Merge pull request #2141 from erwincoumans/blocksolver

solver experiment

examples/BlockSolver/BlockSolverExample.cpp

@@ -0,0 +1,219 @@
+#include "BlockSolverExample.h"
+#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
+#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
+#include "btBlockSolver.h"
+//for URDF import support
+#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
+#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
+#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
+#include "../CommonInterfaces/CommonMultiBodyBase.h"
+
+class BlockSolverExample : public CommonMultiBodyBase
+{
+	int m_option;
+public:
+	BlockSolverExample(GUIHelperInterface* helper, int option);
+	virtual ~BlockSolverExample();
+
+	virtual void initPhysics();
+
+	virtual void stepSimulation(float deltaTime);
+
+	virtual void resetCamera()
+	{
+		float dist = 3;
+		float pitch = -35;
+		float yaw = 50;
+		float targetPos[3] = {0, 0, .1};
+		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
+	}
+
+	void createMultiBodyStack();
+	btMultiBody* createMultiBody(btScalar mass, const btTransform& trans, btCollisionShape* collisionShape);
+	btMultiBody* loadRobot(std::string filepath);
+};
+
+
+BlockSolverExample::BlockSolverExample(GUIHelperInterface* helper, int option)
+	: CommonMultiBodyBase(helper),
+	m_option(option)
+{
+	m_guiHelper->setUpAxis(2);
+}
+
+BlockSolverExample::~BlockSolverExample()
+{
+	// Do nothing
+}
+
+void BlockSolverExample::stepSimulation(float deltaTime)
+{
+	//use a smaller internal timestep, there are stability issues
+	btScalar internalTimeStep = 1./240.f;
+	m_dynamicsWorld->stepSimulation(deltaTime, 10, internalTimeStep);
+}
+
+void BlockSolverExample::initPhysics()
+{
+	
+	///collision configuration contains default setup for memory, collision setup
+	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+
+	m_broadphase = new btDbvtBroadphase();
+
+
+	btMLCPSolverInterface* mlcp;
+	if (m_option&BLOCK_SOLVER_SI)
+	{
+		btAssert(!m_solver);
+		m_solver = new btMultiBodyConstraintSolver;
+		b3Printf("Constraint Solver: Sequential Impulse");
+	}
+	if (m_option&BLOCK_SOLVER_MLCP_PGS)
+	{
+		btAssert(!m_solver);
+		mlcp = new btSolveProjectedGaussSeidel();
+		m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
+		b3Printf("Constraint Solver: MLCP + PGS");
+	}
+	if (m_option&BLOCK_SOLVER_MLCP_DANTZIG)
+	{
+		btAssert(!m_solver);
+		mlcp = new btDantzigSolver();
+		m_solver = new btMultiBodyMLCPConstraintSolver(mlcp);
+		b3Printf("Constraint Solver: MLCP + Dantzig");
+	}
+	if (m_option&BLOCK_SOLVER_BLOCK)
+	{
+		m_solver = new btBlockSolver();
+	}
+
+	btAssert(m_solver);
+
+	
+
+	btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
+	m_dynamicsWorld = world;
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
+	m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
+	m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-6);  //todo: what value is good?
+
+	if (m_option&BLOCK_SOLVER_SCENE_MB_STACK)
+	{
+		createMultiBodyStack();
+	}
+	
+
+	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
+}
+
+
+void BlockSolverExample::createMultiBodyStack()
+{
+	///create a few basic rigid bodies
+	bool loadPlaneFromURDF = false;
+	if (loadPlaneFromURDF)
+	{
+		btMultiBody* mb = loadRobot("plane.urdf");
+		printf("!\n");
+	}
+	else
+	{
+		btBoxShape* groundShape = createBoxShape(btVector3(btScalar(50.), btScalar(50.), btScalar(50.)));
+		m_collisionShapes.push_back(groundShape);
+		btScalar mass = 0;
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(btVector3(0, 0, -50));
+		btMultiBody* body = createMultiBody(mass, tr, groundShape);
+	}
+
+	for (int i=0;i<10;i++)
+	{
+		btBoxShape* boxShape = createBoxShape(btVector3(btScalar(.1), btScalar(.1), btScalar(.1)));
+		m_collisionShapes.push_back(boxShape);
+		btScalar mass = 1;
+		if (i == 9)
+			mass = 100;
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(btVector3(0, 0, 0.1+i*0.2));
+		btMultiBody* body = createMultiBody(mass, tr, boxShape);
+	}
+	if(0)
+	{
+		btMultiBody* mb = loadRobot("cube_small.urdf");
+		btTransform tr;
+		tr.setIdentity();
+		tr.setOrigin(btVector3(0, 0, 1.));
+		mb->setBaseWorldTransform(tr);
+	}
+}
+
+btMultiBody* BlockSolverExample::createMultiBody(btScalar mass, const btTransform& trans, btCollisionShape* collisionShape)
+{
+	btVector3 inertia;
+	collisionShape->calculateLocalInertia(mass, inertia);
+
+	bool canSleep = false;
+	bool isDynamic = mass > 0;
+	btMultiBody* mb = new btMultiBody(0, mass, inertia, !isDynamic, canSleep);
+	btMultiBodyLinkCollider* collider = new btMultiBodyLinkCollider(mb, -1);
+	collider->setWorldTransform(trans);
+	mb->setBaseWorldTransform(trans);
+
+	collider->setCollisionShape(collisionShape);
+
+	int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
+	int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+
+
+	this->m_dynamicsWorld->addCollisionObject(collider, collisionFilterGroup, collisionFilterMask);
+	mb->setBaseCollider(collider);
+
+	mb->finalizeMultiDof();
+
+
+	this->m_dynamicsWorld->addMultiBody(mb);
+	m_dynamicsWorld->forwardKinematics();
+	return mb;
+}
+
+
+
+btMultiBody* BlockSolverExample::loadRobot(std::string filepath)
+{
+	btMultiBody* m_multiBody = 0;
+	BulletURDFImporter u2b(m_guiHelper, 0, 0, 1, 0);
+	bool loadOk = u2b.loadURDF(filepath.c_str());// lwr / kuka.urdf");
+	if (loadOk)
+	{
+		int rootLinkIndex = u2b.getRootLinkIndex();
+		b3Printf("urdf root link index = %d\n", rootLinkIndex);
+		MyMultiBodyCreator creation(m_guiHelper);
+		btTransform identityTrans;
+		identityTrans.setIdentity();
+		ConvertURDF2Bullet(u2b, creation, identityTrans, m_dynamicsWorld, true, u2b.getPathPrefix());
+		for (int i = 0; i < u2b.getNumAllocatedCollisionShapes(); i++)
+		{
+			m_collisionShapes.push_back(u2b.getAllocatedCollisionShape(i));
+		}
+		m_multiBody = creation.getBulletMultiBody();
+		if (m_multiBody)
+		{
+			b3Printf("Root link name = %s", u2b.getLinkName(u2b.getRootLinkIndex()).c_str());
+		}
+	}
+	return m_multiBody;
+}
+
+CommonExampleInterface* BlockSolverExampleCreateFunc(CommonExampleOptions& options)
+{
+	return new BlockSolverExample(options.m_guiHelper, options.m_option);
+}

examples/BlockSolver/BlockSolverExample.h

@@ -0,0 +1,19 @@
+
+#ifndef BLOCK_SOLVER_EXAMPLE_H
+#define BLOCK_SOLVER_EXAMPLE_H
+
+enum BlockSolverOptions
+{
+	BLOCK_SOLVER_SI=1<<0,
+	BLOCK_SOLVER_MLCP_PGS = 1 << 1,
+	BLOCK_SOLVER_MLCP_DANTZIG = 1 << 2,
+	BLOCK_SOLVER_BLOCK = 1 << 3,
+
+	BLOCK_SOLVER_SCENE_MB_STACK= 1 << 5,
+	BLOCK_SOLVER_SCENE_CHAIN = 1<< 6,
+	
+};
+
+class CommonExampleInterface* BlockSolverExampleCreateFunc(struct CommonExampleOptions& options);
+
+#endif  //BLOCK_SOLVER_EXAMPLE_H

examples/BlockSolver/btBlockSolver.cpp

@@ -0,0 +1,160 @@
+#include "btBlockSolver.h"
+#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
+#include "LinearMath/btQuickprof.h"
+
+struct btBlockSolverInternalData
+{
+	btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
+	btConstraintArray m_tmpSolverContactConstraintPool;
+	btConstraintArray m_tmpSolverNonContactConstraintPool;
+	btConstraintArray m_tmpSolverContactFrictionConstraintPool;
+	btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
+
+	btAlignedObjectArray<int> m_orderTmpConstraintPool;
+	btAlignedObjectArray<int> m_orderNonContactConstraintPool;
+	btAlignedObjectArray<int> m_orderFrictionConstraintPool;
+	btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
+	
+	
+	unsigned long m_btSeed2;
+	int m_fixedBodyId;
+	int m_maxOverrideNumSolverIterations;
+	btAlignedObjectArray<int> m_kinematicBodyUniqueIdToSolverBodyTable;  // only used for multithreading
+
+	btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
+	btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
+	btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
+
+	btBlockSolverInternalData()
+		:m_btSeed2(0),
+		m_fixedBodyId(-1),
+		m_maxOverrideNumSolverIterations(0),
+		m_resolveSingleConstraintRowGeneric(btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverGeneric()),
+		m_resolveSingleConstraintRowLowerLimit(btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverLowerLimit()),
+		m_resolveSplitPenetrationImpulse(btSequentialImpulseConstraintSolver::getScalarSplitPenetrationImpulseGeneric())
+	{
+	}
+};
+
+
+
+
+btBlockSolver::btBlockSolver()
+{
+	m_data = new btBlockSolverInternalData;
+}
+
+btBlockSolver::~btBlockSolver()
+{
+	delete m_data;
+}
+
+
+btScalar btBlockSolver::solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
+{
+
+	btSISolverSingleIterationData siData(m_data->m_tmpSolverBodyPool,
+		m_data->m_tmpSolverContactConstraintPool,
+		m_data->m_tmpSolverNonContactConstraintPool,
+		m_data->m_tmpSolverContactFrictionConstraintPool,
+		m_data->m_tmpSolverContactRollingFrictionConstraintPool,
+		m_data->m_orderTmpConstraintPool,
+		m_data->m_orderNonContactConstraintPool,
+		m_data->m_orderFrictionConstraintPool,
+		m_data->m_tmpConstraintSizesPool,
+		m_data->m_resolveSingleConstraintRowGeneric,
+		m_data->m_resolveSingleConstraintRowLowerLimit,
+		m_data->m_resolveSplitPenetrationImpulse,
+		m_data->m_kinematicBodyUniqueIdToSolverBodyTable,
+		m_data->m_btSeed2,
+		m_data->m_fixedBodyId,
+		m_data->m_maxOverrideNumSolverIterations);
+	
+	m_data->m_fixedBodyId = -1;
+	//todo: setup sse2/4 constraint row methods
+
+	btSequentialImpulseConstraintSolver::convertBodiesInternal(siData, bodies, numBodies, info);
+	btSequentialImpulseConstraintSolver::convertJointsInternal(siData, constraints, numConstraints, info);
+	
+	int i;
+	btPersistentManifold* manifold = 0;
+	//			btCollisionObject* colObj0=0,*colObj1=0;
+
+	for (i = 0; i < numManifolds; i++)
+	{
+		manifold = manifoldPtr[i];
+		btSequentialImpulseConstraintSolver::convertContactInternal(siData, manifold, info);
+	}
+
+
+
+	int numNonContactPool = siData.m_tmpSolverNonContactConstraintPool.size();
+	int numConstraintPool = siData.m_tmpSolverContactConstraintPool.size();
+	int numFrictionPool = siData.m_tmpSolverContactFrictionConstraintPool.size();
+
+	///@todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
+	siData.m_orderNonContactConstraintPool.resizeNoInitialize(numNonContactPool);
+	if ((info.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
+		siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool * 2);
+	else
+		siData.m_orderTmpConstraintPool.resizeNoInitialize(numConstraintPool);
+
+	siData.m_orderFrictionConstraintPool.resizeNoInitialize(numFrictionPool);
+	{
+		int i;
+		for (i = 0; i < numNonContactPool; i++)
+		{
+			siData.m_orderNonContactConstraintPool[i] = i;
+		}
+		for (i = 0; i < numConstraintPool; i++)
+		{
+			siData.m_orderTmpConstraintPool[i] = i;
+		}
+		for (i = 0; i < numFrictionPool; i++)
+		{
+			siData.m_orderFrictionConstraintPool[i] = i;
+		}
+	}
+
+	btScalar leastSquaresResidual = 0;
+
+	
+
+	{
+		BT_PROFILE("solveGroupCacheFriendlyIterations");
+		///this is a special step to resolve penetrations (just for contacts)
+		btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterationsInternal(siData, bodies, numBodies, manifoldPtr, numManifolds, constraints, numConstraints, info, debugDrawer);
+
+		int maxIterations = siData.m_maxOverrideNumSolverIterations > info.m_numIterations ? siData.m_maxOverrideNumSolverIterations : info.m_numIterations;
+
+		for (int iteration = 0; iteration < maxIterations; iteration++)
+		{
+			leastSquaresResidual = btSequentialImpulseConstraintSolver::solveSingleIterationInternal(siData, iteration, constraints, numConstraints, info);
+
+			if (leastSquaresResidual <= info.m_leastSquaresResidualThreshold || (iteration >= (maxIterations - 1)))
+			{
+#ifdef VERBOSE_RESIDUAL_PRINTF
+				printf("residual = %f at iteration #%d\n", m_leastSquaresResidual, iteration);
+#endif
+				break;
+			}
+		}
+	}
+
+	btScalar res = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinishInternal(siData, bodies, numBodies, info);
+	return res;
+}
+
+
+
+void btBlockSolver::solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher)
+{
+	btMultiBodyConstraintSolver::solveMultiBodyGroup(bodies, numBodies, manifold, numManifolds, constraints, numConstraints, multiBodyConstraints, numMultiBodyConstraints, info, debugDrawer, dispatcher);
+}
+
+void btBlockSolver::reset()
+{
+	//or just set m_data->m_btSeed2=0?
+	delete m_data;
+	m_data = new btBlockSolverInternalData;
+}

examples/BlockSolver/btBlockSolver.h

@@ -0,0 +1,29 @@
+#ifndef BT_BLOCK_SOLVER_H
+#define BT_BLOCK_SOLVER_H
+
+#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
+
+class btBlockSolver : public btMultiBodyConstraintSolver
+{
+	struct btBlockSolverInternalData* m_data;
+
+public:
+	btBlockSolver();
+	virtual ~btBlockSolver();
+
+	//btRigidBody
+	virtual btScalar solveGroup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, class btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
+
+	//btMultibody
+	virtual void solveMultiBodyGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
+
+	///clear internal cached data and reset random seed
+	virtual void reset();
+
+	virtual btConstraintSolverType getSolverType() const
+	{
+		return BT_BLOCK_SOLVER;
+	}
+};
+
+#endif //BT_BLOCK_SOLVER_H

examples/Evolution/NN3DWalkersTimeWarpBase.h

@@ -91,7 +91,7 @@ enum SolverEnumType
 	NNCGSOLVER = 2,
 	DANZIGSOLVER = 3,
 	LEMKESOLVER = 4,
-	FSSOLVER = 5,
+	
 	NUM_SOLVERS = 6
 };
 
@@ -103,7 +103,7 @@ static char GAUSSSEIDELSOLVER[] = "Gauss-Seidel Solver";
 static char NNCGSOLVER[] = "NNCG Solver";
 static char DANZIGSOLVER[] = "Danzig Solver";
 static char LEMKESOLVER[] = "Lemke Solver";
-static char FSSOLVER[] = "FeatherStone Solver";
+
 };  // namespace SolverType
 
 static const char* solverTypes[NUM_SOLVERS];
@@ -324,7 +324,7 @@ struct NN3DWalkersTimeWarpBase : public CommonRigidBodyBase
 		solverTypes[2] = SolverType::NNCGSOLVER;
 		solverTypes[3] = SolverType::DANZIGSOLVER;
 		solverTypes[4] = SolverType::LEMKESOLVER;
-		solverTypes[5] = SolverType::FSSOLVER;
+		
 
 		{
 			ComboBoxParams comboParams;
@@ -499,19 +499,12 @@ struct NN3DWalkersTimeWarpBase : public CommonRigidBodyBase
 				m_solver = new btMLCPSolver(mlcp);
 				break;
 			}
-			case FSSOLVER:
+			
-			{
-				//			b3Printf("=%s=",SolverType::FSSOLVER);
-				//Use the btMultiBodyConstraintSolver for Featherstone btMultiBody support
-				m_solver = new btMultiBodyConstraintSolver;
-
-				break;
-			}
 			default:
 				break;
 		}
 
-		if (SOLVER_TYPE != FSSOLVER)
+		if (1)
 		{
 			//TODO: Set parameters for other solvers
 

examples/ExampleBrowser/CMakeLists.txt

@@ -202,6 +202,10 @@ SET(BulletExampleBrowser_SRCS
 	../MultiThreadedDemo/MultiThreadedDemo.h
 	../MultiThreadedDemo/CommonRigidBodyMTBase.cpp
 	../MultiThreadedDemo/CommonRigidBodyMTBase.h
+	../BlockSolver/btBlockSolver.cpp
+	../BlockSolver/btBlockSolver.h
+	../BlockSolver/BlockSolverExample.cpp
+	../BlockSolver/BlockSolverExample.h
 	../Tutorial/Tutorial.cpp
 	../Tutorial/Tutorial.h
 	../Tutorial/Dof6ConstraintTutorial.cpp
@@ -333,7 +337,6 @@ SET(BulletExampleBrowser_SRCS
   ../MultiBody/InvertedPendulumPDControl.cpp
   ../MultiBody/InvertedPendulumPDControl.h
  ../MultiBody/MultiBodyConstraintFeedback.cpp
-  ../MultiBody/SerialChains.cpp
   ../MultiBody/MultiDofDemo.cpp
   ../MultiBody/MultiDofDemo.h
   ../RigidBody/RigidBodySoftContact.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -1,5 +1,6 @@
 #include "ExampleEntries.h"
 
+#include "../BlockSolver/BlockSolverExample.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "EmptyExample.h"
 #include "../RenderingExamples/RenderInstancingDemo.h"
@@ -29,7 +30,7 @@
 #include "../MultiBody/MultiBodyConstraintFeedback.h"
 #include "../MultiBody/MultiDofDemo.h"
 #include "../MultiBody/InvertedPendulumPDControl.h"
-#include "../MultiBody/SerialChains.h"
+
 #include "../RigidBody/RigidBodySoftContact.h"
 #include "../VoronoiFracture/VoronoiFractureDemo.h"
 #include "../SoftDemo/SoftDemo.h"
@@ -136,8 +137,8 @@ static ExampleEntry gDefaultExamples[] =
 		ExampleEntry(1, "Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
 		ExampleEntry(1, "Inverted Pendulum PD", "Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
 		ExampleEntry(1, "MultiBody Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", MultiBodySoftContactCreateFunc, 0),
-		ExampleEntry(1, "Serial Chains", "Show colliding two serial chains using different constraint solvers.", SerialChainsCreateFunc, 0),
+		
-
+	
 		ExampleEntry(0, "Physics Client-Server"),
 		ExampleEntry(1, "Physics Server", "Create a physics server that communicates with a physics client over shared memory. You can connect to the server using pybullet, a PhysicsClient or a UDP/TCP Bridge.",
 					 PhysicsServerCreateFuncBullet2),
@@ -150,6 +151,13 @@ static ExampleEntry gDefaultExamples[] =
 		//
 		//	ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
 
+
+		ExampleEntry(0, "BlockSolver"),
+		ExampleEntry(1, "Stack MultiBody SI", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK+ BLOCK_SOLVER_SI),
+		ExampleEntry(1, "Stack MultiBody MLCP PGS", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_PGS),
+		ExampleEntry(1, "Stack MultiBody MLCP Dantzig", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_MLCP_DANTZIG),
+		ExampleEntry(1, "Stack MultiBody Block", "Create a stack of blocks, with heavy block at the top", BlockSolverExampleCreateFunc, BLOCK_SOLVER_SCENE_MB_STACK + BLOCK_SOLVER_BLOCK),
+
 		ExampleEntry(0, "Inverse Dynamics"),
 		ExampleEntry(1, "Inverse Dynamics URDF", "Create a btMultiBody from URDF. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc, BT_ID_LOAD_URDF),
 		ExampleEntry(1, "Inverse Dynamics Prog", "Create a btMultiBody programatically. Create an inverse MultiBodyTree model from that. Use either decoupled PD control or computed torque control using the inverse model to track joint position targets", InverseDynamicsExampleCreateFunc, BT_ID_PROGRAMMATICALLY),

examples/ExampleBrowser/premake4.lua

@@ -162,6 +162,7 @@ project "App_BulletExampleBrowser"
 		"../Evolution/NN3DWalkers.h",
 		"../Collision/*",
 		"../RoboticsLearning/*",
+		"../BlockSolver/*",
 		"../Collision/Internal/*",
 		"../Benchmarks/*",
 		"../MultiThreadedDemo/*",

src/BulletDynamics/ConstraintSolver/btConstraintSolver.h

@@ -35,6 +35,7 @@ enum btConstraintSolverType
 	BT_MLCP_SOLVER = 2,
 	BT_NNCG_SOLVER = 4,
 	BT_MULTIBODY_SOLVER = 8,
+	BT_BLOCK_SOLVER = 16,
 };
 
 class btConstraintSolver

src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -29,6 +29,68 @@ class btCollisionObject;
 
 typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
 
+struct btSISolverSingleIterationData
+{
+	btAlignedObjectArray<btSolverBody>& m_tmpSolverBodyPool;
+	btConstraintArray& m_tmpSolverContactConstraintPool;
+	btConstraintArray& m_tmpSolverNonContactConstraintPool;
+	btConstraintArray& m_tmpSolverContactFrictionConstraintPool;
+	btConstraintArray& m_tmpSolverContactRollingFrictionConstraintPool;
+
+	btAlignedObjectArray<int>& m_orderTmpConstraintPool;
+	btAlignedObjectArray<int>& m_orderNonContactConstraintPool;
+	btAlignedObjectArray<int>& m_orderFrictionConstraintPool;
+	btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& m_tmpConstraintSizesPool;
+	unsigned long& m_seed;
+
+	btSingleConstraintRowSolver& m_resolveSingleConstraintRowGeneric;
+	btSingleConstraintRowSolver& m_resolveSingleConstraintRowLowerLimit;
+	btSingleConstraintRowSolver& m_resolveSplitPenetrationImpulse;
+	btAlignedObjectArray<int>& m_kinematicBodyUniqueIdToSolverBodyTable;
+	int& m_fixedBodyId;
+	int& m_maxOverrideNumSolverIterations;
+	int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep);
+	static void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep);
+	int getSolverBody(btCollisionObject& body) const;
+
+
+	btSISolverSingleIterationData(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
+		btConstraintArray& tmpSolverContactConstraintPool,
+		btConstraintArray& tmpSolverNonContactConstraintPool,
+		btConstraintArray& tmpSolverContactFrictionConstraintPool,
+		btConstraintArray& tmpSolverContactRollingFrictionConstraintPool,
+		btAlignedObjectArray<int>& orderTmpConstraintPool,
+		btAlignedObjectArray<int>& orderNonContactConstraintPool,
+		btAlignedObjectArray<int>& orderFrictionConstraintPool,
+		btAlignedObjectArray<btTypedConstraint::btConstraintInfo1>& tmpConstraintSizesPool,
+		btSingleConstraintRowSolver& resolveSingleConstraintRowGeneric,
+		btSingleConstraintRowSolver& resolveSingleConstraintRowLowerLimit,
+		btSingleConstraintRowSolver& resolveSplitPenetrationImpulse,
+		btAlignedObjectArray<int>& kinematicBodyUniqueIdToSolverBodyTable,
+		unsigned long& seed,
+		int& fixedBodyId,
+		int& maxOverrideNumSolverIterations
+	)
+		:m_tmpSolverBodyPool(tmpSolverBodyPool),
+		m_tmpSolverContactConstraintPool(tmpSolverContactConstraintPool),
+		m_tmpSolverNonContactConstraintPool(tmpSolverNonContactConstraintPool),
+		m_tmpSolverContactFrictionConstraintPool(tmpSolverContactFrictionConstraintPool),
+		m_tmpSolverContactRollingFrictionConstraintPool(tmpSolverContactRollingFrictionConstraintPool),
+		m_orderTmpConstraintPool(orderTmpConstraintPool),
+		m_orderNonContactConstraintPool(orderNonContactConstraintPool),
+		m_orderFrictionConstraintPool(orderFrictionConstraintPool),
+		m_tmpConstraintSizesPool(tmpConstraintSizesPool),
+		m_resolveSingleConstraintRowGeneric(resolveSingleConstraintRowGeneric),
+		m_resolveSingleConstraintRowLowerLimit(resolveSingleConstraintRowLowerLimit),
+		m_resolveSplitPenetrationImpulse(resolveSplitPenetrationImpulse),
+		m_kinematicBodyUniqueIdToSolverBodyTable(kinematicBodyUniqueIdToSolverBodyTable),
+		m_seed(seed),
+		m_fixedBodyId(fixedBodyId),
+		m_maxOverrideNumSolverIterations(maxOverrideNumSolverIterations)
+	{
+	}
+};
+
 ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
 ATTRIBUTE_ALIGNED16(class)
 btSequentialImpulseConstraintSolver : public btConstraintSolver
@@ -64,26 +126,26 @@ protected:
 	btScalar m_leastSquaresResidual;
 
 	void setupFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
-								 btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2,
+		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,
+		const btContactSolverInfo& infoGlobal,
-								 btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
+		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,
+		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.);
+		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,
-								const btContactSolverInfo& infoGlobal, btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
+		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,
-									  btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
+		btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
 
 	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
 	unsigned long m_btSeed2;
@@ -97,6 +159,7 @@ protected:
 	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);
 
 	btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint)
@@ -122,7 +185,8 @@ protected:
 		return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
 	}
 
-protected:
+public:
+
 	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);
@@ -130,6 +194,7 @@ protected:
 	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);
 
+
 	virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 	virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
 
@@ -141,13 +206,52 @@ public:
 
 	virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
 
+	static btScalar solveSingleIterationInternal(btSISolverSingleIterationData& siData, int iteration, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
+	static void convertBodiesInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
+	static void convertJointsInternal(btSISolverSingleIterationData& siData, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
+	static void convertContactInternal(btSISolverSingleIterationData& siData, btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
+	static void setupContactConstraintInternal(btSISolverSingleIterationData& siData, btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btScalar& relaxation,
+		const btVector3& rel_pos1, const btVector3& rel_pos2);
+	static btScalar restitutionCurveInternal(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
+	static btSolverConstraint& addTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactRollingFrictionConstraintPool, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.);
+	static void setupTorsionalFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btSolverConstraint& solverConstraint, const btVector3& normalAxis1, int solverBodyIdA, int solverBodyIdB,
+		btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
+		btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
+		btScalar desiredVelocity, btScalar cfmSlip);
+	static void setupFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, 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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip);
+	static btSolverConstraint& addFrictionConstraintInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, 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.);
+	static void setFrictionConstraintImpulseInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, btConstraintArray& tmpSolverContactFrictionConstraintPool,
+
+		btSolverConstraint& solverConstraint,
+		int solverBodyIdA, int solverBodyIdB,
+		btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
+	static void convertJointInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool,
+		int& maxOverrideNumSolverIterations,
+		btSolverConstraint* currentConstraintRow,
+		btTypedConstraint* constraint,
+		const btTypedConstraint::btConstraintInfo1& info1,
+		int solverBodyIdA,
+		int solverBodyIdB,
+		const btContactSolverInfo& infoGlobal);
+
+	static btScalar solveGroupCacheFriendlyFinishInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal);
+
+	static void writeBackContactsInternal(btConstraintArray& tmpSolverContactConstraintPool, btConstraintArray& tmpSolverContactFrictionConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+
+	static void writeBackJointsInternal(btConstraintArray& tmpSolverNonContactConstraintPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+	static void writeBackBodiesInternal(btAlignedObjectArray<btSolverBody>& tmpSolverBodyPool, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
+	static void solveGroupCacheFriendlySplitImpulseIterationsInternal(btSISolverSingleIterationData& siData, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
+
+
 	///clear internal cached data and reset random seed
 	virtual void reset();
 
 	unsigned long btRand2();
-
 	int btRandInt2(int n);
 
+	static unsigned long btRand2a(unsigned long& seed);
+	static int btRandInt2a(int n, unsigned long& seed);
+
 	void setRandSeed(unsigned long seed)
 	{
 		m_btSeed2 = seed;
@@ -180,14 +284,18 @@ public:
 	}
 
 	///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4
-	btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
+	static btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
-	btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
+	static btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
-	btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
+	static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
 
 	///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4
-	btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
+	static btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
-	btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
+	static btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
-	btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
+	static btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
+
+	static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric();
+	static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric();
+
 };
 
-#endif  //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
+#endif  //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H

src/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h

@@ -156,7 +156,7 @@ protected:
 		btTypedConstraint** constraints,
 		int numConstraints,
 		const btContactSolverInfo& infoGlobal,
-		btIDebugDraw* debugDrawer) BT_OVERRIDE;
+		btIDebugDraw* debugDrawer) ;
 
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR()