : mBody( src.mBody ), mSum( btScalar( 0 ) ) {} + void join( const SumBodyAdapter& src ) { mSum += src.mSum; } + void operator()( const tbb::blocked_range<int>& range ) + { + BT_PROFILE( "TBB_sumJob" ); + mSum += mBody->sumLoop( range.begin(), range.end() ); + } + }; + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelSum_TBB" ); + SumBodyAdapter tbbBody( &body ); + btPushThreadsAreRunning(); + tbb::parallel_deterministic_reduce( tbb::blocked_range<int>( iBegin, iEnd, grainSize ), tbbBody ); + btPopThreadsAreRunning(); + return tbbBody.mSum; + } }; #endif // #if BT_USE_TBB && BT_THREADSAFE @@ -605,6 +673,7 @@ public: class btTaskSchedulerPPL : public btITaskScheduler { int m_numThreads; + concurrency::combinable<btScalar> m_sum; // for parallelSum public: btTaskSchedulerPPL() : btITaskScheduler( "PPL" ) { @@ -644,15 +713,16 @@ public: btResetThreadIndexCounter(); } } - struct BodyAdapter + struct ForBodyAdapter { const btIParallelForBody* mBody; int mGrainSize; int mIndexEnd; + ForBodyAdapter( const btIParallelForBody* body, int grainSize, int end ) : mBody( body ), mGrainSize( grainSize ), mIndexEnd( end ) {} void operator()( int i ) const { - BT_PROFILE( "PPL_job" ); + BT_PROFILE( "PPL_forJob" ); mBody->forLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) ); } }; @@ -660,10 +730,36 @@ public: { BT_PROFILE( "parallelFor_PPL" ); // PPL dispatch - BodyAdapter pplBody; - pplBody.mBody = &body; - pplBody.mGrainSize = grainSize; - pplBody.mIndexEnd = iEnd; + ForBodyAdapter pplBody( &body, grainSize, iEnd ); + btPushThreadsAreRunning(); + // note: MSVC 2010 doesn't support partitioner args, so avoid them + concurrency::parallel_for( iBegin, + iEnd, + grainSize, + pplBody + ); + btPopThreadsAreRunning(); + } + struct SumBodyAdapter + { + const btIParallelSumBody* mBody; + concurrency::combinable<btScalar>* mSum; + int mGrainSize; + int mIndexEnd; + + SumBodyAdapter( const btIParallelSumBody* body, concurrency::combinable<btScalar>* sum, int grainSize, int end ) : mBody( body ), mSum(sum), mGrainSize( grainSize ), mIndexEnd( end ) {} + void operator()( int i ) const + { + BT_PROFILE( "PPL_sumJob" ); + mSum->local() += mBody->sumLoop( i, ( std::min )( i + mGrainSize, mIndexEnd ) ); + } + }; + static btScalar sumFunc( btScalar a, btScalar b ) { return a + b; } + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) BT_OVERRIDE + { + BT_PROFILE( "parallelSum_PPL" ); + m_sum.clear(); + SumBodyAdapter pplBody( &body, &m_sum, grainSize, iEnd ); btPushThreadsAreRunning(); // note: MSVC 2010 doesn't support partitioner args, so avoid them concurrency::parallel_for( iBegin, @@ -672,6 +768,7 @@ public: pplBody ); btPopThreadsAreRunning(); + return m_sum.combine( sumFunc ); } }; #endif // #if BT_USE_PPL && BT_THREADSAFE diff --git a/thirdparty/bullet/LinearMath/btThreads.h b/thirdparty/bullet/LinearMath/btThreads.h index 05fd15ec82..921fd088c0 100644 --- a/thirdparty/bullet/LinearMath/btThreads.h +++ b/thirdparty/bullet/LinearMath/btThreads.h @@ -28,6 +28,8 @@ subject to the following restrictions: #define BT_OVERRIDE #endif +// Don't set this to larger than 64, without modifying btThreadSupportPosix +// and btThreadSupportWin32. They use UINT64 bit-masks. const unsigned int BT_MAX_THREAD_COUNT = 64; // only if BT_THREADSAFE is 1 // for internal use only @@ -72,6 +74,8 @@ SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex ) { #if BT_THREADSAFE mutex->lock(); +#else + (void)mutex; #endif // #if BT_THREADSAFE } @@ -79,6 +83,8 @@ SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex ) { #if BT_THREADSAFE mutex->unlock(); +#else + (void)mutex; #endif // #if BT_THREADSAFE } @@ -87,6 +93,7 @@ SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex ) #if BT_THREADSAFE return mutex->tryLock(); #else + (void)mutex; return true; #endif // #if BT_THREADSAFE } @@ -103,6 +110,17 @@ public: }; // +// btIParallelSumBody -- subclass this to express work that can be done in parallel +// and produces a sum over all loop elements +// +class btIParallelSumBody +{ +public: + virtual ~btIParallelSumBody() {} + virtual btScalar sumLoop( int iBegin, int iEnd ) const = 0; +}; + +// // btITaskScheduler -- subclass this to implement a task scheduler that can dispatch work to // worker threads // @@ -117,6 +135,8 @@ public: virtual int getNumThreads() const = 0; virtual void setNumThreads( int numThreads ) = 0; virtual void parallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ) = 0; + virtual btScalar parallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ) = 0; + virtual void sleepWorkerThreadsHint() {} // hint the task scheduler that we may not be using these threads for a little while // internal use only virtual void activate(); @@ -138,6 +158,9 @@ btITaskScheduler* btGetTaskScheduler(); // get non-threaded task scheduler (always available) btITaskScheduler* btGetSequentialTaskScheduler(); +// create a default task scheduler (Win32 or pthreads based) +btITaskScheduler* btCreateDefaultTaskScheduler(); + // get OpenMP task scheduler (if available, otherwise returns null) btITaskScheduler* btGetOpenMPTaskScheduler(); @@ -151,5 +174,9 @@ btITaskScheduler* btGetPPLTaskScheduler(); // (iterations may be done out of order, so no dependencies are allowed) void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body ); +// btParallelSum -- call this to dispatch work like a for-loop, returns the sum of all iterations +// (iterations may be done out of order, so no dependencies are allowed) +btScalar btParallelSum( int iBegin, int iEnd, int grainSize, const btIParallelSumBody& body ); + #endif diff --git a/thirdparty/bullet/LinearMath/btVector3.h b/thirdparty/bullet/LinearMath/btVector3.h index c69effa96e..76024f1236 100644 --- a/thirdparty/bullet/LinearMath/btVector3.h +++ b/thirdparty/bullet/LinearMath/btVector3.h @@ -705,7 +705,9 @@ public: SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const; - SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn); + SIMD_FORCE_INLINE void deSerialize(const struct btVector3DoubleData& dataIn); + + SIMD_FORCE_INLINE void deSerialize(const struct btVector3FloatData& dataIn); SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const; @@ -1236,9 +1238,9 @@ public: ///btSwapVector3Endian swaps vector endianness, useful for network and cross-platform serialization SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& destVal) { - #ifdef BT_USE_DOUBLE_PRECISION +#ifdef BT_USE_DOUBLE_PRECISION unsigned char* dest = (unsigned char*) &destVal; - unsigned char* src = (unsigned char*) &sourceVal; + const unsigned char* src = (const unsigned char*) &sourceVal; dest[0] = src[7]; dest[1] = src[6]; dest[2] = src[5]; @@ -1249,7 +1251,7 @@ SIMD_FORCE_INLINE void btSwapScalarEndian(const btScalar& sourceVal, btScalar& d dest[7] = src[0]; #else unsigned char* dest = (unsigned char*) &destVal; - unsigned char* src = (unsigned char*) &sourceVal; + const unsigned char* src = (const unsigned char*) &sourceVal; dest[0] = src[3]; dest[1] = src[2]; dest[2] = src[1]; @@ -1354,10 +1356,18 @@ SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const dataOut.m_floats[i] = m_floats[i]; } -SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn) + +SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3FloatData& dataIn) +{ + for (int i = 0; i<4; i++) + m_floats[i] = (btScalar)dataIn.m_floats[i]; +} + + +SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3DoubleData& dataIn) { for (int i=0;i<4;i++) - m_floats[i] = dataIn.m_floats[i]; + m_floats[i] = (btScalar)dataIn.m_floats[i]; } #endif //BT_VECTOR3_H diff --git a/thirdparty/bullet/clew/clew.c b/thirdparty/bullet/clew/clew.c index a07b0aad75..5afc42a485 100644 --- a/thirdparty/bullet/clew/clew.c +++ b/thirdparty/bullet/clew/clew.c @@ -15,7 +15,7 @@ typedef HMODULE CLEW_DYNLIB_HANDLE; - #define CLEW_DYNLIB_OPEN LoadLibrary + #define CLEW_DYNLIB_OPEN LoadLibraryA #define CLEW_DYNLIB_CLOSE FreeLibrary #define CLEW_DYNLIB_IMPORT GetProcAddress #else |