Commit: 05eebf49d3c3af47bf157207b82cf559ac1fe274
Author: Sergej Reich
Date: Thu Dec 26 12:41:52 2013 +0100
https://developer.blender.org/rB05eebf49d3c3af47bf157207b82cf559ac1fe274
Bullet: Update to svn r2719
Fixes part of T37905, fixed constraint didn't work correctly.
===================================================================
M
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
M
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
M
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
M
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
M
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
M extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
M extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
M extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h
M
extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
M
extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
M extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
M extern/bullet2/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h
M
extern/bullet2/src/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
M extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
M extern/bullet2/src/LinearMath/btMatrixX.h
M extern/bullet2/src/LinearMath/btScalar.h
M extern/bullet2/src/LinearMath/btVector3.cpp
M extern/bullet2/src/LinearMath/btVector3.h
===================================================================
diff --git
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
index 093c6f9..d739a2a 100644
--- a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
@@ -770,7 +770,7 @@ void
btCollisionWorld::objectQuerySingleInternal(const btConvexShape* castShape,
hitPointLocal,
hitFraction);
- bool
normalInWorldSpace = false;
+ bool
normalInWorldSpace = true;
return
m_resultCallback->addSingleResult(convexResult,normalInWorldSpace);
}
diff --git
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
index 991841e..286e6c3 100644
---
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
+++
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
@@ -229,6 +229,7 @@ void btCompoundCollisionAlgorithm::processCollision (const
btCollisionObjectWrap
removeChildAlgorithms();
preallocateChildAlgorithms(body0Wrap,body1Wrap);
+ m_compoundShapeRevision = compoundShape->getUpdateRevision();
}
diff --git
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
index 5367514..7d792c1 100644
---
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+++
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
@@ -36,6 +36,7 @@ extern btShapePairCallback gCompoundChildShapePairCallback;
/// btCompoundCollisionAlgorithm supports collision between
CompoundCollisionShapes and other collision shapes
class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
+protected:
btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
bool m_isSwapped;
diff --git
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
index a52dd34..95780fb 100644
---
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
+++
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
@@ -27,10 +27,8 @@ subject to the following restrictions:
btShapePairCallback gCompoundCompoundChildShapePairCallback = 0;
btCompoundCompoundCollisionAlgorithm::btCompoundCompoundCollisionAlgorithm(
const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper*
body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
-:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
-m_sharedManifold(ci.m_manifold)
+:btCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,isSwapped)
{
- m_ownsManifold = false;
void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache),16);
m_childCollisionAlgorithmCache= new(ptr) btHashedSimplePairCache();
@@ -292,12 +290,21 @@ void
btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb
const btCompoundShape* compoundShape0 = static_cast<const
btCompoundShape*>(col0ObjWrap->getCollisionShape());
const btCompoundShape* compoundShape1 = static_cast<const
btCompoundShape*>(col1ObjWrap->getCollisionShape());
+ const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
+ const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
+ if (!tree0 || !tree1)
+ {
+ return
btCompoundCollisionAlgorithm::processCollision(body0Wrap,body1Wrap,dispatchInfo,resultOut);
+ }
///btCompoundShape might have changed:
////make sure the internal child collision algorithm caches are still
valid
if ((compoundShape0->getUpdateRevision() != m_compoundShapeRevision0)
|| (compoundShape1->getUpdateRevision() != m_compoundShapeRevision1))
{
///clear all
removeChildAlgorithms();
+ m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
+ m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
+
}
@@ -329,8 +336,7 @@ void btCompoundCompoundCollisionAlgorithm::processCollision
(const btCollisionOb
}
- const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
- const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
+
btCompoundCompoundLeafCallback
callback(col0ObjWrap,col1ObjWrap,this->m_dispatcher,dispatchInfo,resultOut,this->m_childCollisionAlgorithmCache,m_sharedManifold);
diff --git
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
index 7e2d7ad..06a762f 100644
---
a/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
+++
b/extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
@@ -17,6 +17,8 @@ subject to the following restrictions:
#ifndef BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
#define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
+#include "btCompoundCollisionAlgorithm.h"
+
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
@@ -35,15 +37,12 @@ typedef bool (*btShapePairCallback)(const btCollisionShape*
pShape0, const btCol
extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
/// btCompoundCompoundCollisionAlgorithm supports collision between two
btCompoundCollisionShape shapes
-class btCompoundCompoundCollisionAlgorithm : public
btActivatingCollisionAlgorithm
+class btCompoundCompoundCollisionAlgorithm : public
btCompoundCollisionAlgorithm
{
class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
btSimplePairArray m_removePairs;
- class btPersistentManifold* m_sharedManifold;
- bool m_ownsManifold;
-
int m_compoundShapeRevision0;//to keep track of changes, so that
childAlgorithm array can be updated
int m_compoundShapeRevision1;
diff --git
a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
index 1ba1cd1..890afe6 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
@@ -33,7 +33,8 @@ class btDispatcher;
enum btConstraintSolverType
{
BT_SEQUENTIAL_IMPULSE_SOLVER=1,
- BT_MLCP_SOLVER=2
+ BT_MLCP_SOLVER=2,
+ BT_NNCG_SOLVER=4
};
class btConstraintSolver
diff --git
a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
index f93a328..3428e0b 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
@@ -23,9 +23,8 @@ subject to the following restrictions:
btFixedConstraint::btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const
btTransform& frameInA,const btTransform& frameInB)
:btTypedConstraint(FIXED_CONSTRAINT_TYPE,rbA,rbB)
{
- m_pivotInA = frameInA.getOrigin();
- m_pivotInB = frameInB.getOrigin();
- m_relTargetAB = frameInA.getRotation()*frameInB.getRotation().inverse();
+ m_frameInA = frameInA;
+ m_frameInB = frameInB;
}
@@ -37,14 +36,16 @@ btFixedConstraint::~btFixedConstraint ()
void btFixedConstraint::getInfo1 (btConstraintInfo1* info)
{
info->m_numConstraintRows = 6;
- info->nub = 6;
+ info->nub = 0;
}
void btFixedConstraint::getInfo2 (btConstraintInfo2* info)
{
//fix the 3 linear degrees of freedom
-
+ const btTransform& transA = m_rbA.getCenterOfMassTransform();
+ const btTransform& transB = m_rbB.getCenterOfMassTransform();
+
const btVector3& worldPosA =
m_rbA.getCenterOfMassTransform().getOrigin();
const btMatrix3x3& worldOrnA =
m_rbA.getCenterOfMassTransform().getBasis();
const btVector3& worldPosB=
m_rbB.getCenterOfMassTransform().getOrigin();
@@ -55,15 +56,15 @@ void btFixedConstraint::getInfo2 (btConstraintInfo2* info)
info->m_J1linearAxis[info->rowskip+1] = 1;
info->m_J1linearAxis[2*info->rowskip+2] = 1;
- btVector3 a1 = worldOrnA*m_pivotInA;
- {
+ btVector3 a1 = worldOrnA * m_frameInA.getOrigin();
+ {
btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
btVector3* angular1 =
(btVector3*)(info->m_J1angularAxis+info->rowskip);
btVector3* angular2 =
(btVector3*)(info->m_J1angularAxis+2*info->rowskip);
btVector3 a1neg = -a1;
a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
-
+
if (info->m_J2linearAxis)
{
info->m_J2linearAxis[0] = -1;
@@ -71,10 +72,8 @@ void btFixedConstraint::getInfo2 (btConstraintInfo2* info)
info->m_J2linearAxis[2*info->rowskip+2] = -1;
}
- btVector3 a2 = worldOrnB*m_pivotInB;
-
- {
- // btVector3 a2n = -a2;
+ btVector3 a2 = worldOrnB*m_frameInB.getOrigin();
+ {
btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
btVector3* angular1 =
(btVector3*)(info->m_J2angularAxis+info->rowskip);
btVector3* angular2 =
(btVector3*)(info->m_J2angularAxis+2*info->rowskip);
@@ -88,42 +87,100 @@ void btFixedConstraint::getInfo2 (btConstraintInfo2* info)
int j;
for (j=0; j<3; j++)
{
-
-
-
info->m_constraintError[j*info->rowskip] = linearError[j];
//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
}
- //fix the 3 angular degrees of freedom
-
- int start_row = 3;
- int s = info->rowskip;
- int start_index = start_row * s;
-
- // 3 rows to make body rotations equal
- info->m_J1angularAxis[start_index] = 1;
- info->m_J1angularAxis[start_index + s + 1] = 1;
- info->m_J1angularAxis[start_index + s*2+2] = 1;
- if ( info->m_J2angularAxis)
- {
- info->m_J2angularAxis[start_index] = -1;
- info->m_J2angularAxis[start_index + s+1] = -1;
- info->m_J2angularAxis[start_index + s*2+2] = -1;
- }
-
-
@@ Diff output truncated at 10240 characters. @@
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