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Code Releases Wiki Activity

Update to bullet master (2.90)

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This commit is contained in:
PouleyKetchoupp
2020-04-27 10:15:23 +02:00
parent 43f0767390
commit 3e7db60d56
56 changed files with 4403 additions and 858 deletions
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6
thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h vendored
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@@ -46,7 +46,7 @@ struct btContactSolverInfoData
btScalar m_sor; //successive over-relaxation term
btScalar m_erp; //error reduction for non-contact constraints
btScalar m_erp2; //error reduction for contact constraints
btScalar m_deformable_erp; //error reduction for deformable constraints
btScalar m_deformable_erp; //error reduction for deformable constraints
btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts
btScalar m_frictionERP; //error reduction for friction constraints
btScalar m_frictionCFM; //constraint force mixing for friction constraints
@@ -67,6 +67,7 @@ struct btContactSolverInfoData
bool m_jointFeedbackInWorldSpace;
bool m_jointFeedbackInJointFrame;
int m_reportSolverAnalytics;
int m_numNonContactInnerIterations;
};
struct btContactSolverInfo : public btContactSolverInfoData
@@ -82,7 +83,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_numIterations = 10;
m_erp = btScalar(0.2);
m_erp2 = btScalar(0.2);
m_deformable_erp = btScalar(0.);
m_deformable_erp = btScalar(0.1);
m_globalCfm = btScalar(0.);
m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
m_frictionCFM = btScalar(0.);
@@ -104,6 +105,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_jointFeedbackInWorldSpace = false;
m_jointFeedbackInJointFrame = false;
m_reportSolverAnalytics = 0;
m_numNonContactInnerIterations = 1; // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
}
};

5
thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.cpp vendored
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@@ -876,7 +876,10 @@ int btGeneric6DofSpring2Constraint::get_limit_motor_info2(
// will we not request a velocity with the wrong direction ?
// and the answer is not, because in practice during the solving the current velocity is subtracted from the m_constraintError
// so the sign of the force that is really matters
info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
if (m_flags & BT_6DOF_FLAGS_USE_INFINITE_ERROR)
info->m_constraintError[srow] = (rotational ? -1 : 1) * (f < 0 ? -SIMD_INFINITY : SIMD_INFINITY);
else
info->m_constraintError[srow] = vel + f / m * (rotational ? -1 : 1);
btScalar minf = f < fd ? f : fd;
btScalar maxf = f < fd ? fd : f;

1
thirdparty/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h vendored
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@@ -265,6 +265,7 @@ enum bt6DofFlags2
BT_6DOF_FLAGS_ERP_STOP2 = 2,
BT_6DOF_FLAGS_CFM_MOTO2 = 4,
BT_6DOF_FLAGS_ERP_MOTO2 = 8,
BT_6DOF_FLAGS_USE_INFINITE_ERROR = (1<<16)
};
#define BT_6DOF_FLAGS_AXIS_SHIFT2 4 // bits per axis

12
thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp vendored
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@@ -14,7 +14,9 @@ subject to the following restrictions:
*/
//#define COMPUTE_IMPULSE_DENOM 1
//#define BT_ADDITIONAL_DEBUG
#ifdef BT_DEBUG
# define BT_ADDITIONAL_DEBUG
#endif
//It is not necessary (redundant) to refresh contact manifolds, this refresh has been moved to the collision algorithms.
@@ -690,8 +692,10 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{
#if BT_THREADSAFE
int solverBodyId = -1;
bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
if (isRigidBodyType && !body.isStaticOrKinematicObject())
const bool isRigidBodyType = btRigidBody::upcast(&body) != NULL;
const bool isStaticOrKinematic = body.isStaticOrKinematicObject();
const bool isKinematic = body.isKinematicObject();
if (isRigidBodyType && !isStaticOrKinematic)
{
// dynamic body
// Dynamic bodies can only be in one island, so it's safe to write to the companionId
@@ -704,7 +708,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
body.setCompanionId(solverBodyId);
}
}
else if (isRigidBodyType && body.isKinematicObject())
else if (isRigidBodyType && isKinematic)
{
//
// NOTE: must test for kinematic before static because some kinematic objects also