mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +00:00
more work towards shared CPU/OpenCL codebase
This commit is contained in:
erwincoumans
parent
a6d9cf382f
commit
5a1d0d8170
@ -25,6 +25,12 @@ struct b3CpuNarrowPhaseInternalData
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int m_numAcceleratedShapes;
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};
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const b3AlignedObjectArray<b3Contact4Data>& b3CpuNarrowPhase::getContacts() const
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{
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return m_data->m_contacts;
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}
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b3Collidable& b3CpuNarrowPhase::getCollidableCpu(int collidableIndex)
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{
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return m_data->m_collidablesCPU[collidableIndex];
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@ -7,6 +7,7 @@
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#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
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#include "Bullet3Common/shared/b3Int4.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Contact4Data.h"
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class b3CpuNarrowPhase
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{
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@ -72,11 +73,13 @@ public:
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int getNumCollidablesGpu() const;
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const struct b3Contact4* getContactsCPU() const;
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/*const struct b3Contact4* getContactsCPU() const;
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int getNumContactsGpu() const;
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*/
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const b3AlignedObjectArray<b3Contact4Data>& getContacts() const;
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int getNumRigidBodies() const;
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@ -7,11 +7,15 @@
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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/b3CollidableData.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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@ -64,7 +68,7 @@ void b3CpuRigidBodyPipeline::computeOverlappingPairs()
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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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printf("numPairs=%d\n",numPairs);
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}
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void b3CpuRigidBodyPipeline::computeContactPoints()
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@ -96,6 +100,322 @@ void b3CpuRigidBodyPipeline::stepSimulation(float 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; dLinVelA.setZero();
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b3Vector3 dAngVelA; dAngVelA.setZero();
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b3Vector3 dLinVelB; dLinVelB.setZero();
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b3Vector3 dAngVelB; 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 ) + 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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)
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: m_bodies( bodies ), m_shapes( shapes ), m_constraints( constraints ), m_start( start ), m_nConstraints( nConstraints ),
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m_solveFriction( true ),m_maxNumBatches(maxNumBatches),
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m_wgUsedBodies(wgUsedBodies),m_curWgidx(curWgidx)
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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 ((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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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;
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minRambdaDt[j] = -maxRambdaDt[j];
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}
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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,
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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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}
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if (m_wgUsedBodies)
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{
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if (m_wgUsedBodies[m_curWgidx].size()<usedBodies.size())
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{
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m_wgUsedBodies[m_curWgidx].resize(usedBodies.size());
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}
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for (int i=0;i<usedBodies.size();i++)
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{
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if (usedBodies[i])
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{
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//printf("cell %d uses body %d\n", m_curWgidx,i);
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m_wgUsedBodies[m_curWgidx][i]=1;
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}
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}
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}
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}
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}
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b3AlignedObjectArray<b3RigidBodyData>& m_bodies;
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b3AlignedObjectArray<b3Inertia>& m_shapes;
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b3AlignedObjectArray<b3ContactConstraint4>& m_constraints;
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b3AlignedObjectArray<int>* m_wgUsedBodies;
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int m_curWgidx;
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int m_start;
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int m_nConstraints;
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bool m_solveFriction;
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int m_maxNumBatches;
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};
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void b3CpuRigidBodyPipeline::solveContactConstraints()
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{
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int m_nIterations = 4;
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b3AlignedObjectArray<b3ContactConstraint4> contactConstraints;
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const b3AlignedObjectArray<b3Contact4Data>& contacts = m_data->m_np->getContacts();
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int n = contactConstraints.size();
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//convert contacts...
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int maxNumBatches = 250;
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for(int iter=0; iter<m_nIterations; iter++)
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{
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b3SolveTask task( m_data->m_rigidBodies, m_data->m_inertias, contactConstraints, 0, n ,maxNumBatches,0,0);
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task.m_solveFriction = false;
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task.run(0);
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}
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for(int iter=0; iter<m_nIterations; iter++)
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{
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b3SolveTask task( m_data->m_rigidBodies, m_data->m_inertias, contactConstraints, 0, n ,maxNumBatches,0,0);
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task.m_solveFriction = true;
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task.run(0);
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}
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}
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void b3CpuRigidBodyPipeline::integrate(float deltaTime)
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{
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float angDamping=0.f;
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@ -39,6 +39,7 @@ public:
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virtual void updateAabbWorldSpace();
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virtual void computeOverlappingPairs();
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virtual void computeContactPoints();
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virtual void solveContactConstraints();
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int registerConvexPolyhedron(class b3ConvexUtility* convex);
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33
src/Bullet3Dynamics/shared/b3ContactConstraint4.h
Normal file
33
src/Bullet3Dynamics/shared/b3ContactConstraint4.h
Normal file
@ -0,0 +1,33 @@
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#ifndef B3_CONTACT_CONSTRAINT5_H
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#define B3_CONTACT_CONSTRAINT5_H
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#include "Bullet3Common/shared/b3Float4.h"
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typedef struct b3ContactConstraint4 b3ContactConstraint4_t;
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struct b3ContactConstraint4
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{
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b3Float4 m_linear;//normal?
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b3Float4 m_worldPos[4];
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b3Float4 m_center; // friction
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float m_jacCoeffInv[4];
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float m_b[4];
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float m_appliedRambdaDt[4];
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float m_fJacCoeffInv[2]; // friction
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float m_fAppliedRambdaDt[2]; // friction
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unsigned int m_bodyA;
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unsigned int m_bodyB;
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int m_batchIdx;
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unsigned int m_paddings;
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};
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//inline void setFrictionCoeff(float value) { m_linear[3] = value; }
|
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inline float b3GetFrictionCoeff(b3ContactConstraint4* constraint)
|
||||
{
|
||||
return constraint->m_linear[3];
|
||||
}
|
||||
|
||||
#endif //B3_CONTACT_CONSTRAINT5_H
|
||||
15
src/Bullet3Dynamics/shared/b3Inertia.h
Normal file
15
src/Bullet3Dynamics/shared/b3Inertia.h
Normal file
@ -0,0 +1,15 @@
|
||||
|
||||
|
||||
#ifndef B3_INERTIA_H
|
||||
#define B3_INERTIA_H
|
||||
|
||||
#include "Bullet3Common/shared/b3Mat3x3.h"
|
||||
|
||||
struct b3Inertia
|
||||
{
|
||||
b3Mat3x3 m_invInertiaWorld;
|
||||
b3Mat3x3 m_initInvInertia;
|
||||
};
|
||||
|
||||
|
||||
#endif //B3_INERTIA_H
|
||||
Loading…
Reference in New Issue
Block a user