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