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Merge branch 'master' into soc-2013-rigid_body_sim

Browse Source 
Conflicts:
	intern/rigidbody/CMakeLists.txt
	release/datafiles/splash.png
	source/blender/editors/space_view3d/drawobject.c
	source/blender/makesdna/DNA_view3d_types.h
This commit is contained in:
Sergej Reich
2013-11-23 17:17:12 +01:00
parent 5d5176095e d846c9a3b7
commit 39dc956f59
1107 changed files with 29797 additions and 24047 deletions
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6
.arcconfig Normal file
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@@ -0,0 +1,6 @@
{
"project_id" : "Blender",
"conduit_uri" : "http://developer.blender.org/",
"git.default-relative-commit" : "origin/master",
"arc.land.update.default" : "rebase"
}

25
.gitignore vendored Normal file
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@@ -0,0 +1,25 @@
# generic files to ignore
.*
# python temp paths
__pycache__/
*.py[cod]
# editors
*~
*.swp
*.swo
*#
# ms-windows
Thumbs.db
ehthumbs.db
Desktop.ini
# commonly used paths in blender
/blender.bin
/user-config.py
# local patches
/*.patch
/*.diff

16
.gitmodules vendored Normal file
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@@ -0,0 +1,16 @@
[submodule "release/scripts/addons"]
path = release/scripts/addons
url = ../blender-addons.git
ignore = all
[submodule "release/scripts/addons_contrib"]
path = release/scripts/addons_contrib
url = ../blender-addons-contrib.git
ignore = all
[submodule "release/datafiles/locale"]
path = release/datafiles/locale
url = ../blender-translations.git
ignore = all
[submodule "scons"]
path = scons
url = ../scons.git
ignore = all

117
CMakeLists.txt
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@@ -216,15 +216,22 @@ option(WITH_IMAGE_FRAMESERVER "Enable image FrameServer Support for rendering"
# Audio/Video format support
option(WITH_CODEC_AVI "Enable Blenders own AVI file support (raw/jpeg)" ON)
option(WITH_CODEC_FFMPEG "Enable FFMPeg Support (http://ffmpeg.org)" OFF)
option(WITH_CODEC_SNDFILE "Enable libsndfile Support (http://www.mega-nerd.com/libsndfile)" OFF)
if(APPLE OR (WIN32 AND NOT UNIX))
option(WITH_CODEC_QUICKTIME "Enable Quicktime Support" OFF)
if(APPLE)
option(WITH_CODEC_FFMPEG "Enable FFMPeg Support (http://ffmpeg.org)" ON)
option(WITH_CODEC_QUICKTIME "Enable Quicktime Support" ON)
else()
option(WITH_CODEC_FFMPEG "Enable FFMPeg Support (http://ffmpeg.org)" OFF)
endif()
# 3D format support
# disable opencollada on non-apple unix because opencollada has no package for debian
option(WITH_OPENCOLLADA "Enable OpenCollada Support (http://www.opencollada.org)" OFF)
# Disable opencollada when we don't have precompiled libs
if(APPLE OR WIN32)
option(WITH_OPENCOLLADA "Enable OpenCollada Support (http://www.opencollada.org)" ON)
else()
option(WITH_OPENCOLLADA "Enable OpenCollada Support (http://www.opencollada.org)" OFF)
endif()
# Sound output
option(WITH_SDL "Enable SDL for sound and joystick support" ON)
@@ -290,7 +297,7 @@ mark_as_advanced(WITH_CXX_GUARDEDALLOC)
option(WITH_ASSERT_ABORT "Call abort() when raising an assertion through BLI_assert()" OFF)
mark_as_advanced(WITH_ASSERT_ABORT)
option(WITH_BOOST "Enable features depending no boost" ON)
option(WITH_BOOST "Enable features depending on boost" ON)
if(CMAKE_COMPILER_IS_GNUCC)
option(WITH_GCC_MUDFLAP "Enable mudflap" OFF)
@@ -367,10 +374,17 @@ if(APPLE)
message(STATUS "OSX_SYSROOT_PREFIX: " ${OSX_SYSROOT_PREFIX})
set(OSX_DEVELOPER_PREFIX /Developer/SDKs/MacOSX${OSX_SYSTEM}.sdk) # use guaranteed existing sdk
set(CMAKE_OSX_SYSROOT ${OSX_SYSROOT_PREFIX}/${OSX_DEVELOPER_PREFIX} CACHE PATH "" FORCE)
if(${CMAKE_GENERATOR} MATCHES "Xcode")
set(CMAKE_XCODE_ATTRIBUTE_SDKROOT macosx${OSX_SYSTEM}) # to silence sdk not found warning, just overrides CMAKE_OSX_SYSROOT
endif()
endif()
if(OSX_SYSTEM MATCHES 10.9)
set(CMAKE_FIND_ROOT_PATH ${CMAKE_OSX_SYSROOT}) # make sure syslibs and headers are looked up in sdk ( expecially for 10.9 openGL atm. )
endif()
if(NOT CMAKE_OSX_DEPLOYMENT_TARGET)
set(CMAKE_OSX_DEPLOYMENT_TARGET "10.5" CACHE STRING "" FORCE) # 10.5 is our min. target, if you use higher sdk, weak linking happens
set(CMAKE_OSX_DEPLOYMENT_TARGET "10.6" CACHE STRING "" FORCE) # 10.6 is our min. target, if you use higher sdk, weak linking happens
endif()
if(NOT ${CMAKE_GENERATOR} MATCHES "Xcode")
@@ -380,12 +394,7 @@ if(APPLE)
add_definitions("-DMACOSX_DEPLOYMENT_TARGET=${CMAKE_OSX_DEPLOYMENT_TARGET}")
endif()
option(WITH_COCOA "Use Cocoa framework instead of deprecated Carbon" ON)
option(USE_QTKIT "Use QtKit instead of Carbon quicktime (needed for having partial quicktime for 64bit)" OFF)
option(WITH_LIBS10.5 "Use 10.5 libs (needed for 64bit builds)" OFF)
if(CMAKE_OSX_ARCHITECTURES MATCHES x86_64)
set(USE_QTKIT ON CACHE BOOL "ON" FORCE) # no Quicktime in 64bit
endif()
endif()
@@ -492,14 +501,6 @@ if(WITH_GHOST_SDL OR WITH_HEADLESS)
set(WITH_X11_XINPUT OFF)
endif()
if(MINGW)
if(WITH_CODEC_QUICKTIME)
message(FATAL_ERROR "MINGW requires WITH_CODEC_QUICKTIME to be OFF "
"because it is currently unsupported, remove this "
"line if youre a developer who wants to add support.")
endif()
endif()
TEST_SSE_SUPPORT(COMPILER_SSE_FLAG COMPILER_SSE2_FLAG)
TEST_STDBOOL_SUPPORT()
@@ -1030,13 +1031,6 @@ elseif(WIN32)
set(SDL_LIBPATH ${SDL}/lib)
endif()
if(WITH_CODEC_QUICKTIME)
set(QUICKTIME ${LIBDIR}/QTDevWin)
set(QUICKTIME_INCLUDE_DIRS ${QUICKTIME}/CIncludes)
set(QUICKTIME_LIBRARIES qtmlClient)
set(QUICKTIME_LIBPATH ${QUICKTIME}/Libraries)
endif()
if(WITH_RAYOPTIMIZATION AND SUPPORT_SSE_BUILD)
add_definitions(-D__SSE__ -D__MMX__)
endif()
@@ -1500,7 +1494,7 @@ elseif(WIN32)
elseif(APPLE)
if(${CMAKE_OSX_DEPLOYMENT_TARGET} STREQUAL "10.5" OR ${CMAKE_OSX_DEPLOYMENT_TARGET} STRGREATER "10.5")
set(WITH_LIBS10.5 ON CACHE BOOL "Use 10.5 libs" FORCE) # valid also for 10.6/10.7
set(WITH_LIBS10.5 ON CACHE BOOL "Use 10.5 libs" FORCE) # valid also for 10.6/7/8/9
endif()
if(WITH_LIBS10.5)
@@ -1612,47 +1606,37 @@ elseif(APPLE)
set(PLATFORM_LINKLIBS stdc++)
endif()
if(WITH_COCOA)
set(PLATFORM_CFLAGS "-pipe -funsigned-char -DGHOST_COCOA")
set(PLATFORM_LINKFLAGS "-fexceptions -framework CoreServices -framework Foundation -framework IOKit -framework AppKit -framework Cocoa -framework Carbon -framework AudioUnit -framework AudioToolbox -framework CoreAudio")
if(USE_QTKIT)
set(PLATFORM_CFLAGS "${PLATFORM_CFLAGS} -DUSE_QTKIT")
set(PLATFORM_LINKFLAGS "${PLATFORM_LINKFLAGS} -framework QTKit")
if(CMAKE_OSX_ARCHITECTURES MATCHES i386)
set(PLATFORM_LINKFLAGS "${PLATFORM_LINKFLAGS} -framework QuickTime")
# libSDL still needs 32bit carbon quicktime
endif()
elseif(WITH_CODEC_QUICKTIME)
set(PLATFORM_CFLAGS "-pipe -funsigned-char")
set(PLATFORM_LINKFLAGS "-fexceptions -framework CoreServices -framework Foundation -framework IOKit -framework AppKit -framework Cocoa -framework Carbon -framework AudioUnit -framework AudioToolbox -framework CoreAudio")
if(WITH_CODEC_QUICKTIME)
set(PLATFORM_LINKFLAGS "${PLATFORM_LINKFLAGS} -framework QTKit")
if(CMAKE_OSX_ARCHITECTURES MATCHES i386)
set(PLATFORM_LINKFLAGS "${PLATFORM_LINKFLAGS} -framework QuickTime")
# libSDL still needs 32bit carbon quicktime
endif()
endif()
# XXX - SOME MAC DEV PLEASE TEST WITH THE SDK INSTALLED!
# ALSO SHOULD BE MOVED INTO OWN MODULE WHEN FUNCTIONAL
if(WITH_INPUT_NDOF)
# This thread it *should* work and check the framework - campbell
# http://www.cmake.org/pipermail/cmake/2005-December/007740.html
find_library(3DCONNEXION_CLIENT_FRAMEWORK
NAMES 3DconnexionClient
)
if(NOT 3DCONNEXION_CLIENT_FRAMEWORK)
set(WITH_INPUT_NDOF OFF)
endif()
# XXX - SOME MAC DEV PLEASE TEST WITH THE SDK INSTALLED!
# ALSO SHOULD BE MOVED INTO OWN MODULE WHEN FUNCTIONAL
if(WITH_INPUT_NDOF)
# This thread it *should* work and check the framework - campbell
# http://www.cmake.org/pipermail/cmake/2005-December/007740.html
find_library(3DCONNEXION_CLIENT_FRAMEWORK
NAMES 3DconnexionClient
)
if(NOT 3DCONNEXION_CLIENT_FRAMEWORK)
set(WITH_INPUT_NDOF OFF)
endif()
if(WITH_INPUT_NDOF)
set(PLATFORM_LINKFLAGS "${PLATFORM_LINKFLAGS} -F/Library/Frameworks -weak_framework 3DconnexionClient")
set(NDOF_INCLUDE_DIRS /Library/Frameworks/3DconnexionClient.framework/Headers )
endif()
set(PLATFORM_LINKFLAGS "${PLATFORM_LINKFLAGS} -F/Library/Frameworks -weak_framework 3DconnexionClient")
set(NDOF_INCLUDE_DIRS /Library/Frameworks/3DconnexionClient.framework/Headers )
endif()
endif()
if(WITH_JACK)
set(PLATFORM_LINKFLAGS "${PLATFORM_LINKFLAGS} -F/Library/Frameworks -weak_framework jackmp")
endif()
else()
set(PLATFORM_CFLAGS "-pipe -funsigned-char")
set(PLATFORM_LINKFLAGS "-fexceptions -framework CoreServices -framework Foundation -framework IOKit -framework AppKit -framework Carbon -framework AGL -framework AudioUnit -framework AudioToolbox -framework CoreAudio -framework QuickTime")
set(WITH_INPUT_NDOF OFF) # unsupported
endif()
if(WITH_PYTHON_MODULE OR WITH_PYTHON_FRAMEWORK)
set(PLATFORM_LINKFLAGS "${PLATFORM_LINKFLAGS} /Library/Frameworks/Python.framework/Versions/${PYTHON_VERSION}/Python")# force cmake to link right framework
@@ -1805,13 +1789,9 @@ elseif(APPLE)
set(CMAKE_CXX_FLAGS_RELEASE "-mdynamic-no-pic -fno-strict-aliasing")
endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(${CMAKE_GENERATOR} MATCHES "Xcode")
if(${XCODE_VERSION} VERSION_EQUAL 5 OR ${XCODE_VERSION} VERSION_GREATER 5)
# Xcode 5 has too low template depth of 128 for libmv
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-depth=1024")
endif()
endif()
if(${XCODE_VERSION} VERSION_EQUAL 5 OR ${XCODE_VERSION} VERSION_GREATER 5)
# Xcode 5 is always using CLANG, which has too low template depth of 128 for libmv
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-depth=1024")
endif()
endif()
@@ -2078,6 +2058,7 @@ elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
ADD_CHECK_C_COMPILER_FLAG(CC_REMOVE_STRICT_FLAGS C_WARN_NO_UNUSED_MACROS -Wno-unused-macros)
ADD_CHECK_C_COMPILER_FLAG(CC_REMOVE_STRICT_FLAGS C_WARN_NO_MISSING_VARIABLE_DECLARATIONS -Wno-missing-variable-declarations)
ADD_CHECK_C_COMPILER_FLAG(CC_REMOVE_STRICT_FLAGS C_WARN_NO_INCOMPAT_PTR_DISCARD_QUAL -Wno-incompatible-pointer-types-discards-qualifiers)
ADD_CHECK_C_COMPILER_FLAG(CC_REMOVE_STRICT_FLAGS C_WARN_NO_UNUSED_FUNCTION -Wno-unused-function)
ADD_CHECK_C_COMPILER_FLAG(CC_REMOVE_STRICT_FLAGS C_WARN_NO_INT_TO_VOID_POINTER_CAST -Wno-int-to-void-pointer-cast)
ADD_CHECK_C_COMPILER_FLAG(CC_REMOVE_STRICT_FLAGS C_WARN_NO_MISSING_PROTOTYPES -Wno-missing-prototypes)

84
GNUmakefile
View File

@@ -40,7 +40,7 @@ ifndef BUILD_CMAKE_ARGS
endif
ifndef BUILD_DIR
BUILD_DIR:=$(shell dirname $(BLENDER_DIR))/build_$(OS_NCASE)
BUILD_DIR:=$(shell dirname "$(BLENDER_DIR)")/build_$(OS_NCASE)
endif
@@ -54,15 +54,15 @@ ifneq "$(findstring debug, $(MAKECMDGOALS))" ""
endif
ifneq "$(findstring lite, $(MAKECMDGOALS))" ""
BUILD_DIR:=$(BUILD_DIR)_lite
BUILD_CMAKE_ARGS:=$(BUILD_CMAKE_ARGS) -C$(BLENDER_DIR)/build_files/cmake/config/blender_lite.cmake
BUILD_CMAKE_ARGS:=$(BUILD_CMAKE_ARGS) -C"$(BLENDER_DIR)/build_files/cmake/config/blender_lite.cmake"
endif
ifneq "$(findstring headless, $(MAKECMDGOALS))" ""
BUILD_DIR:=$(BUILD_DIR)_bpy
BUILD_CMAKE_ARGS:=$(BUILD_CMAKE_ARGS) -C$(BLENDER_DIR)/build_files/cmake/config/blender_headless.cmake
BUILD_CMAKE_ARGS:=$(BUILD_CMAKE_ARGS) -C"$(BLENDER_DIR)/build_files/cmake/config/blender_headless.cmake"
endif
ifneq "$(findstring bpy, $(MAKECMDGOALS))" ""
BUILD_DIR:=$(BUILD_DIR)_bpy
BUILD_CMAKE_ARGS:=$(BUILD_CMAKE_ARGS) -C$(BLENDER_DIR)/build_files/cmake/config/bpy_module.cmake
BUILD_CMAKE_ARGS:=$(BUILD_CMAKE_ARGS) -C"$(BLENDER_DIR)/build_files/cmake/config/bpy_module.cmake"
endif
@@ -87,8 +87,8 @@ endif
# Macro for configuring cmake
CMAKE_CONFIG = cmake $(BUILD_CMAKE_ARGS) \
-H$(BLENDER_DIR) \
-B$(BUILD_DIR) \
-H"$(BLENDER_DIR)" \
-B"$(BUILD_DIR)" \
-DCMAKE_BUILD_TYPE:STRING=$(BUILD_TYPE)
@@ -118,7 +118,7 @@ all:
@echo
@echo Building Blender ...
$(MAKE) -C $(BUILD_DIR) -s -j $(NPROCS) install
$(MAKE) -C "$(BUILD_DIR)" -s -j $(NPROCS) install
@echo
@echo edit build configuration with: "$(BUILD_DIR)/CMakeCache.txt" run make again to rebuild.
@echo blender installed, run from: "$(BUILD_DIR)/bin/blender"
@@ -133,7 +133,7 @@ bpy: all
# -----------------------------------------------------------------------------
# Configuration (save some cd'ing around)
config:
$(CMAKE_CONFIG_TOOL) $(BUILD_DIR)
$(CMAKE_CONFIG_TOOL) "$(BUILD_DIR)"
# -----------------------------------------------------------------------------
@@ -205,7 +205,7 @@ package_pacman:
cd build_files/package_spec/pacman ; MAKEFLAGS="-j$(NPROCS)" makepkg --asroot
package_archive:
make -C $(BUILD_DIR) -s package_archive
make -C "$(BUILD_DIR)" -s package_archive
@echo archive in "$(BUILD_DIR)/release"
@@ -231,25 +231,25 @@ test_deprecated:
test_style_c:
# run our own checks on C/C++ style
PYTHONIOENCODING=utf_8 python3 $(BLENDER_DIR)/source/tools/check_style_c.py $(BLENDER_DIR)/source/blender $(BLENDER_DIR)/source/creator --no-length-check
PYTHONIOENCODING=utf_8 python3 "$(BLENDER_DIR)/source/tools/check_source/check_style_c.py" "$(BLENDER_DIR)/source/blender" "$(BLENDER_DIR)/source/creator" --no-length-check
test_style_c_qtc:
# run our own checks on C/C++ style
USE_QTC_TASK=1 \
PYTHONIOENCODING=utf_8 python3 $(BLENDER_DIR)/source/tools/check_style_c.py $(BLENDER_DIR)/source/blender $(BLENDER_DIR)/source/creator --no-length-check > \
PYTHONIOENCODING=utf_8 python3 "$(BLENDER_DIR)/source/tools/check_source/check_style_c.py" "$(BLENDER_DIR)/source/blender" "$(BLENDER_DIR)/source/creator" --no-length-check > \
test_style.tasks
@echo "written: test_style.tasks"
test_style_osl:
# run our own checks on C/C++ style
PYTHONIOENCODING=utf_8 python3 $(BLENDER_DIR)/source/tools/check_style_c.py $(BLENDER_DIR)/intern/cycles/kernel/shaders
PYTHONIOENCODING=utf_8 python3 "$(BLENDER_DIR)/source/tools/check_source/check_style_c.py" "$(BLENDER_DIR)/intern/cycles/kernel/shaders"
test_style_osl_qtc:
# run our own checks on C/C++ style
USE_QTC_TASK=1 \
PYTHONIOENCODING=utf_8 python3 $(BLENDER_DIR)/source/tools/check_style_c.py $(BLENDER_DIR)/intern/cycles/kernel/shaders > \
PYTHONIOENCODING=utf_8 python3 "$(BLENDER_DIR)/source/tools/check_source/check_style_c.py" "$(BLENDER_DIR)/intern/cycles/kernel/shaders" > \
test_style.tasks
@echo "written: test_style.tasks"
@@ -258,13 +258,13 @@ test_style_osl_qtc:
#
project_qtcreator:
python3 build_files/cmake/cmake_qtcreator_project.py $(BUILD_DIR)
python3 build_files/cmake/cmake_qtcreator_project.py "$(BUILD_DIR)"
project_netbeans:
python3 build_files/cmake/cmake_netbeans_project.py $(BUILD_DIR)
python3 build_files/cmake/cmake_netbeans_project.py "$(BUILD_DIR)"
project_eclipse:
cmake -G"Eclipse CDT4 - Unix Makefiles" -H$(BLENDER_DIR) -B$(BUILD_DIR)
cmake -G"Eclipse CDT4 - Unix Makefiles" -H"$(BLENDER_DIR)" -B"$(BUILD_DIR)"
# -----------------------------------------------------------------------------
@@ -273,49 +273,49 @@ project_eclipse:
check_cppcheck:
$(CMAKE_CONFIG)
cd $(BUILD_DIR) ; \
python3 $(BLENDER_DIR)/build_files/cmake/cmake_static_check_cppcheck.py 2> \
$(BLENDER_DIR)/check_cppcheck.txt
cd "$(BUILD_DIR)" ; \
python3 "$(BLENDER_DIR)/build_files/cmake/cmake_static_check_cppcheck.py" 2> \
"$(BLENDER_DIR)/check_cppcheck.txt"
@echo "written: check_cppcheck.txt"
check_clang_array:
$(CMAKE_CONFIG)
cd $(BUILD_DIR) ; \
python3 $(BLENDER_DIR)/build_files/cmake/cmake_static_check_clang_array.py
cd "$(BUILD_DIR)" ; \
python3 "$(BLENDER_DIR)/build_files/cmake/cmake_static_check_clang_array.py"
check_splint:
$(CMAKE_CONFIG)
cd $(BUILD_DIR) ; \
python3 $(BLENDER_DIR)/build_files/cmake/cmake_static_check_splint.py
cd "$(BUILD_DIR)" ; \
python3 "$(BLENDER_DIR)/build_files/cmake/cmake_static_check_splint.py"
check_sparse:
$(CMAKE_CONFIG)
cd $(BUILD_DIR) ; \
python3 $(BLENDER_DIR)/build_files/cmake/cmake_static_check_sparse.py
cd "$(BUILD_DIR)" ; \
python3 "$(BLENDER_DIR)/build_files/cmake/cmake_static_check_sparse.py"
check_smatch:
$(CMAKE_CONFIG)
cd $(BUILD_DIR) ; \
python3 $(BLENDER_DIR)/build_files/cmake/cmake_static_check_smatch.py
cd "$(BUILD_DIR)" ; \
python3 "$(BLENDER_DIR)/build_files/cmake/cmake_static_check_smatch.py"
check_spelling_py:
cd $(BUILD_DIR) ; \
PYTHONIOENCODING=utf_8 python3 $(BLENDER_DIR)/source/tools/spell_check_source.py $(BLENDER_DIR)/release/scripts
cd "$(BUILD_DIR)" ; \
PYTHONIOENCODING=utf_8 python3 "$(BLENDER_DIR)/source/tools/check_source/check_spelling.py" "$(BLENDER_DIR)/release/scripts"
check_spelling_c:
cd $(BUILD_DIR) ; \
PYTHONIOENCODING=utf_8 python3 $(BLENDER_DIR)/source/tools/spell_check_source.py $(BLENDER_DIR)/source
cd "$(BUILD_DIR)" ; \
PYTHONIOENCODING=utf_8 python3 "$(BLENDER_DIR)/source/tools/check_source/check_spelling.py" "$(BLENDER_DIR)/source"
check_spelling_c_qtc:
cd $(BUILD_DIR) ; USE_QTC_TASK=1 \
PYTHONIOENCODING=utf_8 python3 $(BLENDER_DIR)/source/tools/spell_check_source.py $(BLENDER_DIR)/source > \
$(BLENDER_DIR)/check_spelling_c.tasks
cd "$(BUILD_DIR)" ; USE_QTC_TASK=1 \
PYTHONIOENCODING=utf_8 python3 "$(BLENDER_DIR)/source/tools/check_source/check_spelling.py" "$(BLENDER_DIR)/source" > \
"$(BLENDER_DIR)/check_spelling_c.tasks"
check_spelling_osl:
cd $(BUILD_DIR) ; PYTHONIOENCODING=utf_8 python3 $(BLENDER_DIR)/source/tools/spell_check_source.py $(BLENDER_DIR)/intern/cycles/kernel/shaders
cd "$(BUILD_DIR)" ; PYTHONIOENCODING=utf_8 python3 "$(BLENDER_DIR)/source/tools/check_source/check_spelling.py" "$(BLENDER_DIR)/intern/cycles/kernel/shaders"
check_descriptions:
$(BUILD_DIR)/bin/blender --background -noaudio --factory-startup --python $(BLENDER_DIR)/source/tools/check_descriptions.py
"$(BUILD_DIR)/bin/blender" --background -noaudio --factory-startup --python "$(BLENDER_DIR)/source/tools/check_source/check_descriptions.py"
# -----------------------------------------------------------------------------
# Utilities
@@ -328,8 +328,8 @@ tbz:
@echo "blender_archive.tar.bz2 written"
icons:
$(BLENDER_DIR)/release/datafiles/blender_icons.sh
$(BLENDER_DIR)/release/datafiles/prvicons.sh
"$(BLENDER_DIR)/release/datafiles/blender_icons.sh"
"$(BLENDER_DIR)/release/datafiles/prvicons.sh"
# -----------------------------------------------------------------------------
@@ -338,7 +338,7 @@ icons:
# Simple version of ./doc/python_api/sphinx_doc_gen.sh with no PDF generation.
doc_py:
$(BUILD_DIR)/bin/blender --background -noaudio --factory-startup --python doc/python_api/sphinx_doc_gen.py
"$(BUILD_DIR)/bin/blender" --background -noaudio --factory-startup --python doc/python_api/sphinx_doc_gen.py
cd doc/python_api ; sphinx-build -b html sphinx-in sphinx-out
@echo "docs written into: '$(BLENDER_DIR)/doc/python_api/sphinx-out/contents.html'"
@@ -347,14 +347,14 @@ doc_doxy:
@echo "docs written into: '$(BLENDER_DIR)/doc/doxygen/html/index.html'"
doc_dna:
$(BUILD_DIR)/bin/blender --background -noaudio --factory-startup --python doc/blender_file_format/BlendFileDnaExporter_25.py
"$(BUILD_DIR)/bin/blender" --background -noaudio --factory-startup --python doc/blender_file_format/BlendFileDnaExporter_25.py
@echo "docs written into: '$(BLENDER_DIR)/doc/blender_file_format/dna.html'"
doc_man:
python3 doc/manpage/blender.1.py $(BUILD_DIR)/bin/blender
python3 doc/manpage/blender.1.py "$(BUILD_DIR)/bin/blender"
clean:
$(MAKE) -C $(BUILD_DIR) clean
$(MAKE) -C "$(BUILD_DIR)" clean
.PHONY: all

200
SConstruct
View File

@@ -285,52 +285,153 @@ if 'cudakernels' in B.targets:
env['WITH_BF_CYCLES_CUDA_BINARIES'] = True
env['WITH_BF_PYTHON'] = False
# Extended OSX_SDK and 3D_CONNEXION_CLIENT_LIBRARY and JAckOSX detection for OSX
#############################################################################
################### Automatic configuration for OSX ##################
#############################################################################
if env['OURPLATFORM']=='darwin':
print B.bc.OKGREEN + "Detected Xcode version: -- " + B.bc.ENDC + env['XCODE_CUR_VER'] + " --"
print "Available " + env['MACOSX_SDK_CHECK']
if not 'Mac OS X 10.6' in env['MACOSX_SDK_CHECK']:
print B.bc.OKGREEN + "Building with user-defined OS X SDK ( Xcode 4.4 or newer )"
elif not 'Mac OS X 10.5' in env['MACOSX_SDK_CHECK']:
print B.bc.OKGREEN + "Auto-setting available MacOSX SDK -> " + B.bc.ENDC + "MacOSX10.6.sdk"
import commands
cmd = 'sw_vers -productVersion'
MAC_CUR_VER=cmd_res=commands.getoutput(cmd)
cmd = 'xcodebuild -version'
cmd_xcode=commands.getoutput(cmd)
env['XCODE_CUR_VER']=cmd_xcode[6:][:3] # truncate output to major.minor version
cmd = 'xcodebuild -showsdks'
cmd_sdk=commands.getoutput(cmd)
MACOSX_SDK_CHECK=cmd_sdk
cmd = 'xcode-select --print-path'
XCODE_SELECT_PATH=commands.getoutput(cmd)
if XCODE_SELECT_PATH.endswith("/Contents/Developer"):
XCODE_BUNDLE=XCODE_SELECT_PATH[:-19]
else:
print B.bc.OKGREEN + "Found recommended sdk :" + B.bc.ENDC + " using MacOSX10.5.sdk"
XCODE_BUNDLE=XCODE_SELECT_PATH
print B.bc.OKGREEN + "Detected Xcode version: -- " + B.bc.ENDC + env['XCODE_CUR_VER'] + " --"
print B.bc.OKGREEN + "Available SDK's: \n" + B.bc.ENDC + MACOSX_SDK_CHECK.replace('\t', '')
if env['MACOSX_SDK'] == '': # no set sdk, choosing best one found
if 'OS X 10.9' in MACOSX_SDK_CHECK:
env['MACOSX_DEPLOYMENT_TARGET'] = '10.6'
env['MACOSX_SDK']='/Developer/SDKs/MacOSX10.9.sdk'
elif 'OS X 10.8' in MACOSX_SDK_CHECK:
env['MACOSX_DEPLOYMENT_TARGET'] = '10.6'
env['MACOSX_SDK']='/Developer/SDKs/MacOSX10.8.sdk'
elif 'OS X 10.7' in MACOSX_SDK_CHECK:
env['MACOSX_DEPLOYMENT_TARGET'] = '10.6'
env['MACOSX_SDK']='/Developer/SDKs/MacOSX10.7.sdk'
elif 'OS X 10.6' in MACOSX_SDK_CHECK:
env['MACOSX_DEPLOYMENT_TARGET'] = '10.6'
env['MACOSX_SDK']='/Developer/SDKs/MacOSX10.6.sdk'
elif 'OS X 10.5' in MACOSX_SDK_CHECK:
env['MACOSX_DEPLOYMENT_TARGET'] = '10.5'
env['MACOSX_SDK']='/Developer/SDKs/MacOSX10.5.sdk'
else:
env['MACOSX_SDK']='/Developer/SDKs/MacOSX' + env['MACOSX_SDK'] + '.sdk'
if env['XCODE_CUR_VER'] >= '4.3': ## since version 4.3, XCode and developer dir are bundled ##
env['MACOSX_SDK'] = XCODE_BUNDLE + '/Contents/Developer/Platforms/MacOSX.platform' + env['MACOSX_SDK']
print B.bc.OKGREEN + "Using OSX SDK :" + B.bc.ENDC + env['MACOSX_SDK']
if env['XCODE_CUR_VER'] >= '5' and not (env['CXX'][:-2].endswith('4.6') or env['CXX'][:-2].endswith('4.8')):
if not env['WITH_OSX_STATICPYTHON'] == 1:
# python 3.3 uses Python-framework additionally installed in /Library/Frameworks
env['BF_PYTHON'] = '/Library/Frameworks/Python.framework/Versions/'
env['BF_PYTHON_INC'] = env['BF_PYTHON'] + env['BF_PYTHON_VERSION'] + '/include/python' + env['BF_PYTHON_VERSION'] + 'm'
env['BF_PYTHON_BINARY'] = env['BF_PYTHON'] + env['BF_PYTHON_VERSION'] + '/bin/python' + env['BF_PYTHON_VERSION']
env['BF_PYTHON_LIB'] = ''
env['BF_PYTHON_LIBPATH'] = env['BF_PYTHON'] + env['BF_PYTHON_VERSION'] + '/lib/python' + env['BF_PYTHON_VERSION'] + '/config-' + env['BF_PYTHON_VERSION'] +'m'
env['PLATFORM_LINKFLAGS'] = env['PLATFORM_LINKFLAGS']+['-framework','Python'] # link to python framework
#Ray trace optimization
if env['WITH_BF_RAYOPTIMIZATION'] == 1:
if env['MACOSX_ARCHITECTURE'] == 'x86_64' or env['MACOSX_ARCHITECTURE'] == 'i386':
env['WITH_BF_RAYOPTIMIZATION'] = 1
else:
env['WITH_BF_RAYOPTIMIZATION'] = 0
if env['MACOSX_ARCHITECTURE'] == 'i386':
env['BF_RAYOPTIMIZATION_SSE_FLAGS'] = env['BF_RAYOPTIMIZATION_SSE_FLAGS']+['-msse']
elif env['MACOSX_ARCHITECTURE'] == 'x86_64':
env['BF_RAYOPTIMIZATION_SSE_FLAGS'] = env['BF_RAYOPTIMIZATION_SSE_FLAGS']+['-msse','-msse2']
if env['MACOSX_ARCHITECTURE'] == 'x86_64' or env['MACOSX_ARCHITECTURE'] == 'ppc64':
ARCH_FLAGS = ['-m64']
else:
ARCH_FLAGS = ['-m32']
env.Append(CPPFLAGS=ARCH_FLAGS)
SDK_FLAGS=['-isysroot', env['MACOSX_SDK'],'-mmacosx-version-min='+ env['MACOSX_DEPLOYMENT_TARGET'],'-arch',env['MACOSX_ARCHITECTURE']] # always used
env['PLATFORM_LINKFLAGS'] = ['-mmacosx-version-min='+ env['MACOSX_DEPLOYMENT_TARGET'],'-isysroot', env['MACOSX_SDK'],'-arch',env['MACOSX_ARCHITECTURE']]+ARCH_FLAGS+env['PLATFORM_LINKFLAGS']
env['CCFLAGS']=SDK_FLAGS+env['CCFLAGS']
env['CXXFLAGS']=SDK_FLAGS+env['CXXFLAGS']
#Intel Macs are CoreDuo and Up
if env['MACOSX_ARCHITECTURE'] == 'i386' or env['MACOSX_ARCHITECTURE'] == 'x86_64':
env['REL_CCFLAGS'] = env['REL_CCFLAGS']+['-ftree-vectorize','-msse','-msse2','-msse3']
else:
env['CCFLAGS'] = env['CCFLAGS']+['-fno-strict-aliasing']
# Intel 64bit Macs are Core2Duo and up
if env['MACOSX_ARCHITECTURE'] == 'x86_64':
env['REL_CCFLAGS'] = env['REL_CCFLAGS']+['-mssse3']
if env['XCODE_CUR_VER'] >= '5' and not env['CC'].split('/')[len(env['CC'].split('/'))-1][4:] >= '4.6.1':
env['CCFLAGS'].append('-ftemplate-depth=1024') # only valid for clang bundled with xcode 5
# for now, Mac builders must download and install the 3DxWare 10 Beta 4 driver framework from 3Dconnexion
# necessary header file lives here when installed:
# /Library/Frameworks/3DconnexionClient.framework/Versions/Current/Headers/ConnexionClientAPI.h
# 3DconnexionClient.framework, optionally install
if env['WITH_BF_3DMOUSE'] == 1:
if not os.path.exists('/Library/Frameworks/3DconnexionClient.framework'):
print "3D_CONNEXION_CLIENT_LIBRARY not found, disabling WITH_BF_3DMOUSE" # avoid build errors !
env['WITH_BF_3DMOUSE'] = 0
print B.bc.OKGREEN + "3DconnexionClient install not found, disabling WITH_BF_3DMOUSE" # avoid build errors !
else:
env.Append(LINKFLAGS=['-F/Library/Frameworks','-Xlinker','-weak_framework','-Xlinker','3DconnexionClient'])
env['BF_3DMOUSE_INC'] = '/Library/Frameworks/3DconnexionClient.framework/Headers'
print B.bc.OKGREEN + "Using 3Dconnexion"
# for now, Mac builders must download and install the JackOSX framework
# necessary header file lives here when installed:
# /Library/Frameworks/Jackmp.framework/Versions/A/Headers/jack.h
# Jackmp.framework, optionally install
if env['WITH_BF_JACK'] == 1:
if not os.path.exists('/Library/Frameworks/Jackmp.framework'):
print "JackOSX install not found, disabling WITH_BF_JACK" # avoid build errors !
env['WITH_BF_JACK'] = 0
print B.bc.OKGREEN + "JackOSX install not found, disabling WITH_BF_JACK" # avoid build errors !
else:
env.Append(LINKFLAGS=['-F/Library/Frameworks','-Xlinker','-weak_framework','-Xlinker','Jackmp'])
print B.bc.OKGREEN + "Using Jack"
if env['WITH_BF_QUICKTIME'] == 1:
env['PLATFORM_LINKFLAGS'] = env['PLATFORM_LINKFLAGS']+['-framework','QTKit']
#Defaults openMP to true if compiler handles it ( only gcc 4.6.1 and newer )
# if your compiler does not have accurate suffix you may have to enable it by hand !
if env['WITH_BF_OPENMP'] == 1:
if env['CC'].split('/')[len(env['CC'].split('/'))-1][4:] >= '4.6.1':
env['WITH_BF_OPENMP'] = 1 # multithreading for fluids, cloth, sculpt and smoke
print B.bc.OKGREEN + "Using OpenMP"
else:
env['WITH_BF_OPENMP'] = 0
print B.bc.OKGREEN + "Disabled OpenMP, not supported by compiler"
if env['WITH_BF_CYCLES_OSL'] == 1:
OSX_OSL_LIBPATH = Dir(env.subst(env['BF_OSL_LIBPATH'])).abspath
# we need 2 variants of passing the oslexec with the force_load option, string and list type atm
if env['CC'][:-2].endswith('4.8'):
env.Append(LINKFLAGS=['-L'+OSX_OSL_LIBPATH,'-loslcomp','-loslexec','-loslquery'])
if env['CC'].split('/')[len(env['CC'].split('/'))-1][4:] >= '4.8':
env.Append(LINKFLAGS=['-L'+OSX_OSL_LIBPATH,'-loslcomp','-loslexec','-loslquery'])
else:
env.Append(LINKFLAGS=['-L'+OSX_OSL_LIBPATH,'-loslcomp','-force_load '+ OSX_OSL_LIBPATH +'/liboslexec.a','-loslquery'])
env.Append(BF_PROGRAM_LINKFLAGS=['-Xlinker','-force_load','-Xlinker',OSX_OSL_LIBPATH +'/liboslexec.a'])
# Trying to get rid of eventually clashes, we export some explicite as local symbols
# Trying to get rid of eventually clashes, we export some symbols explicite as local
env.Append(LINKFLAGS=['-Xlinker','-unexported_symbols_list','-Xlinker','./source/creator/osx_locals.map'])
#for < 10.7.sdk, SystemStubs needs to be linked
if env['MACOSX_SDK'].endswith("10.6.sdk") or env['MACOSX_SDK'].endswith("10.5.sdk"):
env['LLIBS'].append('SystemStubs')
#############################################################################
################### End Automatic configuration for OSX ##################
#############################################################################
if env['WITH_BF_OPENMP'] == 1:
if env['OURPLATFORM'] in ('win32-vc', 'win64-vc'):
@@ -342,12 +443,6 @@ if env['WITH_BF_OPENMP'] == 1:
else:
env.Append(CCFLAGS=['-fopenmp'])
if env['WITH_GHOST_COCOA'] == True:
env.Append(CPPFLAGS=['-DGHOST_COCOA'])
if env['USE_QTKIT'] == True:
env.Append(CPPFLAGS=['-DUSE_QTKIT'])
#check for additional debug libnames
if env.has_key('BF_DEBUG_LIBS'):
@@ -689,6 +784,8 @@ if env['OURPLATFORM']=='darwin':
dn.remove('.svn')
if '_svn' in dn:
dn.remove('_svn')
if '.git' in df:
df.remove('.git')
dir=env['BF_INSTALLDIR']+dp[len(bundledir):]
source=[dp+os.sep+f for f in df]
blenderinstall.append(env.Install(dir=dir,source=source))
@@ -718,10 +815,8 @@ if env['OURPLATFORM']!='darwin':
scriptpaths=['release/scripts']
for scriptpath in scriptpaths:
for dp, dn, df in os.walk(scriptpath):
if '.svn' in dn:
dn.remove('.svn')
if '_svn' in dn:
dn.remove('_svn')
if '.git' in df:
df.remove('.git')
if '__pycache__' in dn: # py3.2 cache dir
dn.remove('__pycache__')
@@ -745,8 +840,6 @@ if env['OURPLATFORM']!='darwin':
# cycles python code
dir=os.path.join(env['BF_INSTALLDIR'], VERSION, 'scripts', 'addons','cycles')
source=os.listdir('intern/cycles/blender/addon')
if '.svn' in source: source.remove('.svn')
if '_svn' in source: source.remove('_svn')
if '__pycache__' in source: source.remove('__pycache__')
source=['intern/cycles/blender/addon/'+s for s in source]
scriptinstall.append(env.Install(dir=dir,source=source))
@@ -754,8 +847,6 @@ if env['OURPLATFORM']!='darwin':
# cycles kernel code
dir=os.path.join(env['BF_INSTALLDIR'], VERSION, 'scripts', 'addons','cycles', 'kernel')
source=os.listdir('intern/cycles/kernel')
if '.svn' in source: source.remove('.svn')
if '_svn' in source: source.remove('_svn')
if '__pycache__' in source: source.remove('__pycache__')
source.remove('kernel.cpp')
source.remove('CMakeLists.txt')
@@ -772,16 +863,12 @@ if env['OURPLATFORM']!='darwin':
# svm
dir=os.path.join(env['BF_INSTALLDIR'], VERSION, 'scripts', 'addons','cycles', 'kernel', 'svm')
source=os.listdir('intern/cycles/kernel/svm')
if '.svn' in source: source.remove('.svn')
if '_svn' in source: source.remove('_svn')
if '__pycache__' in source: source.remove('__pycache__')
source=['intern/cycles/kernel/svm/'+s for s in source]
scriptinstall.append(env.Install(dir=dir,source=source))
# closure
dir=os.path.join(env['BF_INSTALLDIR'], VERSION, 'scripts', 'addons','cycles', 'kernel', 'closure')
source=os.listdir('intern/cycles/kernel/closure')
if '.svn' in source: source.remove('.svn')
if '_svn' in source: source.remove('_svn')
if '__pycache__' in source: source.remove('__pycache__')
source=['intern/cycles/kernel/closure/'+s for s in source]
scriptinstall.append(env.Install(dir=dir,source=source))
@@ -789,8 +876,6 @@ if env['OURPLATFORM']!='darwin':
# licenses
dir=os.path.join(env['BF_INSTALLDIR'], VERSION, 'scripts', 'addons','cycles', 'license')
source=os.listdir('intern/cycles/doc/license')
if '.svn' in source: source.remove('.svn')
if '_svn' in source: source.remove('_svn')
if '__pycache__' in source: source.remove('__pycache__')
source.remove('CMakeLists.txt')
source=['intern/cycles/doc/license/'+s for s in source]
@@ -825,11 +910,6 @@ if env['OURPLATFORM']!='darwin':
colormanagement = os.path.join('release', 'datafiles', 'colormanagement')
for dp, dn, df in os.walk(colormanagement):
if '.svn' in dn:
dn.remove('.svn')
if '_svn' in dn:
dn.remove('_svn')
dir = os.path.join(env['BF_INSTALLDIR'], VERSION, 'datafiles')
dir += os.sep + os.path.basename(colormanagement) + dp[len(colormanagement):]
@@ -847,15 +927,15 @@ if env['OURPLATFORM']!='darwin':
def check_path(path, member):
return (member in path.split(os.sep))
po_dir = os.path.join("release", "datafiles", "locale", "po")
for intpath in internationalpaths:
for dp, dn, df in os.walk(intpath):
if '.svn' in dn:
dn.remove('.svn')
if '_svn' in dn:
dn.remove('_svn')
if '.git' in df:
df.remove('.git')
# we only care about release/datafiles/fonts, release/datafiles/locales
if check_path(dp, "fonts") or check_path(dp, "locale"):
if check_path(dp, "fonts"):
pass
else:
continue
@@ -869,16 +949,24 @@ if env['OURPLATFORM']!='darwin':
env.Execute(Mkdir(dir))
scriptinstall.append(env.Install(dir=dir,source=source))
for f in os.listdir(po_dir):
if not f.endswith(".po"):
continue
locale_name = os.path.splitext(f)[0]
mo_file = os.path.join(B.root_build_dir, "locale", locale_name + ".mo")
dir = os.path.join(env['BF_INSTALLDIR'], VERSION)
dir = os.path.join(dir, "datafiles", "locale", locale_name, "LC_MESSAGES")
scriptinstall.append(env.InstallAs(os.path.join(dir, "blender.mo"), mo_file))
#-- icons
if env['OURPLATFORM']=='linux':
iconlist = []
icontargetlist = []
for tp, tn, tf in os.walk('release/freedesktop/icons'):
if '.svn' in tn:
tn.remove('.svn')
if '_svn' in tn:
tn.remove('_svn')
for f in tf:
iconlist.append(os.path.join(tp, f))
icontargetlist.append( os.path.join(*([env['BF_INSTALLDIR']] + tp.split(os.sep)[2:] + [f])) )
@@ -904,10 +992,6 @@ if env['OURPLATFORM']=='linuxcross':
textlist = []
texttargetlist = []
for tp, tn, tf in os.walk('release/text'):
if '.svn' in tn:
tn.remove('.svn')
if '_svn' in tn:
tn.remove('_svn')
for f in tf:
textlist.append(tp+os.sep+f)

15
build_files/build_environment/install_deps.sh
View File

@@ -200,10 +200,10 @@ OCIO_VERSION_MIN="1.0"
OCIO_FORCE_REBUILD=false
OCIO_SKIP=false
OPENEXR_VERSION="2.0.0"
OPENEXR_VERSION="2.0.1"
OPENEXR_SOURCE="http://download.savannah.nongnu.org/releases/openexr/openexr-$OPENEXR_VERSION.tar.gz"
OPENEXR_VERSION_MIN="2.0"
ILMBASE_VERSION="2.0.0"
ILMBASE_VERSION="2.0.1"
ILMBASE_SOURCE="http://download.savannah.nongnu.org/releases/openexr/ilmbase-$ILMBASE_VERSION.tar.gz"
OPENEXR_FORCE_REBUILD=false
OPENEXR_SKIP=false
@@ -855,7 +855,7 @@ clean_ILMBASE() {
compile_ILMBASE() {
# To be changed each time we make edits that would modify the compiled result!
ilmbase_magic=5
ilmbase_magic=6
_init_ilmbase
# Clean install if needed!
@@ -958,7 +958,7 @@ clean_OPENEXR() {
compile_OPENEXR() {
# To be changed each time we make edits that would modify the compiled result!
openexr_magic=10
openexr_magic=11
# Clean install if needed!
magic_compile_check openexr-$OPENEXR_VERSION $openexr_magic
@@ -1033,12 +1033,13 @@ compile_OPENEXR() {
TARGET_LINK_LIBRARIES ( IlmImfFuzzTest IlmImf Iex Imath Half IlmThread ${PTHREAD_LIB} ${Z_LIB})
--- a/IlmImfTest/CMakeLists.txt
+++ b/IlmImfTest/CMakeLists.txt
@@ -19,22 +19,26 @@
@@ -19,22 +19,28 @@
testCustomAttributes.cpp
testDeepScanLineBasic.cpp
testDeepScanLineHuge.cpp
+ testDeepScanLineMultipleRead.cpp
testDeepTiledBasic.cpp
+ testBadTypeAttributes.cpp
testExistingStreams.cpp
+ testFutureProofing.cpp
testHuf.cpp
@@ -1056,6 +1057,7 @@ compile_OPENEXR() {
testMultiView.cpp
testNativeFormat.cpp
+ testOptimized.cpp
+ testOptimizedInterleavePatterns.cpp
+ testPartHelper.cpp
testPreviewImage.cpp
testRgba.cpp
@@ -1089,11 +1091,12 @@ compile_OPENEXR() {
DESTINATION
\${CMAKE_INSTALL_PREFIX}/lib
)
@@ -168,6 +167,7 @@
@@ -168,6 +167,8 @@
INSTALL ( FILES
${CMAKE_SOURCE_DIR}/config/OpenEXRConfig.h
ImfForward.h
+ ImfNamespace.h
+ ImfPartHelper.h
ImfExport.h
ImfAttribute.h
ImfBoxAttribute.h

422
build_files/buildbot/config/user-config-mac-i386.py
View File

@@ -1,425 +1,3 @@
#
# Note : if you want to alter this file
# copy it as a whole in the upper folder
# as user-config.py
# dont create a new file with only some
# vars changed.
import commands
# IMPORTANT NOTE : OFFICIAL BUILDS SHOULD BE DONE WITH SDKs
USE_SDK=True
#############################################################################
################### Cocoa & architecture settings ##################
#############################################################################
WITH_GHOST_COCOA=True
MACOSX_ARCHITECTURE = 'i386' # valid archs: ppc, i386, ppc64, x86_64
cmd = 'uname -p'
MAC_PROC=commands.getoutput(cmd)
cmd = 'uname -r'
cmd_res=commands.getoutput(cmd)
if cmd_res[:1]=='7':
MAC_CUR_VER='10.3'
elif cmd_res[:1]=='8':
MAC_CUR_VER='10.4'
elif cmd_res[:1]=='9':
MAC_CUR_VER='10.5'
elif cmd_res[:2]=='10':
MAC_CUR_VER='10.6'
elif cmd_res[:2]=='11':
MAC_CUR_VER='10.7'
elif cmd_res[:2]=='12':
MAC_CUR_VER='10.8'
elif cmd_res[:2]=='13':
MAC_CUR_VER='10.9'
cmd = 'xcodebuild -version'
cmd_xcode=commands.getoutput(cmd)
XCODE_CUR_VER=cmd_xcode[6:][:3] # truncate output to major.minor version
cmd = 'xcodebuild -showsdks'
cmd_sdk=commands.getoutput(cmd)
MACOSX_SDK_CHECK=cmd_sdk
if MACOSX_ARCHITECTURE == 'x86_64' or MACOSX_ARCHITECTURE == 'ppc64':
USE_QTKIT=True # Carbon quicktime is not available for 64bit
# Default target OSX settings per architecture
# Can be customized
if MACOSX_ARCHITECTURE == 'ppc' and MAC_CUR_VER == '10.4':
# all releases are now made for 10.5 !
# MAC_MIN_VERS = '10.3'
# MACOSX_SDK='/Developer/SDKs/MacOSX10.3.9.sdk'
# LCGDIR = '#../lib/darwin-6.1-powerpc'
# CC = 'gcc-3.3'
# CXX = 'g++-3.3'
MAC_MIN_VERS = '10.4'
MACOSX_DEPLOYMENT_TARGET = '10.4'
MACOSX_SDK='/Developer/SDKs/MacOSX10.4u.sdk'
LCGDIR = '#../lib/darwin-8.0.0-powerpc'
CC = 'gcc-4.0'
CXX = 'g++-4.0'
elif MACOSX_ARCHITECTURE == 'i386' and MAC_CUR_VER == '10.4':
MAC_MIN_VERS = '10.4'
MACOSX_DEPLOYMENT_TARGET = '10.4'
MACOSX_SDK='/Developer/SDKs/MacOSX10.4u.sdk'
LCGDIR = '#../lib/darwin-8.x.i386'
CC = 'gcc-4.0'
CXX = 'g++-4.0'
else :
if 'Mac OS X 10.5' in MACOSX_SDK_CHECK:
# OSX 10.5/6 with Xcode 3.x
MAC_MIN_VERS = '10.5'
MACOSX_DEPLOYMENT_TARGET = '10.5'
MACOSX_SDK='/Developer/SDKs/MacOSX10.5.sdk'
LCGDIR = '#../lib/darwin-9.x.universal'
CC = 'gcc-4.2'
CXX = 'g++-4.2'
elif 'Mac OS X 10.6' in MACOSX_SDK_CHECK:
# OSX 10.6/7 with Xcode 4.x
MAC_MIN_VERS = '10.6'
MACOSX_DEPLOYMENT_TARGET = '10.6'
MACOSX_SDK='/Developer/SDKs/MacOSX10.6.sdk'
LCGDIR = '#../lib/darwin-9.x.universal'
CC = 'gcc-4.2'
CXX = 'g++-4.2'
else:
# OSX 10.8 with Xcode 4.4 and higher (no 10.6sdk! )
MAC_MIN_VERS = '10.6'
MACOSX_DEPLOYMENT_TARGET = '10.6'
MACOSX_SDK='/Developer/SDKs/MacOSX10.7.sdk'
LCGDIR = '#../lib/darwin-9.x.universal'
CC = 'gcc'
CXX = 'g++'
LIBDIR = '${LCGDIR}'
if XCODE_CUR_VER >= '4.3': ## since version 4.3, XCode and developer dir are bundled ##
MACOSX_SDK = '/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform' + MACOSX_SDK
#############################################################################
################### Dependency settings ##################
#############################################################################
#Defaults openMP to true if compiler handles it ( only gcc 4.6.1 and newer )
# if your compiler does not have accurate suffix you may have to enable it by hand !
if CC[:-2].endswith('4.6'):
WITH_BF_OPENMP = True # multithreading for fluids, cloth, sculpt and smoke
else:
WITH_BF_OPENMP = False
# enable ffmpeg support
WITH_BF_FFMPEG = True
BF_FFMPEG = LIBDIR + '/ffmpeg'
BF_FFMPEG_INC = "${BF_FFMPEG}/include"
BF_FFMPEG_LIBPATH='${BF_FFMPEG}/lib'
BF_FFMPEG_LIB = 'avcodec avdevice avformat avutil mp3lame swscale x264 xvidcore theora theoradec theoraenc vorbis vorbisenc vorbisfile ogg bz2'
#bz2 is a standard osx dynlib
BF_PYTHON_VERSION = '3.3'
WITH_OSX_STATICPYTHON = True
if WITH_OSX_STATICPYTHON:
# python 3.3 uses precompiled libraries in bf svn /lib by default
BF_PYTHON = LIBDIR + '/python'
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}m'
# BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}m'
BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib/python${BF_PYTHON_VERSION}'
# BF_PYTHON_LINKFLAGS = ['-u', '_PyMac_Error', '-framework', 'System']
else:
# python 3.2 uses Python-framework additionally installed in /Library/Frameworks
BF_PYTHON = '/Library/Frameworks/Python.framework/Versions/'
BF_PYTHON_INC = '${BF_PYTHON}${BF_PYTHON_VERSION}/include/python${BF_PYTHON_VERSION}m'
BF_PYTHON_BINARY = '${BF_PYTHON}${BF_PYTHON_VERSION}/bin/python${BF_PYTHON_VERSION}'
#BF_PYTHON_LIB = ''
BF_PYTHON_LIBPATH = '${BF_PYTHON}${BF_PYTHON_VERSION}/lib/python${BF_PYTHON_VERSION}/config-${BF_PYTHON_VERSION}m'
WITH_BF_OPENAL = True
#different lib must be used following version of gcc
# for gcc 3.3
#BF_OPENAL = LIBDIR + '/openal'
# for gcc 3.4 and ulterior
if MAC_PROC == 'powerpc':
BF_OPENAL = '#../lib/darwin-8.0.0-powerpc/openal'
else :
BF_OPENAL = LIBDIR + '/openal'
WITH_BF_STATICOPENAL = False
BF_OPENAL_INC = '${BF_OPENAL}/include' # only headers from libdir needed for proper use of framework !!!!
#BF_OPENAL_LIB = 'openal'
#BF_OPENAL_LIBPATH = '${BF_OPENAL}/lib'
# Warning, this static lib configuration is untested! users of this OS please confirm.
#BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a'
# Warning, this static lib configuration is untested! users of this OS please confirm.
BF_CXX = '/usr'
WITH_BF_STATICCXX = False
BF_CXX_LIB_STATIC = '${BF_CXX}/lib/libstdc++.a'
# we use simply jack framework
WITH_BF_JACK = True
BF_JACK = '/Library/Frameworks/Jackmp.framework'
BF_JACK_INC = '${BF_JACK}/headers'
#BF_JACK_LIB = 'jack' # not used due framework
BF_JACK_LIBPATH = '${BF_JACK}'
WITH_BF_SNDFILE = True
BF_SNDFILE = LIBDIR + '/sndfile'
BF_SNDFILE_INC = '${BF_SNDFILE}/include'
BF_SNDFILE_LIB = 'sndfile FLAC ogg vorbis vorbisenc'
BF_SNDFILE_LIBPATH = '${BF_SNDFILE}/lib ${BF_FFMPEG}/lib' #ogg libs are stored in ffmpeg dir
WITH_BF_SDL = True
BF_SDL = LIBDIR + '/sdl' #$(shell sdl-config --prefix)
BF_SDL_INC = '${BF_SDL}/include' #$(shell $(BF_SDL)/bin/sdl-config --cflags)
BF_SDL_LIB = 'SDL' #BF_SDL #$(shell $(BF_SDL)/bin/sdl-config --libs) -lSDL_mixer
BF_SDL_LIBPATH = '${BF_SDL}/lib'
WITH_BF_OPENEXR = True
WITH_BF_STATICOPENEXR = False
BF_OPENEXR = '${LCGDIR}/openexr'
BF_OPENEXR_INC = '${BF_OPENEXR}/include ${BF_OPENEXR}/include/OpenEXR'
BF_OPENEXR_LIB = ' Iex Half IlmImf Imath IlmThread'
BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib'
# Warning, this static lib configuration is untested! users of this OS please confirm.
BF_OPENEXR_LIB_STATIC = '${BF_OPENEXR}/lib/libHalf.a ${BF_OPENEXR}/lib/libIlmImf.a ${BF_OPENEXR}/lib/libIex.a ${BF_OPENEXR}/lib/libImath.a ${BF_OPENEXR}/lib/libIlmThread.a'
WITH_BF_DDS = True
#Color Management System
WITH_BF_LCMS = False
BF_LCMS = LIBDIR + '/lcms'
BF_LCMS_INC = '${BF_LCMS}/include'
BF_LCMS_LIB = 'lcms'
BF_LCMS_LIBPATH = '${BF_LCMS}/lib'
WITH_BF_JPEG = True
BF_JPEG = LIBDIR + '/jpeg'
BF_JPEG_INC = '${BF_JPEG}/include'
BF_JPEG_LIB = 'jpeg'
BF_JPEG_LIBPATH = '${BF_JPEG}/lib'
WITH_BF_PNG = True
BF_PNG = LIBDIR + '/png'
BF_PNG_INC = '${BF_PNG}/include'
BF_PNG_LIB = 'png'
BF_PNG_LIBPATH = '${BF_PNG}/lib'
WITH_BF_TIFF = True
BF_TIFF = LIBDIR + '/tiff'
BF_TIFF_INC = '${BF_TIFF}/include'
BF_TIFF_LIB = 'tiff'
BF_TIFF_LIBPATH = '${BF_TIFF}/lib'
WITH_BF_ZLIB = True
BF_ZLIB = '/usr'
BF_ZLIB_INC = '${BF_ZLIB}/include'
BF_ZLIB_LIB = 'z'
WITH_BF_INTERNATIONAL = True
WITH_BF_GAMEENGINE = True
WITH_BF_PLAYER = True
WITH_BF_OCEANSIM = True
WITH_BF_BULLET = True
BF_BULLET = '#extern/bullet2/src'
BF_BULLET_INC = '${BF_BULLET}'
BF_BULLET_LIB = 'extern_bullet'
WITH_BF_FFTW3 = True
BF_FFTW3 = LIBDIR + '/fftw3'
BF_FFTW3_INC = '${BF_FFTW3}/include'
BF_FFTW3_LIB = 'libfftw3'
BF_FFTW3_LIBPATH = '${BF_FFTW3}/lib'
BF_FREETYPE = LIBDIR + '/freetype'
BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
BF_FREETYPE_LIB = 'freetype'
BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
WITH_BF_QUICKTIME = True
WITH_BF_ICONV = True
BF_ICONV = '/usr'
BF_ICONV_INC = '${BF_ICONV}/include'
BF_ICONV_LIB = 'iconv'
#BF_ICONV_LIBPATH = '${BF_ICONV}/lib'
# Mesa Libs should go here if your using them as well....
WITH_BF_STATICOPENGL = True
BF_OPENGL_LIB = 'GL GLU'
BF_OPENGL_LIBPATH = '/System/Library/Frameworks/OpenGL.framework/Libraries'
BF_OPENGL_LINKFLAGS = ['-framework', 'OpenGL']
#OpenCollada flags
WITH_BF_COLLADA = True
BF_COLLADA = '#source/blender/collada'
BF_COLLADA_INC = '${BF_COLLADA}'
BF_COLLADA_LIB = 'bf_collada'
BF_OPENCOLLADA = LIBDIR + '/opencollada'
BF_OPENCOLLADA_INC = '${BF_OPENCOLLADA}/include'
BF_OPENCOLLADA_LIB = 'OpenCOLLADASaxFrameworkLoader OpenCOLLADAFramework OpenCOLLADABaseUtils OpenCOLLADAStreamWriter MathMLSolver GeneratedSaxParser UTF xml2 buffer ftoa'
BF_OPENCOLLADA_LIBPATH = LIBDIR + '/opencollada'
BF_PCRE = LIBDIR + '/opencollada'
BF_PCRE_LIB = 'pcre'
BF_PCRE_LIBPATH = '${BF_PCRE}/lib'
#BF_EXPAT = '/usr'
#BF_EXPAT_LIB = 'expat'
#BF_EXPAT_LIBPATH = '/usr/lib'
# Cycles
WITH_BF_CYCLES = True
#OSL
WITH_BF_CYCLES_OSL = True
BF_OSL = LIBDIR + '/osl'
BF_OSL_INC = '${BF_OSL}/include'
# note oslexec would passed via program linkflags, which is needed to
# make llvm happy with osl_allocate_closure_component
#BF_OSL_LIB = 'oslcomp oslquery'
BF_OSL_LIBPATH = '${BF_OSL}/lib'
BF_OSL_COMPILER = '${BF_OSL}/bin/oslc'
WITH_BF_LLVM = True
BF_LLVM = LIBDIR + '/llvm'
BF_LLVM_LIB = 'LLVMBitReader LLVMJIT LLVMipo LLVMVectorize LLVMBitWriter LLVMX86CodeGen LLVMX86Desc LLVMX86Info LLVMX86AsmPrinter ' + \
'LLVMX86Utils LLVMSelectionDAG LLVMCodeGen LLVMScalarOpts LLVMInstCombine LLVMTransformUtils LLVMipa LLVMAnalysis LLVMExecutionEngine ' + \
'LLVMTarget LLVMMC LLVMCore LLVMSupport'
BF_LLVM_LIBPATH = '${BF_LLVM}/lib'
WITH_BF_OIIO = True
BF_OIIO = LIBDIR + '/openimageio'
BF_OIIO_INC = '${BF_OIIO}/include'
BF_OIIO_LIB = 'OpenImageIO'
BF_OIIO_LIBPATH = '${BF_OIIO}/lib'
WITH_BF_OCIO = True
BF_OCIO = LIBDIR + '/opencolorio'
BF_OCIO_INC = '${BF_OCIO}/include'
BF_OCIO_LIB = 'OpenColorIO tinyxml yaml-cpp'
BF_OCIO_LIBPATH = '${BF_OCIO}/lib'
WITH_BF_BOOST = True
BF_BOOST = LIBDIR + '/boost'
BF_BOOST_INC = '${BF_BOOST}/include'
BF_BOOST_LIB = 'boost_date_time-mt boost_filesystem-mt boost_regex-mt boost_system-mt boost_thread-mt boost_wave-mt'
BF_BOOST_LIB_INTERNATIONAL = 'boost_locale-mt'
BF_BOOST_LIBPATH = '${BF_BOOST}/lib'
WITH_BF_CYCLES_CUDA_BINARIES = True
BF_CYCLES_CUDA_NVCC = '/usr/local/cuda/bin/nvcc'
BF_CYCLES_CUDA_BINARIES_ARCH = ['sm_20', 'sm_21', 'sm_30', 'sm_35']
#Freestyle
WITH_BF_FREESTYLE = True
#Ray trace optimization
if MACOSX_ARCHITECTURE == 'x86_64' or MACOSX_ARCHITECTURE == 'i386':
WITH_BF_RAYOPTIMIZATION = True
else:
WITH_BF_RAYOPTIMIZATION = False
if MACOSX_ARCHITECTURE == 'i386':
BF_RAYOPTIMIZATION_SSE_FLAGS = ['-msse']
elif MACOSX_ARCHITECTURE == 'x86_64':
BF_RAYOPTIMIZATION_SSE_FLAGS = ['-msse','-msse2']
# SpaceNavigator and related 3D mice, driver must be 3DxWare 10 Beta 4 (Mac OS X) or later !
WITH_BF_3DMOUSE = True
#############################################################################
################### various compile settings and flags ##################
#############################################################################
BF_QUIET = '1' # suppress verbose output
if MACOSX_ARCHITECTURE == 'x86_64' or MACOSX_ARCHITECTURE == 'ppc64':
ARCH_FLAGS = ['-m64']
else:
ARCH_FLAGS = ['-m32']
CFLAGS = []
CXXFLAGS = []
CCFLAGS = ['-pipe','-funsigned-char']
CPPFLAGS = list(ARCH_FLAGS)
if WITH_GHOST_COCOA:
PLATFORM_LINKFLAGS = ['-fexceptions','-framework','CoreServices','-framework','Foundation','-framework','IOKit','-framework','AppKit','-framework','Cocoa','-framework','Carbon','-framework','AudioUnit','-framework','AudioToolbox','-framework','CoreAudio','-framework','OpenAL']+ARCH_FLAGS
else:
PLATFORM_LINKFLAGS = ['-fexceptions','-framework','CoreServices','-framework','Foundation','-framework','IOKit','-framework','AppKit','-framework','Carbon','-framework','AGL','-framework','AudioUnit','-framework','AudioToolbox','-framework','CoreAudio','-framework','OpenAL']+ARCH_FLAGS
if WITH_BF_QUICKTIME:
if USE_QTKIT:
PLATFORM_LINKFLAGS = PLATFORM_LINKFLAGS+['-framework','QTKit']
else:
PLATFORM_LINKFLAGS = PLATFORM_LINKFLAGS+['-framework','QuickTime']
if not WITH_OSX_STATICPYTHON:
PLATFORM_LINKFLAGS = PLATFORM_LINKFLAGS+['-framework','Python']
#note to build succesfully on 10.3.9 SDK you need to patch 10.3.9 by adding the SystemStubs.a lib from 10.4
#for > 10.7.sdk, SystemStubs needs to be excluded (lib doesn't exist anymore)
if MACOSX_SDK.endswith("10.7.sdk") or MACOSX_SDK.endswith("10.8.sdk") or MACOSX_SDK.endswith("10.9.sdk"):
LLIBS = ['stdc++']
else:
LLIBS = ['stdc++', 'SystemStubs']
# some flags shuffling for different OS versions
if MAC_MIN_VERS == '10.3':
CCFLAGS = ['-fuse-cxa-atexit'] + CCFLAGS
PLATFORM_LINKFLAGS = ['-fuse-cxa-atexit'] + PLATFORM_LINKFLAGS
LLIBS.append('crt3.o')
if USE_SDK:
SDK_FLAGS=['-isysroot', MACOSX_SDK,'-mmacosx-version-min='+MAC_MIN_VERS,'-arch',MACOSX_ARCHITECTURE]
PLATFORM_LINKFLAGS = ['-mmacosx-version-min='+MAC_MIN_VERS,'-Wl','-isysroot',MACOSX_SDK,'-arch',MACOSX_ARCHITECTURE]+PLATFORM_LINKFLAGS
CCFLAGS=SDK_FLAGS+CCFLAGS
CXXFLAGS=SDK_FLAGS+CXXFLAGS
#Intel Macs are CoreDuo and Up
if MACOSX_ARCHITECTURE == 'i386' or MACOSX_ARCHITECTURE == 'x86_64':
REL_CFLAGS = []
REL_CXXFLAGS = []
REL_CCFLAGS = ['-DNDEBUG', '-O2','-ftree-vectorize','-msse','-msse2','-msse3','-mfpmath=sse']
else:
CCFLAGS += ['-fno-strict-aliasing']
REL_CFLAGS = []
REL_CXXFLAGS = []
REL_CCFLAGS = ['-DNDEBUG', '-O2']
# Intel 64bit Macs are Core2Duo and up
if MACOSX_ARCHITECTURE == 'x86_64':
REL_CCFLAGS += ['-march=core2','-mssse3','-with-tune=core2','-enable-threads']
CC_WARN = ['-Wall']
C_WARN = ['-Wno-char-subscripts', '-Wpointer-arith', '-Wcast-align', '-Wdeclaration-after-statement', '-Wno-unknown-pragmas', '-Wstrict-prototypes']
CXX_WARN = ['-Wno-invalid-offsetof', '-Wno-sign-compare']
##FIX_STUBS_WARNINGS = -Wno-unused
##LOPTS = --dynamic
##DYNLDFLAGS = -shared $(LDFLAGS)
BF_PROFILE_CCFLAGS = ['-pg', '-g ']
BF_PROFILE_LINKFLAGS = ['-pg']
BF_PROFILE = False
BF_DEBUG = False
BF_DEBUG_CCFLAGS = ['-g', '-D_DEBUG']
#############################################################################
################### Output directories ##################
#############################################################################
BF_BUILDDIR='../build/darwin'
BF_INSTALLDIR='../install/darwin'

425
build_files/buildbot/config/user-config-mac-x86_64.py
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@@ -1,425 +1,2 @@
#
# Note : if you want to alter this file
# copy it as a whole in the upper folder
# as user-config.py
# dont create a new file with only some
# vars changed.
import commands
# IMPORTANT NOTE : OFFICIAL BUILDS SHOULD BE DONE WITH SDKs
USE_SDK=True
#############################################################################
################### Cocoa & architecture settings ##################
#############################################################################
WITH_GHOST_COCOA=True
MACOSX_ARCHITECTURE = 'x86_64' # valid archs: ppc, i386, ppc64, x86_64
cmd = 'uname -p'
MAC_PROC=commands.getoutput(cmd)
cmd = 'uname -r'
cmd_res=commands.getoutput(cmd)
if cmd_res[:1]=='7':
MAC_CUR_VER='10.3'
elif cmd_res[:1]=='8':
MAC_CUR_VER='10.4'
elif cmd_res[:1]=='9':
MAC_CUR_VER='10.5'
elif cmd_res[:2]=='10':
MAC_CUR_VER='10.6'
elif cmd_res[:2]=='11':
MAC_CUR_VER='10.7'
elif cmd_res[:2]=='12':
MAC_CUR_VER='10.8'
elif cmd_res[:2]=='13':
MAC_CUR_VER='10.9'
cmd = 'xcodebuild -version'
cmd_xcode=commands.getoutput(cmd)
XCODE_CUR_VER=cmd_xcode[6:][:3] # truncate output to major.minor version
cmd = 'xcodebuild -showsdks'
cmd_sdk=commands.getoutput(cmd)
MACOSX_SDK_CHECK=cmd_sdk
if MACOSX_ARCHITECTURE == 'x86_64' or MACOSX_ARCHITECTURE == 'ppc64':
USE_QTKIT=True # Carbon quicktime is not available for 64bit
# Default target OSX settings per architecture
# Can be customized
if MACOSX_ARCHITECTURE == 'ppc' and MAC_CUR_VER == '10.4':
# all releases are now made for 10.5 !
# MAC_MIN_VERS = '10.3'
# MACOSX_SDK='/Developer/SDKs/MacOSX10.3.9.sdk'
# LCGDIR = '#../lib/darwin-6.1-powerpc'
# CC = 'gcc-3.3'
# CXX = 'g++-3.3'
MAC_MIN_VERS = '10.4'
MACOSX_DEPLOYMENT_TARGET = '10.4'
MACOSX_SDK='/Developer/SDKs/MacOSX10.4u.sdk'
LCGDIR = '#../lib/darwin-8.0.0-powerpc'
CC = 'gcc-4.0'
CXX = 'g++-4.0'
elif MACOSX_ARCHITECTURE == 'i386' and MAC_CUR_VER == '10.4':
MAC_MIN_VERS = '10.4'
MACOSX_DEPLOYMENT_TARGET = '10.4'
MACOSX_SDK='/Developer/SDKs/MacOSX10.4u.sdk'
LCGDIR = '#../lib/darwin-8.x.i386'
CC = 'gcc-4.0'
CXX = 'g++-4.0'
else :
if 'Mac OS X 10.5' in MACOSX_SDK_CHECK:
# OSX 10.5/6 with Xcode 3.x
MAC_MIN_VERS = '10.5'
MACOSX_DEPLOYMENT_TARGET = '10.5'
MACOSX_SDK='/Developer/SDKs/MacOSX10.5.sdk'
LCGDIR = '#../lib/darwin-9.x.universal'
CC = 'gcc-4.2'
CXX = 'g++-4.2'
elif 'Mac OS X 10.6' in MACOSX_SDK_CHECK:
# OSX 10.6/7 with Xcode 4.x
MAC_MIN_VERS = '10.6'
MACOSX_DEPLOYMENT_TARGET = '10.6'
MACOSX_SDK='/Developer/SDKs/MacOSX10.6.sdk'
LCGDIR = '#../lib/darwin-9.x.universal'
CC = 'gcc-4.2'
CXX = 'g++-4.2'
else:
# OSX 10.8 with Xcode 4.4 and higher (no 10.6sdk! )
MAC_MIN_VERS = '10.6'
MACOSX_DEPLOYMENT_TARGET = '10.6'
MACOSX_SDK='/Developer/SDKs/MacOSX10.7.sdk'
LCGDIR = '#../lib/darwin-9.x.universal'
CC = 'gcc'
CXX = 'g++'
LIBDIR = '${LCGDIR}'
if XCODE_CUR_VER >= '4.3': ## since version 4.3, XCode and developer dir are bundled ##
MACOSX_SDK = '/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform' + MACOSX_SDK
#############################################################################
################### Dependency settings ##################
#############################################################################
#Defaults openMP to true if compiler handles it ( only gcc 4.6.1 and newer )
# if your compiler does not have accurate suffix you may have to enable it by hand !
if CC[:-2].endswith('4.6'):
WITH_BF_OPENMP = True # multithreading for fluids, cloth, sculpt and smoke
else:
WITH_BF_OPENMP = False
# enable ffmpeg support
WITH_BF_FFMPEG = True
BF_FFMPEG = LIBDIR + '/ffmpeg'
BF_FFMPEG_INC = "${BF_FFMPEG}/include"
BF_FFMPEG_LIBPATH='${BF_FFMPEG}/lib'
BF_FFMPEG_LIB = 'avcodec avdevice avformat avutil mp3lame swscale x264 xvidcore theora theoradec theoraenc vorbis vorbisenc vorbisfile ogg bz2'
#bz2 is a standard osx dynlib
BF_PYTHON_VERSION = '3.3'
WITH_OSX_STATICPYTHON = True
if WITH_OSX_STATICPYTHON:
# python 3.3 uses precompiled libraries in bf svn /lib by default
BF_PYTHON = LIBDIR + '/python'
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}m'
# BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}m'
BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib/python${BF_PYTHON_VERSION}'
# BF_PYTHON_LINKFLAGS = ['-u', '_PyMac_Error', '-framework', 'System']
else:
# python 3.2 uses Python-framework additionally installed in /Library/Frameworks
BF_PYTHON = '/Library/Frameworks/Python.framework/Versions/'
BF_PYTHON_INC = '${BF_PYTHON}${BF_PYTHON_VERSION}/include/python${BF_PYTHON_VERSION}m'
BF_PYTHON_BINARY = '${BF_PYTHON}${BF_PYTHON_VERSION}/bin/python${BF_PYTHON_VERSION}'
#BF_PYTHON_LIB = ''
BF_PYTHON_LIBPATH = '${BF_PYTHON}${BF_PYTHON_VERSION}/lib/python${BF_PYTHON_VERSION}/config-${BF_PYTHON_VERSION}m'
WITH_BF_OPENAL = True
#different lib must be used following version of gcc
# for gcc 3.3
#BF_OPENAL = LIBDIR + '/openal'
# for gcc 3.4 and ulterior
if MAC_PROC == 'powerpc':
BF_OPENAL = '#../lib/darwin-8.0.0-powerpc/openal'
else :
BF_OPENAL = LIBDIR + '/openal'
WITH_BF_STATICOPENAL = False
BF_OPENAL_INC = '${BF_OPENAL}/include' # only headers from libdir needed for proper use of framework !!!!
#BF_OPENAL_LIB = 'openal'
#BF_OPENAL_LIBPATH = '${BF_OPENAL}/lib'
# Warning, this static lib configuration is untested! users of this OS please confirm.
#BF_OPENAL_LIB_STATIC = '${BF_OPENAL}/lib/libopenal.a'
# Warning, this static lib configuration is untested! users of this OS please confirm.
BF_CXX = '/usr'
WITH_BF_STATICCXX = False
BF_CXX_LIB_STATIC = '${BF_CXX}/lib/libstdc++.a'
# we use simply jack framework
WITH_BF_JACK = True
BF_JACK = '/Library/Frameworks/Jackmp.framework'
BF_JACK_INC = '${BF_JACK}/headers'
#BF_JACK_LIB = 'jack' # not used due framework
BF_JACK_LIBPATH = '${BF_JACK}'
WITH_BF_SNDFILE = True
BF_SNDFILE = LIBDIR + '/sndfile'
BF_SNDFILE_INC = '${BF_SNDFILE}/include'
BF_SNDFILE_LIB = 'sndfile FLAC ogg vorbis vorbisenc'
BF_SNDFILE_LIBPATH = '${BF_SNDFILE}/lib ${BF_FFMPEG}/lib' #ogg libs are stored in ffmpeg dir
WITH_BF_SDL = True
BF_SDL = LIBDIR + '/sdl' #$(shell sdl-config --prefix)
BF_SDL_INC = '${BF_SDL}/include' #$(shell $(BF_SDL)/bin/sdl-config --cflags)
BF_SDL_LIB = 'SDL' #BF_SDL #$(shell $(BF_SDL)/bin/sdl-config --libs) -lSDL_mixer
BF_SDL_LIBPATH = '${BF_SDL}/lib'
WITH_BF_OPENEXR = True
WITH_BF_STATICOPENEXR = False
BF_OPENEXR = '${LCGDIR}/openexr'
BF_OPENEXR_INC = '${BF_OPENEXR}/include ${BF_OPENEXR}/include/OpenEXR'
BF_OPENEXR_LIB = ' Iex Half IlmImf Imath IlmThread'
BF_OPENEXR_LIBPATH = '${BF_OPENEXR}/lib'
# Warning, this static lib configuration is untested! users of this OS please confirm.
BF_OPENEXR_LIB_STATIC = '${BF_OPENEXR}/lib/libHalf.a ${BF_OPENEXR}/lib/libIlmImf.a ${BF_OPENEXR}/lib/libIex.a ${BF_OPENEXR}/lib/libImath.a ${BF_OPENEXR}/lib/libIlmThread.a'
WITH_BF_DDS = True
#Color Management System
WITH_BF_LCMS = False
BF_LCMS = LIBDIR + '/lcms'
BF_LCMS_INC = '${BF_LCMS}/include'
BF_LCMS_LIB = 'lcms'
BF_LCMS_LIBPATH = '${BF_LCMS}/lib'
WITH_BF_JPEG = True
BF_JPEG = LIBDIR + '/jpeg'
BF_JPEG_INC = '${BF_JPEG}/include'
BF_JPEG_LIB = 'jpeg'
BF_JPEG_LIBPATH = '${BF_JPEG}/lib'
WITH_BF_PNG = True
BF_PNG = LIBDIR + '/png'
BF_PNG_INC = '${BF_PNG}/include'
BF_PNG_LIB = 'png'
BF_PNG_LIBPATH = '${BF_PNG}/lib'
WITH_BF_TIFF = True
BF_TIFF = LIBDIR + '/tiff'
BF_TIFF_INC = '${BF_TIFF}/include'
BF_TIFF_LIB = 'tiff'
BF_TIFF_LIBPATH = '${BF_TIFF}/lib'
WITH_BF_ZLIB = True
BF_ZLIB = '/usr'
BF_ZLIB_INC = '${BF_ZLIB}/include'
BF_ZLIB_LIB = 'z'
WITH_BF_INTERNATIONAL = True
WITH_BF_GAMEENGINE = True
WITH_BF_PLAYER = True
WITH_BF_OCEANSIM = True
WITH_BF_BULLET = True
BF_BULLET = '#extern/bullet2/src'
BF_BULLET_INC = '${BF_BULLET}'
BF_BULLET_LIB = 'extern_bullet'
WITH_BF_FFTW3 = True
BF_FFTW3 = LIBDIR + '/fftw3'
BF_FFTW3_INC = '${BF_FFTW3}/include'
BF_FFTW3_LIB = 'libfftw3'
BF_FFTW3_LIBPATH = '${BF_FFTW3}/lib'
BF_FREETYPE = LIBDIR + '/freetype'
BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
BF_FREETYPE_LIB = 'freetype'
BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
WITH_BF_QUICKTIME = True
WITH_BF_ICONV = True
BF_ICONV = '/usr'
BF_ICONV_INC = '${BF_ICONV}/include'
BF_ICONV_LIB = 'iconv'
#BF_ICONV_LIBPATH = '${BF_ICONV}/lib'
# Mesa Libs should go here if your using them as well....
WITH_BF_STATICOPENGL = True
BF_OPENGL_LIB = 'GL GLU'
BF_OPENGL_LIBPATH = '/System/Library/Frameworks/OpenGL.framework/Libraries'
BF_OPENGL_LINKFLAGS = ['-framework', 'OpenGL']
#OpenCollada flags
WITH_BF_COLLADA = True
BF_COLLADA = '#source/blender/collada'
BF_COLLADA_INC = '${BF_COLLADA}'
BF_COLLADA_LIB = 'bf_collada'
BF_OPENCOLLADA = LIBDIR + '/opencollada'
BF_OPENCOLLADA_INC = '${BF_OPENCOLLADA}/include'
BF_OPENCOLLADA_LIB = 'OpenCOLLADASaxFrameworkLoader OpenCOLLADAFramework OpenCOLLADABaseUtils OpenCOLLADAStreamWriter MathMLSolver GeneratedSaxParser UTF xml2 buffer ftoa'
BF_OPENCOLLADA_LIBPATH = LIBDIR + '/opencollada'
BF_PCRE = LIBDIR + '/opencollada'
BF_PCRE_LIB = 'pcre'
BF_PCRE_LIBPATH = '${BF_PCRE}/lib'
#BF_EXPAT = '/usr'
#BF_EXPAT_LIB = 'expat'
#BF_EXPAT_LIBPATH = '/usr/lib'
# Cycles
WITH_BF_CYCLES = True
#OSL
WITH_BF_CYCLES_OSL = True
BF_OSL = LIBDIR + '/osl'
BF_OSL_INC = '${BF_OSL}/include'
# note oslexec would passed via program linkflags, which is needed to
# make llvm happy with osl_allocate_closure_component
#BF_OSL_LIB = 'oslcomp oslquery'
BF_OSL_LIBPATH = '${BF_OSL}/lib'
BF_OSL_COMPILER = '${BF_OSL}/bin/oslc'
WITH_BF_LLVM = True
BF_LLVM = LIBDIR + '/llvm'
BF_LLVM_LIB = 'LLVMBitReader LLVMJIT LLVMipo LLVMVectorize LLVMBitWriter LLVMX86CodeGen LLVMX86Desc LLVMX86Info LLVMX86AsmPrinter ' + \
'LLVMX86Utils LLVMSelectionDAG LLVMCodeGen LLVMScalarOpts LLVMInstCombine LLVMTransformUtils LLVMipa LLVMAnalysis LLVMExecutionEngine ' + \
'LLVMTarget LLVMMC LLVMCore LLVMSupport'
BF_LLVM_LIBPATH = '${BF_LLVM}/lib'
WITH_BF_OIIO = True
BF_OIIO = LIBDIR + '/openimageio'
BF_OIIO_INC = '${BF_OIIO}/include'
BF_OIIO_LIB = 'OpenImageIO'
BF_OIIO_LIBPATH = '${BF_OIIO}/lib'
WITH_BF_OCIO = True
BF_OCIO = LIBDIR + '/opencolorio'
BF_OCIO_INC = '${BF_OCIO}/include'
BF_OCIO_LIB = 'OpenColorIO tinyxml yaml-cpp'
BF_OCIO_LIBPATH = '${BF_OCIO}/lib'
WITH_BF_BOOST = True
BF_BOOST = LIBDIR + '/boost'
BF_BOOST_INC = '${BF_BOOST}/include'
BF_BOOST_LIB = 'boost_date_time-mt boost_filesystem-mt boost_regex-mt boost_system-mt boost_thread-mt boost_wave-mt'
BF_BOOST_LIB_INTERNATIONAL = 'boost_locale-mt'
BF_BOOST_LIBPATH = '${BF_BOOST}/lib'
WITH_BF_CYCLES_CUDA_BINARIES = True
BF_CYCLES_CUDA_NVCC = '/usr/local/cuda/bin/nvcc'
BF_CYCLES_CUDA_BINARIES_ARCH = ['sm_20', 'sm_21', 'sm_30', 'sm_35']
#Freestyle
WITH_BF_FREESTYLE = True
#Ray trace optimization
if MACOSX_ARCHITECTURE == 'x86_64' or MACOSX_ARCHITECTURE == 'i386':
WITH_BF_RAYOPTIMIZATION = True
else:
WITH_BF_RAYOPTIMIZATION = False
if MACOSX_ARCHITECTURE == 'i386':
BF_RAYOPTIMIZATION_SSE_FLAGS = ['-msse']
elif MACOSX_ARCHITECTURE == 'x86_64':
BF_RAYOPTIMIZATION_SSE_FLAGS = ['-msse','-msse2']
# SpaceNavigator and related 3D mice, driver must be 3DxWare 10 Beta 4 (Mac OS X) or later !
WITH_BF_3DMOUSE = True
#############################################################################
################### various compile settings and flags ##################
#############################################################################
BF_QUIET = '1' # suppress verbose output
if MACOSX_ARCHITECTURE == 'x86_64' or MACOSX_ARCHITECTURE == 'ppc64':
ARCH_FLAGS = ['-m64']
else:
ARCH_FLAGS = ['-m32']
CFLAGS = []
CXXFLAGS = []
CCFLAGS = ['-pipe','-funsigned-char']
CPPFLAGS = list(ARCH_FLAGS)
if WITH_GHOST_COCOA:
PLATFORM_LINKFLAGS = ['-fexceptions','-framework','CoreServices','-framework','Foundation','-framework','IOKit','-framework','AppKit','-framework','Cocoa','-framework','Carbon','-framework','AudioUnit','-framework','AudioToolbox','-framework','CoreAudio','-framework','OpenAL']+ARCH_FLAGS
else:
PLATFORM_LINKFLAGS = ['-fexceptions','-framework','CoreServices','-framework','Foundation','-framework','IOKit','-framework','AppKit','-framework','Carbon','-framework','AGL','-framework','AudioUnit','-framework','AudioToolbox','-framework','CoreAudio','-framework','OpenAL']+ARCH_FLAGS
if WITH_BF_QUICKTIME:
if USE_QTKIT:
PLATFORM_LINKFLAGS = PLATFORM_LINKFLAGS+['-framework','QTKit']
else:
PLATFORM_LINKFLAGS = PLATFORM_LINKFLAGS+['-framework','QuickTime']
if not WITH_OSX_STATICPYTHON:
PLATFORM_LINKFLAGS = PLATFORM_LINKFLAGS+['-framework','Python']
#note to build succesfully on 10.3.9 SDK you need to patch 10.3.9 by adding the SystemStubs.a lib from 10.4
#for > 10.7.sdk, SystemStubs needs to be excluded (lib doesn't exist anymore)
if MACOSX_SDK.endswith("10.7.sdk") or MACOSX_SDK.endswith("10.8.sdk") or MACOSX_SDK.endswith("10.9.sdk"):
LLIBS = ['stdc++']
else:
LLIBS = ['stdc++', 'SystemStubs']
# some flags shuffling for different OS versions
if MAC_MIN_VERS == '10.3':
CCFLAGS = ['-fuse-cxa-atexit'] + CCFLAGS
PLATFORM_LINKFLAGS = ['-fuse-cxa-atexit'] + PLATFORM_LINKFLAGS
LLIBS.append('crt3.o')
if USE_SDK:
SDK_FLAGS=['-isysroot', MACOSX_SDK,'-mmacosx-version-min='+MAC_MIN_VERS,'-arch',MACOSX_ARCHITECTURE]
PLATFORM_LINKFLAGS = ['-mmacosx-version-min='+MAC_MIN_VERS,'-Wl','-isysroot',MACOSX_SDK,'-arch',MACOSX_ARCHITECTURE]+PLATFORM_LINKFLAGS
CCFLAGS=SDK_FLAGS+CCFLAGS
CXXFLAGS=SDK_FLAGS+CXXFLAGS
#Intel Macs are CoreDuo and Up
if MACOSX_ARCHITECTURE == 'i386' or MACOSX_ARCHITECTURE == 'x86_64':
REL_CFLAGS = []
REL_CXXFLAGS = []
REL_CCFLAGS = ['-DNDEBUG', '-O2','-ftree-vectorize','-msse','-msse2','-msse3','-mfpmath=sse']
else:
CCFLAGS += ['-fno-strict-aliasing']
REL_CFLAGS = []
REL_CXXFLAGS = []
REL_CCFLAGS = ['-DNDEBUG', '-O2']
# Intel 64bit Macs are Core2Duo and up
if MACOSX_ARCHITECTURE == 'x86_64':
REL_CCFLAGS += ['-march=core2','-mssse3','-with-tune=core2','-enable-threads']
CC_WARN = ['-Wall']
C_WARN = ['-Wno-char-subscripts', '-Wpointer-arith', '-Wcast-align', '-Wdeclaration-after-statement', '-Wno-unknown-pragmas', '-Wstrict-prototypes']
CXX_WARN = ['-Wno-invalid-offsetof', '-Wno-sign-compare']
##FIX_STUBS_WARNINGS = -Wno-unused
##LOPTS = --dynamic
##DYNLDFLAGS = -shared $(LDFLAGS)
BF_PROFILE_CCFLAGS = ['-pg', '-g ']
BF_PROFILE_LINKFLAGS = ['-pg']
BF_PROFILE = False
BF_DEBUG = False
BF_DEBUG_CCFLAGS = ['-g', '-D_DEBUG']
#############################################################################
################### Output directories ##################
#############################################################################
BF_BUILDDIR='../build/darwin'
BF_INSTALLDIR='../install/darwin'
WITH_BF_CYCLES_CUDA_BINARIES = True

33
build_files/buildbot/master.cfg
View File

@@ -26,9 +26,10 @@ c['slavePortnum'] = 9989
# CHANGE SOURCES
from buildbot.changes.svnpoller import SVNPoller
from buildbot.changes.gitpoller import GitPoller
c['change_source'] = SVNPoller(
'https://svn.blender.org/svnroot/bf-blender/trunk/',
c['change_source'] = GitPoller(
'git://git.blender.org/blender.git',
pollinterval=1200)
# SCHEDULERS
@@ -70,6 +71,7 @@ for i in range(0, schedule_cycle):
from buildbot.process.factory import BuildFactory
from buildbot.steps.source import SVN
from buildbot.steps.source import Git
from buildbot.steps.shell import ShellCommand
from buildbot.steps.shell import Compile
from buildbot.steps.shell import Test
@@ -100,12 +102,18 @@ def add_builder(c, name, libdir, factory, branch='', rsync=False, hour=3, minute
# common steps
def git_submodule_step(submodule):
return Git(name=submodule+'.git', repourl='git://git.blender.org/' + submodule + '.git', mode='update', workdir=submodule + '.git')
def svn_step(branch=''):
def git_step(branch=''):
if branch:
return SVN(baseURL='https://svn.blender.org/svnroot/bf-blender/branches/%%BRANCH%%', mode='update', defaultBranch=branch, workdir='blender')
return Git(name='blender.git', repourl='git://git.blender.org/blender.git', mode='update', branch=branch, workdir='blender.git', submodules=True)
else:
return SVN(baseURL='https://svn.blender.org/svnroot/bf-blender/%%BRANCH%%/blender', mode='update', defaultBranch='trunk', workdir='blender')
return Git(name='blender.git', repourl='git://git.blender.org/blender.git', mode='update', workdir='blender.git', submodules=True)
def git_submodules_update():
command = ['git', 'submodule', 'foreach', '--recursive', 'git', 'pull', 'origin', 'master']
return ShellCommand(name='Submodules Update', command=command, description='updating', descriptionDone='up to date', workdir='blender.git')
def lib_svn_step(dir):
return SVN(name='lib svn', baseURL='https://svn.blender.org/svnroot/bf-blender/%%BRANCH%%/lib/' + dir, mode='update', defaultBranch='trunk', workdir='lib/' + dir)
@@ -118,14 +126,17 @@ def rsync_step(id, branch, rsync_script):
def generic_builder(id, libdir='', branch='', rsync=False):
filename = 'uploaded/buildbot_upload_' + id + '.zip'
compile_script = '../blender/build_files/buildbot/slave_compile.py'
test_script = '../blender/build_files/buildbot/slave_test.py'
pack_script = '../blender/build_files/buildbot/slave_pack.py'
rsync_script = '../blender/build_files/buildbot/slave_rsync.py'
compile_script = '../blender.git/build_files/buildbot/slave_compile.py'
test_script = '../blender.git/build_files/buildbot/slave_test.py'
pack_script = '../blender.git/build_files/buildbot/slave_pack.py'
rsync_script = '../blender.git/build_files/buildbot/slave_rsync.py'
unpack_script = 'master_unpack.py'
f = BuildFactory()
f.addStep(svn_step(branch))
for submodule in ('blender-translations', 'blender-addons', 'blender-addons-contrib', 'scons'):
f.addStep(git_submodule_step(submodule))
f.addStep(git_step(branch))
f.addStep(git_submodules_update())
if libdir != '':
f.addStep(lib_svn_step(libdir))
@@ -149,6 +160,8 @@ add_builder(c, 'linux_glibc211_i386_scons', '', generic_builder, hour=1)
add_builder(c, 'linux_glibc211_x86_64_scons', '', generic_builder, hour=2)
add_builder(c, 'win32_scons', 'windows', generic_builder, hour=1)
add_builder(c, 'win64_scons', 'win64', generic_builder, hour=2)
add_builder(c, 'win32_scons_vc2012', 'windows_vc11', generic_builder, hour=1)
add_builder(c, 'win64_scons_vc2012', 'win64_vc11', generic_builder, hour=2)
#add_builder(c, 'mingw_win32_scons', 'mingw32', generic_builder, hour=4)
add_builder(c, 'mingw_win64_scons', 'mingw64', generic_builder, hour=3)
#add_builder(c, 'freebsd_i386_cmake', '', generic_builder, hour=1)

2
build_files/buildbot/slave_compile.py
View File

@@ -31,7 +31,7 @@ if len(sys.argv) < 2:
builder = sys.argv[1]
# we run from build/ directory
blender_dir = '../blender'
blender_dir = '../blender.git'
if builder.find('cmake') != -1:
# cmake

2
build_files/buildbot/slave_pack.py
View File

@@ -40,7 +40,7 @@ if len(sys.argv) >= 3:
# scons does own packaging
if builder.find('scons') != -1:
os.chdir('../blender')
os.chdir('../blender.git')
scons_options = ['BF_QUICK=slnt', 'BUILDBOT_BRANCH=' + branch, 'buildslave', 'BF_FANCY=False']
buildbot_dir = os.path.dirname(os.path.realpath(__file__))

2
build_files/buildbot/slave_test.py
View File

@@ -29,7 +29,7 @@ if len(sys.argv) < 2:
builder = sys.argv[1]
# we run from build/ directory
blender_dir = '../blender'
blender_dir = '../blender.git'
if "cmake" in builder:
# cmake

59
build_files/cmake/buildinfo.cmake
View File

@@ -1,16 +1,57 @@
# This is called by cmake as an extermal process from
# ./source/creator/CMakeLists.txt to write ./source/creator/buildinfo.h
# The FindSubversion.cmake module is part of the standard distribution
include(FindSubversion)
# Extract working copy information for SOURCE_DIR into MY_XXX variables
# with a default in case anything fails, for examble when using git-svn
set(MY_WC_REVISION "unknown")
set(MY_WC_HASH "unknown")
set(MY_WC_BRANCH "unknown")
set(MY_WC_COMMIT_TIMESTAMP 0)
# Guess if this is a SVN working copy and then look up the revision
if(EXISTS ${SOURCE_DIR}/.svn/)
if(Subversion_FOUND)
Subversion_WC_INFO(${SOURCE_DIR} MY)
if(EXISTS ${SOURCE_DIR}/.git/)
# The FindSubversion.cmake module is part of the standard distribution
include(FindGit)
if(GIT_FOUND)
execute_process(COMMAND git rev-parse --short HEAD
WORKING_DIRECTORY ${SOURCE_DIR}
OUTPUT_VARIABLE MY_WC_HASH
OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND git rev-parse --abbrev-ref HEAD
WORKING_DIRECTORY ${SOURCE_DIR}
OUTPUT_VARIABLE MY_WC_BRANCH
OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND git log -1 --format=%ct
WORKING_DIRECTORY ${SOURCE_DIR}
OUTPUT_VARIABLE MY_WC_COMMIT_TIMESTAMP
OUTPUT_STRIP_TRAILING_WHITESPACE)
# Update GIT index before getting dirty files
execute_process(COMMAND git update-index -q --refresh
WORKING_DIRECTORY ${SOURCE_DIR}
OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND git diff-index --name-only HEAD --
WORKING_DIRECTORY ${SOURCE_DIR}
OUTPUT_VARIABLE _git_changed_files
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT _git_changed_files STREQUAL "")
set(MY_WC_BRANCH "${MY_WC_BRANCH} (modified)")
else()
# Unpushed commits are also considered local odifications
execute_process(COMMAND git log @{u}..
WORKING_DIRECTORY ${SOURCE_DIR}
OUTPUT_VARIABLE _git_unpushed_log
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(NOT _git_unpushed_log STREQUAL "")
set(MY_WC_BRANCH "${MY_WC_BRANCH} (modified)")
endif()
unset(_git_unpushed_log)
endif()
unset(_git_changed_files)
endif()
endif()
@@ -27,7 +68,9 @@ endif()
# Write a file with the SVNVERSION define
file(WRITE buildinfo.h.txt
"#define BUILD_REV \"${MY_WC_REVISION}\"\n"
"#define BUILD_HASH \"${MY_WC_HASH}\"\n"
"#define BUILD_COMMIT_TIMESTAMP ${MY_WC_COMMIT_TIMESTAMP}\n"
"#define BUILD_BRANCH \"${MY_WC_BRANCH}\"\n"
"#define BUILD_DATE \"${BUILD_DATE}\"\n"
"#define BUILD_TIME \"${BUILD_TIME}\"\n"
)

51
build_files/cmake/macros.cmake
View File

@@ -48,6 +48,24 @@ macro(list_insert_before
unset(_index)
endmacro()
function (list_assert_duplicates
list_id
)
# message(STATUS "list data: ${list_id}")
list(LENGTH list_id _len_before)
list(REMOVE_DUPLICATES list_id)
list(LENGTH list_id _len_after)
# message(STATUS "list size ${_len_before} -> ${_len_after}")
if(NOT _len_before EQUAL _len_after)
message(FATAL_ERROR "duplicate found in list which should not contain duplicates: ${list_id}")
endif()
unset(_len_before)
unset(_len_after)
endfunction()
# foo_bar.spam --> foo_barMySuffix.spam
macro(file_suffix
file_name_new file_name file_suffix
@@ -177,6 +195,11 @@ macro(blender_add_lib_nolist
# listed is helpful for IDE's (QtCreator/MSVC)
blender_source_group("${sources}")
list_assert_duplicates("${sources}")
list_assert_duplicates("${includes}")
# Not for system includes because they can resolve to the same path
# list_assert_duplicates("${includes_sys}")
endmacro()
@@ -847,3 +870,31 @@ macro(svg_to_png
unset(_file_to)
endmacro()
macro(msgfmt_simple
file_from
list_to_add)
# remove ../'s
get_filename_component(_file_from_we ${file_from} NAME_WE)
get_filename_component(_file_from ${file_from} REALPATH)
get_filename_component(_file_to ${CMAKE_CURRENT_BINARY_DIR}/${_file_from_we}.mo REALPATH)
list(APPEND ${list_to_add} ${_file_to})
get_filename_component(_file_to_path ${_file_to} PATH)
add_custom_command(
OUTPUT ${_file_to}
COMMAND ${CMAKE_COMMAND} -E make_directory ${_file_to_path}
COMMAND ${CMAKE_BINARY_DIR}/bin/${CMAKE_CFG_INTDIR}/msgfmt ${_file_from} ${_file_to}
DEPENDS msgfmt)
set_source_files_properties(${_file_to} PROPERTIES GENERATED TRUE)
unset(_file_from_we)
unset(_file_from)
unset(_file_to)
unset(_file_to_path)
endmacro()

222
build_files/scons/config/darwin-config.py
View File

@@ -1,123 +1,23 @@
#
# Note : if you want to alter this file
# copy it as a whole in the upper folder
# as user-config.py
# dont create a new file with only some
# vars changed.
import commands
# IMPORTANT NOTE : OFFICIAL BUILDS SHOULD BE DONE WITH SDKs
USE_SDK=True
#############################################################################
################### Cocoa & architecture settings ##################
################### Compiler & architecture settings ##################
#############################################################################
WITH_GHOST_COCOA=True
MACOSX_ARCHITECTURE = 'i386' # valid archs: ppc, i386, ppc64, x86_64
MACOSX_ARCHITECTURE = 'x86_64' # valid archs: ppc, i386, ppc64, x86_64
MACOSX_SDK='' # set an sdk name like '10.7' or leave empty for automatic choosing highest available
MACOSX_DEPLOYMENT_TARGET = '10.6'
cmd = 'uname -p'
MAC_PROC=commands.getoutput(cmd)
cmd = 'uname -r'
cmd_res=commands.getoutput(cmd)
if cmd_res[:1]=='7':
MAC_CUR_VER='10.3'
elif cmd_res[:1]=='8':
MAC_CUR_VER='10.4'
elif cmd_res[:1]=='9':
MAC_CUR_VER='10.5'
elif cmd_res[:2]=='10':
MAC_CUR_VER='10.6'
elif cmd_res[:2]=='11':
MAC_CUR_VER='10.7'
elif cmd_res[:2]=='12':
MAC_CUR_VER='10.8'
elif cmd_res[:2]=='13':
MAC_CUR_VER='10.9'
cmd = 'xcodebuild -version'
cmd_xcode=commands.getoutput(cmd)
XCODE_CUR_VER=cmd_xcode[6:][:3] # truncate output to major.minor version
cmd = 'xcodebuild -showsdks'
cmd_sdk=commands.getoutput(cmd)
MACOSX_SDK_CHECK=cmd_sdk
cmd = 'xcode-select --print-path'
XCODE_SELECT_PATH=commands.getoutput(cmd)
if XCODE_SELECT_PATH.endswith("/Contents/Developer"):
XCODE_BUNDLE=XCODE_SELECT_PATH[:-19]
else:
XCODE_BUNDLE=XCODE_SELECT_PATH
if MACOSX_ARCHITECTURE == 'x86_64' or MACOSX_ARCHITECTURE == 'ppc64':
USE_QTKIT=True # Carbon quicktime is not available for 64bit
# Default target OSX settings per architecture
# Can be customized
if MACOSX_ARCHITECTURE == 'ppc' and MAC_CUR_VER == '10.4':
# all releases are now made for 10.5 !
# MAC_MIN_VERS = '10.3'
# MACOSX_SDK='/Developer/SDKs/MacOSX10.3.9.sdk'
# LCGDIR = '#../lib/darwin-6.1-powerpc'
# CC = 'gcc-3.3'
# CXX = 'g++-3.3'
MAC_MIN_VERS = '10.4'
MACOSX_DEPLOYMENT_TARGET = '10.4'
MACOSX_SDK='/Developer/SDKs/MacOSX10.4u.sdk'
LCGDIR = '#../lib/darwin-8.0.0-powerpc'
CC = 'gcc-4.0'
CXX = 'g++-4.0'
elif MACOSX_ARCHITECTURE == 'i386' and MAC_CUR_VER == '10.4':
MAC_MIN_VERS = '10.4'
MACOSX_DEPLOYMENT_TARGET = '10.4'
MACOSX_SDK='/Developer/SDKs/MacOSX10.4u.sdk'
LCGDIR = '#../lib/darwin-8.x.i386'
CC = 'gcc-4.0'
CXX = 'g++-4.0'
else :
if 'Mac OS X 10.5' in MACOSX_SDK_CHECK:
# OSX 10.5/6 with Xcode 3.x
MAC_MIN_VERS = '10.5'
MACOSX_DEPLOYMENT_TARGET = '10.5'
MACOSX_SDK='/Developer/SDKs/MacOSX10.5.sdk'
LCGDIR = '#../lib/darwin-9.x.universal'
CC = 'gcc-4.2'
CXX = 'g++-4.2'
elif 'Mac OS X 10.6' in MACOSX_SDK_CHECK:
# OSX 10.6/7 with Xcode 4.x
MAC_MIN_VERS = '10.6'
MACOSX_DEPLOYMENT_TARGET = '10.6'
MACOSX_SDK='/Developer/SDKs/MacOSX10.6.sdk'
LCGDIR = '#../lib/darwin-9.x.universal'
CC = 'gcc-4.2'
CXX = 'g++-4.2'
else:
# OSX 10.8 with Xcode 4.4 and higher (no 10.6sdk! )
MAC_MIN_VERS = '10.6'
MACOSX_DEPLOYMENT_TARGET = '10.6'
MACOSX_SDK='/Developer/SDKs/MacOSX10.7.sdk'
LCGDIR = '#../lib/darwin-9.x.universal'
CC = 'gcc'
CXX = 'g++'
# gcc always defaults to the system standard compiler linked by a shim or symlink
CC = 'gcc'
CXX = 'g++'
LCGDIR = '#../lib/darwin-9.x.universal'
LIBDIR = '${LCGDIR}'
if XCODE_CUR_VER >= '4.3': ## since version 4.3, XCode and developer dir are bundled ##
MACOSX_SDK = XCODE_BUNDLE + '/Contents/Developer/Platforms/MacOSX.platform' + MACOSX_SDK
#############################################################################
################### Dependency settings ##################
#############################################################################
#Defaults openMP to true if compiler handles it ( only gcc 4.6.1 and newer )
# if your compiler does not have accurate suffix you may have to enable it by hand !
if CC[:-2].endswith('4.6') or CC[:-2].endswith('4.8'):
WITH_BF_OPENMP = True # multithreading for fluids, cloth, sculpt and smoke
else:
WITH_BF_OPENMP = False
# enable ffmpeg support
WITH_BF_FFMPEG = True
BF_FFMPEG = LIBDIR + '/ffmpeg'
@@ -129,33 +29,16 @@ BF_FFMPEG_LIB = 'avcodec avdevice avformat avutil mp3lame swscale x264 xvidcore
BF_PYTHON_VERSION = '3.3'
WITH_OSX_STATICPYTHON = True
if WITH_OSX_STATICPYTHON:
# python 3.3 uses precompiled libraries in bf svn /lib by default
BF_PYTHON = LIBDIR + '/python'
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}m'
# BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}m'
BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib/python${BF_PYTHON_VERSION}'
# BF_PYTHON_LINKFLAGS = ['-u', '_PyMac_Error', '-framework', 'System']
else:
# python 3.2 uses Python-framework additionally installed in /Library/Frameworks
BF_PYTHON = '/Library/Frameworks/Python.framework/Versions/'
BF_PYTHON_INC = '${BF_PYTHON}${BF_PYTHON_VERSION}/include/python${BF_PYTHON_VERSION}m'
BF_PYTHON_BINARY = '${BF_PYTHON}${BF_PYTHON_VERSION}/bin/python${BF_PYTHON_VERSION}'
#BF_PYTHON_LIB = ''
BF_PYTHON_LIBPATH = '${BF_PYTHON}${BF_PYTHON_VERSION}/lib/python${BF_PYTHON_VERSION}/config-${BF_PYTHON_VERSION}m'
# python 3.3 uses precompiled libraries in bf svn /lib by default
BF_PYTHON = LIBDIR + '/python'
BF_PYTHON_INC = '${BF_PYTHON}/include/python${BF_PYTHON_VERSION}m'
# BF_PYTHON_BINARY = '${BF_PYTHON}/bin/python${BF_PYTHON_VERSION}'
BF_PYTHON_LIB = 'python${BF_PYTHON_VERSION}m'
BF_PYTHON_LIBPATH = '${BF_PYTHON}/lib/python${BF_PYTHON_VERSION}'
# BF_PYTHON_LINKFLAGS = ['-u', '_PyMac_Error', '-framework', 'System']
WITH_BF_OPENAL = True
#different lib must be used following version of gcc
# for gcc 3.3
#BF_OPENAL = LIBDIR + '/openal'
# for gcc 3.4 and ulterior
if MAC_PROC == 'powerpc':
BF_OPENAL = '#../lib/darwin-8.0.0-powerpc/openal'
else :
BF_OPENAL = LIBDIR + '/openal'
BF_OPENAL = LIBDIR + '/openal'
WITH_BF_STATICOPENAL = False
BF_OPENAL_INC = '${BF_OPENAL}/include' # only headers from libdir needed for proper use of framework !!!!
@@ -328,15 +211,12 @@ BF_CYCLES_CUDA_BINARIES_ARCH = ['sm_20', 'sm_21', 'sm_30', 'sm_35']
#Freestyle
WITH_BF_FREESTYLE = True
#OpenMP ( will be checked for compiler support and turned off eventually )
WITH_BF_OPENMP = True
#Ray trace optimization
if MACOSX_ARCHITECTURE == 'x86_64' or MACOSX_ARCHITECTURE == 'i386':
WITH_BF_RAYOPTIMIZATION = True
else:
WITH_BF_RAYOPTIMIZATION = False
if MACOSX_ARCHITECTURE == 'i386':
BF_RAYOPTIMIZATION_SSE_FLAGS = ['-msse']
elif MACOSX_ARCHITECTURE == 'x86_64':
BF_RAYOPTIMIZATION_SSE_FLAGS = ['-msse','-msse2']
WITH_BF_RAYOPTIMIZATION = True
BF_RAYOPTIMIZATION_SSE_FLAGS = []
# SpaceNavigator and related 3D mice, driver must be 3DxWare 10 Beta 4 (Mac OS X) or later !
WITH_BF_3DMOUSE = True
@@ -347,66 +227,18 @@ WITH_BF_3DMOUSE = True
BF_QUIET = '1' # suppress verbose output
if MACOSX_ARCHITECTURE == 'x86_64' or MACOSX_ARCHITECTURE == 'ppc64':
ARCH_FLAGS = ['-m64']
else:
ARCH_FLAGS = ['-m32']
CFLAGS = []
CXXFLAGS = []
CCFLAGS = ['-pipe','-funsigned-char']
CPPFLAGS = []
PLATFORM_LINKFLAGS = ['-fexceptions','-framework','CoreServices','-framework','Foundation','-framework','IOKit','-framework','AppKit','-framework','Cocoa','-framework','Carbon','-framework','AudioUnit','-framework','AudioToolbox','-framework','CoreAudio','-framework','OpenAL']
CPPFLAGS = list(ARCH_FLAGS)
LLIBS = ['stdc++']
if WITH_GHOST_COCOA:
PLATFORM_LINKFLAGS = ['-fexceptions','-framework','CoreServices','-framework','Foundation','-framework','IOKit','-framework','AppKit','-framework','Cocoa','-framework','Carbon','-framework','AudioUnit','-framework','AudioToolbox','-framework','CoreAudio','-framework','OpenAL']+ARCH_FLAGS
else:
PLATFORM_LINKFLAGS = ['-fexceptions','-framework','CoreServices','-framework','Foundation','-framework','IOKit','-framework','AppKit','-framework','Carbon','-framework','AGL','-framework','AudioUnit','-framework','AudioToolbox','-framework','CoreAudio','-framework','OpenAL']+ARCH_FLAGS
if WITH_BF_QUICKTIME:
if USE_QTKIT:
PLATFORM_LINKFLAGS = PLATFORM_LINKFLAGS+['-framework','QTKit']
else:
PLATFORM_LINKFLAGS = PLATFORM_LINKFLAGS+['-framework','QuickTime']
if not WITH_OSX_STATICPYTHON:
PLATFORM_LINKFLAGS = PLATFORM_LINKFLAGS+['-framework','Python']
#note to build succesfully on 10.3.9 SDK you need to patch 10.3.9 by adding the SystemStubs.a lib from 10.4
#for > 10.7.sdk, SystemStubs needs to be excluded (lib doesn't exist anymore)
if MACOSX_SDK.endswith("10.7.sdk") or MACOSX_SDK.endswith("10.8.sdk") or MACOSX_SDK.endswith("10.9.sdk"):
LLIBS = ['stdc++']
else:
LLIBS = ['stdc++', 'SystemStubs']
# some flags shuffling for different OS versions
if MAC_MIN_VERS == '10.3':
CCFLAGS = ['-fuse-cxa-atexit'] + CCFLAGS
PLATFORM_LINKFLAGS = ['-fuse-cxa-atexit'] + PLATFORM_LINKFLAGS
LLIBS.append('crt3.o')
if USE_SDK:
SDK_FLAGS=['-isysroot', MACOSX_SDK,'-mmacosx-version-min='+MAC_MIN_VERS,'-arch',MACOSX_ARCHITECTURE]
PLATFORM_LINKFLAGS = ['-mmacosx-version-min='+MAC_MIN_VERS,'-Wl','-isysroot',MACOSX_SDK,'-arch',MACOSX_ARCHITECTURE]+PLATFORM_LINKFLAGS
CCFLAGS=SDK_FLAGS+CCFLAGS
CXXFLAGS=SDK_FLAGS+CXXFLAGS
#Intel Macs are CoreDuo and Up
if MACOSX_ARCHITECTURE == 'i386' or MACOSX_ARCHITECTURE == 'x86_64':
REL_CFLAGS = []
REL_CXXFLAGS = []
REL_CCFLAGS = ['-DNDEBUG', '-O2','-ftree-vectorize','-msse','-msse2','-msse3','-mfpmath=sse']
else:
CCFLAGS += ['-fno-strict-aliasing']
REL_CFLAGS = []
REL_CXXFLAGS = []
REL_CCFLAGS = ['-DNDEBUG', '-O2']
# Intel 64bit Macs are Core2Duo and up
if MACOSX_ARCHITECTURE == 'x86_64':
REL_CCFLAGS += ['-march=core2','-mssse3','-with-tune=core2','-enable-threads']
REL_CFLAGS = []
REL_CXXFLAGS = []
REL_CCFLAGS = ['-DNDEBUG', '-O2']
CC_WARN = ['-Wall']
C_WARN = ['-Wno-char-subscripts', '-Wpointer-arith', '-Wcast-align', '-Wdeclaration-after-statement', '-Wno-unknown-pragmas', '-Wstrict-prototypes']

5
build_files/scons/config/freebsd8-config.py
View File

@@ -90,11 +90,6 @@ BF_FREETYPE = '/usr/local'
BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
BF_FREETYPE_LIB = 'freetype'
### XXX Find what this actually wants; it doesn't want libquicktime.
WITH_BF_QUICKTIME = False
BF_QUICKTIME = '/usr/local'
BF_QUICKTIME_INC = '${BF_QUICKTIME}/include'
WITH_BF_ICONV = True
BF_ICONV = LIBDIR + "/iconv"
BF_ICONV_INC = '${BF_ICONV}/include'

4
build_files/scons/config/linux-config.py
View File

@@ -100,10 +100,6 @@ BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
BF_FREETYPE_LIB = 'freetype'
#BF_FREETYPE_LIB_STATIC = '${BF_FREETYPE}/lib/libfreetype.a'
WITH_BF_QUICKTIME = False
BF_QUICKTIME = '/usr/local'
BF_QUICKTIME_INC = '${BF_QUICKTIME}/include'
WITH_BF_ICONV = False
BF_ICONV = "/usr"
BF_ICONV_INC = '${BF_ICONV}/include'

4
build_files/scons/config/linuxcross-config.py
View File

@@ -101,10 +101,6 @@ BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
BF_FREETYPE_LIB = 'freetype'
BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
WITH_BF_QUICKTIME = False
BF_QUICKTIME = '/usr/local'
BF_QUICKTIME_INC = '${BF_QUICKTIME}/include'
WITH_BF_ICONV = False
BF_ICONV = LIBDIR + "/gcc/iconv"
BF_ICONV_INC = '${BF_ICONV}/include'

4
build_files/scons/config/win32-mingw-config.py
View File

@@ -112,10 +112,6 @@ BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
BF_FREETYPE_LIB = 'freetype'
BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
WITH_BF_QUICKTIME = False
BF_QUICKTIME = '/usr/local'
BF_QUICKTIME_INC = '${BF_QUICKTIME}/include'
WITH_BF_ICONV = False
BF_ICONV = LIBDIR + "/iconv"
BF_ICONV_INC = '${BF_ICONV}/include'

6
build_files/scons/config/win32-vc-config.py
View File

@@ -133,12 +133,6 @@ BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2'
BF_FREETYPE_LIB = 'freetype2ST'
BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
WITH_BF_QUICKTIME = False
BF_QUICKTIME = LIBDIR + '/QTDevWin'
BF_QUICKTIME_INC = '${BF_QUICKTIME}/CIncludes'
BF_QUICKTIME_LIB = 'qtmlClient'
BF_QUICKTIME_LIBPATH = '${BF_QUICKTIME}/Libraries'
WITH_BF_OPENJPEG = True
BF_OPENJPEG = '#extern/libopenjpeg'
BF_OPENJPEG_LIB = ''

2
build_files/scons/config/win64-mingw-config.py
View File

@@ -111,8 +111,6 @@ BF_FREETYPE_INC = '${BF_FREETYPE}/include ${BF_FREETYPE}/include/freetype2/'
BF_FREETYPE_LIB = 'freetype'
BF_FREETYPE_LIBPATH = '${BF_FREETYPE}/lib'
WITH_BF_QUICKTIME = False
WITH_BF_ICONV = False
BF_ICONV = LIBDIR + "/iconv"
BF_ICONV_INC = '${BF_ICONV}/include'

54
build_files/scons/tools/Blender.py
View File

@@ -410,9 +410,38 @@ def buildinfo(lenv, build_type):
"""
build_date = time.strftime ("%Y-%m-%d")
build_time = time.strftime ("%H:%M:%S")
build_rev = os.popen('svnversion').read()[:-1] # remove \n
if build_rev == '':
build_rev = '-UNKNOWN-'
if os.path.isdir(os.path.abspath('.git')):
build_commit_timestamp = os.popen('git log -1 --format=%ct').read().strip()
if not build_commit_timestamp:
# Git command not found
build_hash = 'unknown'
build_commit_timestamp = '0'
build_branch = 'unknown'
else:
build_hash = os.popen('git rev-parse --short HEAD').read().strip()
build_branch = os.popen('git rev-parse --abbrev-ref HEAD').read().strip()
# ## Check for local modifications
has_local_changes = False
# Update GIT index before getting dirty files
os.system('git update-index -q --refresh')
changed_files = os.popen('git diff-index --name-only HEAD --').read().strip()
if changed_files:
has_local_changes = True
else:
unpushed_log = os.popen('git log @{u}..').read().strip()
has_local_changes = unpushed_log != ''
if has_local_changes:
build_branch += ' (modified)'
else:
build_hash = 'unknown'
build_commit_timestamp = '0'
build_branch = 'unknown'
if lenv['BF_DEBUG']:
build_type = "Debug"
build_cflags = ' '.join(lenv['CFLAGS'] + lenv['CCFLAGS'] + lenv['BF_DEBUG_CCFLAGS'] + lenv['CPPFLAGS'])
@@ -429,7 +458,9 @@ def buildinfo(lenv, build_type):
lenv.Append (CPPDEFINES = ['BUILD_TIME=\\"%s\\"'%(build_time),
'BUILD_DATE=\\"%s\\"'%(build_date),
'BUILD_TYPE=\\"%s\\"'%(build_type),
'BUILD_REV=\\"%s\\"'%(build_rev),
'BUILD_HASH=\\"%s\\"'%(build_hash),
'BUILD_COMMIT_TIMESTAMP=%s'%(build_commit_timestamp),
'BUILD_BRANCH=\\"%s\\"'%(build_branch),
'WITH_BUILDINFO',
'BUILD_PLATFORM=\\"%s:%s\\"'%(platform.system(), platform.architecture()[0]),
'BUILD_CFLAGS=\\"%s\\"'%(build_cflags),
@@ -626,13 +657,19 @@ def AppIt(target=None, source=None, env=None):
if binary == 'blender':
cmd = 'mkdir %s/%s.app/Contents/MacOS/%s/datafiles'%(installdir, binary, VERSION)
commands.getoutput(cmd)
cmd = 'cp -R %s/release/datafiles/locale %s/%s.app/Contents/MacOS/%s/datafiles/'%(bldroot,installdir,binary,VERSION)
commands.getoutput(cmd)
cmd = 'cp -R %s/release/datafiles/fonts %s/%s.app/Contents/MacOS/%s/datafiles/'%(bldroot,installdir,binary,VERSION)
commands.getoutput(cmd)
cmd = 'cp -R %s/release/datafiles/locale/languages %s/%s.app/Contents/MacOS/%s/datafiles/locale/'%(bldroot, installdir, binary, VERSION)
commands.getoutput(cmd)
mo_dir = os.path.join(builddir[:-4], "locale")
for f in os.listdir(mo_dir):
cmd = 'ditto %s/%s %s/%s.app/Contents/MacOS/%s/datafiles/locale/%s/LC_MESSAGES/blender.mo'%(mo_dir, f, installdir, binary, VERSION, f[:-3])
commands.getoutput(cmd)
if env['WITH_BF_OCIO']:
cmd = 'cp -R %s/release/datafiles/colormanagement %s/%s.app/Contents/MacOS/%s/datafiles/'%(bldroot,installdir,binary,VERSION)
commands.getoutput(cmd)
cmd = 'cp -R %s/release/scripts %s/%s.app/Contents/MacOS/%s/'%(bldroot,installdir,binary,VERSION)
commands.getoutput(cmd)
@@ -683,9 +720,8 @@ def AppIt(target=None, source=None, env=None):
commands.getoutput(cmd)
cmd = 'find %s/%s.app -name __MACOSX -exec rm -rf {} \;'%(installdir, binary)
commands.getoutput(cmd)
if env['CC'][:-2].endswith('4.6') or env['CC'][:-2].endswith('4.8'): # for correct errorhandling with gcc 4.6/4.8.x we need the gcc.dylib and gomp.dylib to link, thus distribute in app-bundle
cmd = 'mkdir %s/%s.app/Contents/MacOS/lib'%(installdir, binary)
commands.getoutput(cmd)
if env['CC'].split('/')[len(env['CC'].split('/'))-1][4:] >= '4.6.1': # for correct errorhandling with gcc <= 4.6.1 we need the gcc.dylib and gomp.dylib to link, thus distribute in app-bundle
print "Bundling libgcc and libgomp"
instname = env['BF_CXX']
cmd = 'ditto --arch %s %s/lib/libgcc_s.1.dylib %s/%s.app/Contents/MacOS/lib/'%(osxarch, instname, installdir, binary) # copy libgcc
commands.getoutput(cmd)

22
build_files/scons/tools/btools.py
View File

@@ -55,12 +55,12 @@ def get_version():
raise Exception("%s: missing version string" % fname)
def get_revision():
build_rev = os.popen('svnversion').read()[:-1] # remove \n
if build_rev == '' or build_rev==None:
build_rev = 'UNKNOWN'
def get_hash():
build_hash = os.popen('git rev-parse --short HEAD').read().strip()
if build_hash == '' or build_hash == None:
build_hash = 'UNKNOWN'
return 'r' + build_rev
return build_hash
# copied from: http://www.scons.org/wiki/AutoconfRecipes
@@ -80,7 +80,7 @@ def checkEndian():
# This is used in creating the local config directories
VERSION, VERSION_DISPLAY, VERSION_RELEASE_CYCLE = get_version()
REVISION = get_revision()
HASH = get_hash()
ENDIAN = checkEndian()
@@ -138,13 +138,11 @@ def validate_arguments(args, bc):
'WITHOUT_BF_PYTHON_INSTALL', 'WITHOUT_BF_PYTHON_UNPACK', 'WITH_BF_PYTHON_INSTALL_NUMPY',
'WITHOUT_BF_OVERWRITE_INSTALL',
'WITH_BF_OPENMP', 'BF_OPENMP', 'BF_OPENMP_LIBPATH', 'WITH_BF_STATICOPENMP', 'BF_OPENMP_STATIC_STATIC',
'WITH_GHOST_COCOA',
'WITH_GHOST_SDL',
'WITH_GHOST_XDND',
'WITH_X11_XINPUT',
'WITH_X11_XF86VMODE',
'BF_GHOST_DEBUG',
'USE_QTKIT',
'BF_FANCY', 'BF_QUIET', 'BF_LINE_OVERWRITE',
'BF_X264_CONFIG',
'BF_XVIDCORE_CONFIG',
@@ -181,7 +179,7 @@ def validate_arguments(args, bc):
'BF_PROFILE_CFLAGS', 'BF_PROFILE_CCFLAGS', 'BF_PROFILE_CXXFLAGS', 'BF_PROFILE_LINKFLAGS',
'BF_DEBUG_CFLAGS', 'BF_DEBUG_CCFLAGS', 'BF_DEBUG_CXXFLAGS',
'C_WARN', 'CC_WARN', 'CXX_WARN',
'LLIBS', 'PLATFORM_LINKFLAGS','MACOSX_ARCHITECTURE', 'MACOSX_SDK_CHECK', 'XCODE_CUR_VER',
'LLIBS', 'PLATFORM_LINKFLAGS', 'MACOSX_ARCHITECTURE', 'MACOSX_SDK', 'XCODE_CUR_VER',
'BF_CYCLES_CUDA_BINARIES_ARCH', 'BF_PROGRAM_LINKFLAGS', 'MACOSX_DEPLOYMENT_TARGET'
]
@@ -424,11 +422,9 @@ def read_opts(env, cfg, args):
('BF_OPENMP', 'Base path to OpenMP (used when cross-compiling with older versions of WinGW)', ''),
('BF_OPENMP_INC', 'Path to OpenMP includes (used when cross-compiling with older versions of WinGW)', ''),
('BF_OPENMP_LIBPATH', 'Path to OpenMP libraries (used when cross-compiling with older versions of WinGW)', ''),
(BoolVariable('WITH_GHOST_COCOA', 'Use Cocoa-framework if true', False)),
(BoolVariable('WITH_GHOST_SDL', 'Enable building blender against SDL for windowing rather then the native APIs', False)),
(BoolVariable('WITH_X11_XINPUT', 'Enable X11 Xinput (tablet support and unicode input)', True)),
(BoolVariable('WITH_X11_XF86VMODE', 'Enable X11 video mode switching', True)),
(BoolVariable('USE_QTKIT', 'Use QTKIT if true', False)),
('BF_OPENMP_LIB_STATIC', 'OpenMP static library', ''),
(BoolVariable('WITH_BF_QUICKTIME', 'Use QuickTime if true', False)),
@@ -505,7 +501,7 @@ def read_opts(env, cfg, args):
('LLIBS', 'Platform libs', []),
('PLATFORM_LINKFLAGS', 'Platform linkflags', []),
('MACOSX_ARCHITECTURE', 'python_arch.zip select', ''),
('MACOSX_SDK_CHECK', 'Detect available OS X SDK`s', ''),
('MACOSX_SDK', 'Set OS X SDK', ''),
('XCODE_CUR_VER', 'Detect XCode version', ''),
('MACOSX_DEPLOYMENT_TARGET', 'Detect OS X target version', ''),
@@ -697,7 +693,7 @@ def buildslave(target=None, source=None, env=None):
branch = env['BUILDBOT_BRANCH']
outdir = os.path.abspath(env['BF_INSTALLDIR'])
package_name = 'blender-' + VERSION+'-'+REVISION + '-' + platform
package_name = 'blender-' + VERSION+'-'+HASH + '-' + platform
if branch != '':
package_name = branch + '-' + package_name
package_dir = os.path.normpath(outdir + os.sep + '..' + os.sep + package_name)

674
doc/license/GPL3-license.txt Normal file
View File

@@ -0,0 +1,674 @@
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for
software and other kinds of works.
The licenses for most software and other practical works are designed
to take away your freedom to share and change the works. By contrast,
the GNU General Public License is intended to guarantee your freedom to
share and change all versions of a program--to make sure it remains free
software for all its users. We, the Free Software Foundation, use the
GNU General Public License for most of our software; it applies also to
any other work released this way by its authors. You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
them if you wish), that you receive source code or can get it if you
want it, that you can change the software or use pieces of it in new
free programs, and that you know you can do these things.
To protect your rights, we need to prevent others from denying you
these rights or asking you to surrender the rights. Therefore, you have
certain responsibilities if you distribute copies of the software, or if
you modify it: responsibilities to respect the freedom of others.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must pass on to the recipients the same
freedoms that you received. You must make sure that they, too, receive
or can get the source code. And you must show them these terms so they
know their rights.
Developers that use the GNU GPL protect your rights with two steps:
(1) assert copyright on the software, and (2) offer you this License
giving you legal permission to copy, distribute and/or modify it.
For the developers' and authors' protection, the GPL clearly explains
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Some devices are designed to deny users access to install or run
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Finally, every program is threatened constantly by software patents.
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The precise terms and conditions for copying, distribution and
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
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along with this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
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might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<http://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

2
doc/python_api/examples/bpy.types.WindowManager.popup_menu.py
View File

@@ -1,6 +1,4 @@
"""
Popup Menus
+++++++++++
Popup menus can be useful for creating menus without having to register menu classes.
Note that they will not block the scripts execution, so the caller can't wait for user input.

17
doc/python_api/sphinx_doc_gen.py
View File

@@ -466,7 +466,9 @@ ClassMethodDescriptorType = type(dict.__dict__['fromkeys'])
MethodDescriptorType = type(dict.get)
GetSetDescriptorType = type(int.real)
StaticMethodType = type(staticmethod(lambda: None))
from types import MemberDescriptorType
from types import (MemberDescriptorType,
MethodType,
)
_BPY_STRUCT_FAKE = "bpy_struct"
_BPY_PROP_COLLECTION_FAKE = "bpy_prop_collection"
@@ -629,12 +631,12 @@ def pymethod2sphinx(ident, fw, identifier, py_func):
fw("\n")
def pyfunc2sphinx(ident, fw, identifier, py_func, is_class=True):
def pyfunc2sphinx(ident, fw, module_name, type_name, identifier, py_func, is_class=True):
'''
function or class method to sphinx
'''
if type(py_func) == type(bpy.types.Space.draw_handler_add):
if type(py_func) == MethodType:
return
arg_str = inspect.formatargspec(*inspect.getargspec(py_func))
@@ -657,6 +659,11 @@ def pyfunc2sphinx(ident, fw, identifier, py_func, is_class=True):
write_indented_lines(ident + " ", fw, py_func.__doc__)
fw("\n")
if is_class:
write_example_ref(ident + " ", fw, module_name + "." + type_name + "." + identifier)
else:
write_example_ref(ident + " ", fw, module_name + "." + identifier)
def py_descr2sphinx(ident, fw, descr, module_name, type_name, identifier):
if identifier.startswith("_"):
@@ -867,7 +874,7 @@ def pymodule2sphinx(basepath, module_name, module, title):
for attribute, value, value_type in module_dir_value_type:
if value_type == types.FunctionType:
pyfunc2sphinx("", fw, attribute, value, is_class=False)
pyfunc2sphinx("", fw, module_name, None, attribute, value, is_class=False)
elif value_type in (types.BuiltinMethodType, types.BuiltinFunctionType): # both the same at the moment but to be future proof
# note: can't get args from these, so dump the string as is
# this means any module used like this must have fully formatted docstrings.
@@ -1316,7 +1323,7 @@ def pyrna2sphinx(basepath):
py_func = None
for identifier, py_func in py_funcs:
pyfunc2sphinx(" ", fw, identifier, py_func, is_class=True)
pyfunc2sphinx(" ", fw, "bpy.types", struct_id, identifier, py_func, is_class=True)
del py_funcs, py_func
py_funcs = struct.get_py_c_functions()

32
extern/bullet2/CMakeLists.txt vendored
View File

@@ -67,6 +67,8 @@ set(SRC
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btUnionFind.cpp
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp
src/BulletCollision/CollisionShapes/btBoxShape.cpp
src/BulletCollision/CollisionShapes/btBox2dShape.cpp
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
@@ -140,6 +142,7 @@ set(SRC
src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp
src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
src/BulletDynamics/Dynamics/btRigidBody.cpp
src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
@@ -147,6 +150,15 @@ set(SRC
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
src/BulletDynamics/Vehicle/btWheelInfo.cpp
src/BulletDynamics/Character/btKinematicCharacterController.cpp
src/BulletDynamics/Featherstone/btMultiBody.cpp
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
src/BulletDynamics/MLCPSolvers/btDantzigLCP.cpp
src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp
src/BulletSoftBody/btSoftBody.cpp
src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp
@@ -204,6 +216,8 @@ set(SRC
src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btUnionFind.h
src/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h
src/BulletCollision/CollisionShapes/btBoxShape.h
src/BulletCollision/CollisionShapes/btBox2dShape.h
src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
@@ -308,6 +322,7 @@ set(SRC
src/BulletDynamics/ConstraintSolver/btTypedConstraint.h
src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h
src/BulletDynamics/ConstraintSolver/btGearConstraint.h
src/BulletDynamics/ConstraintSolver/btFixedConstraint.h
src/BulletDynamics/Dynamics/btActionInterface.h
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
src/BulletDynamics/Dynamics/btDynamicsWorld.h
@@ -318,6 +333,22 @@ set(SRC
src/BulletDynamics/Vehicle/btWheelInfo.h
src/BulletDynamics/Character/btCharacterControllerInterface.h
src/BulletDynamics/Character/btKinematicCharacterController.h
src/BulletDynamics/Featherstone/btMultiBody.h
src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
src/BulletDynamics/Featherstone/btMultiBodyLink.h
src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h
src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
src/BulletDynamics/MLCPSolvers/btDantzigLCP.h
src/BulletDynamics/MLCPSolvers/btDantzigSolver.h
src/BulletDynamics/MLCPSolvers/btMLCPSolver.h
src/BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h
src/BulletDynamics/MLCPSolvers/btPATHSolver.h
src/BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h
src/BulletSoftBody/btSoftBody.h
src/BulletSoftBody/btSoftBodyInternals.h
@@ -359,6 +390,7 @@ set(SRC
src/LinearMath/btTransformUtil.h
src/LinearMath/btVector3.h
src/LinearMath/btPolarDecomposition.h
src/LinearMath/btMatrixX.h
src/btBulletCollisionCommon.h

28
extern/bullet2/patches/ghost_character.patch vendored
View File

@@ -1,28 +0,0 @@
Index: extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp
===================================================================
--- extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp (revision 49183)
+++ extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp (working copy)
@@ -77,6 +77,9 @@
if (convexResult.m_hitCollisionObject == m_me)
return btScalar(1.0);
+ if (!convexResult.m_hitCollisionObject->hasContactResponse())
+ return btScalar(1.0);
+
btVector3 hitNormalWorld;
if (normalInWorldSpace)
{
@@ -173,7 +176,12 @@
m_manifoldArray.resize(0);
btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
-
+ btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject);
+ btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
+
+ if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse()))
+ continue;
+
if (collisionPair->m_algorithm)
collisionPair->m_algorithm->getAllContactManifolds(m_manifoldArray);

42
extern/bullet2/patches/ghost_softbody.patch vendored
View File

@@ -1,42 +0,0 @@
Index: extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
===================================================================
--- extern/bullet2/src/BulletSoftBody/btSoftBody.cpp (Revision 43904)
+++ extern/bullet2/src/BulletSoftBody/btSoftBody.cpp (Revision 43905)
@@ -2780,21 +2780,23 @@
{
const RContact& c = psb->m_rcontacts[i];
const sCti& cti = c.m_cti;
- btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
- const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
- const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
- const btVector3 vr = vb-va;
- const btScalar dn = btDot(vr, cti.m_normal);
- if(dn<=SIMD_EPSILON)
- {
- const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
- const btVector3 fv = vr - (cti.m_normal * dn);
- // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
- const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
- c.m_node->m_x -= impulse * c.m_c2;
- if (tmpRigid)
- tmpRigid->applyImpulse(impulse,c.m_c1);
+ if (cti.m_colObj->hasContactResponse()) {
+ btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
+ const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
+ const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
+ const btVector3 vr = vb-va;
+ const btScalar dn = btDot(vr, cti.m_normal);
+ if(dn<=SIMD_EPSILON)
+ {
+ const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
+ const btVector3 fv = vr - (cti.m_normal * dn);
+ // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
+ const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
+ c.m_node->m_x -= impulse * c.m_c2;
+ if (tmpRigid)
+ tmpRigid->applyImpulse(impulse,c.m_c1);
+ }
}
}
}

6
extern/bullet2/readme.txt vendored
View File

@@ -4,11 +4,5 @@ Questions? mail blender at erwincoumans.com, or check the bf-blender mailing lis
Thanks,
Erwin
Apply patches/ghost_softbody.patch to prevent softbodies being hit by ghost objects.
Originally committed in blender svn revision: 43905.
Apply patches/ghost_character.patch to prevent characters from colliding with ghost objects.
Mitchell
Apply patches/convex_hull.patch to add access to the convex hull
operation, used in the BMesh convex hull operator.

5
extern/bullet2/src/BulletCollision/BroadphaseCollision/btDispatcher.h vendored
View File

@@ -25,7 +25,6 @@ class btOverlappingPairCache;
struct btCollisionObjectWrapper;
class btPersistentManifold;
class btStackAlloc;
class btPoolAllocator;
struct btDispatcherInfo
@@ -47,8 +46,7 @@ struct btDispatcherInfo
m_useEpa(true),
m_allowedCcdPenetration(btScalar(0.04)),
m_useConvexConservativeDistanceUtil(false),
m_convexConservativeDistanceThreshold(0.0f),
m_stackAllocator(0)
m_convexConservativeDistanceThreshold(0.0f)
{
}
@@ -64,7 +62,6 @@ struct btDispatcherInfo
btScalar m_allowedCcdPenetration;
bool m_useConvexConservativeDistanceUtil;
btScalar m_convexConservativeDistanceThreshold;
btStackAlloc* m_stackAllocator;
};
///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.

2
extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp vendored
View File

@@ -53,7 +53,7 @@ btHashedOverlappingPairCache::~btHashedOverlappingPairCache()
void btHashedOverlappingPairCache::cleanOverlappingPair(btBroadphasePair& pair,btDispatcher* dispatcher)
{
if (pair.m_algorithm)
if (pair.m_algorithm && dispatcher)
{
{
pair.m_algorithm->~btCollisionAlgorithm();

11
extern/bullet2/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h vendored
View File

@@ -96,6 +96,12 @@ class btHashedOverlappingPairCache : public btOverlappingPairCache
btOverlapFilterCallback* m_overlapFilterCallback;
bool m_blockedForChanges;
protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
btOverlappingPairCallback* m_ghostPairCallback;
public:
btHashedOverlappingPairCache();
@@ -265,11 +271,6 @@ private:
virtual void sortOverlappingPairs(btDispatcher* dispatcher);
protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
btOverlappingPairCallback* m_ghostPairCallback;
};

2
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h vendored
View File

@@ -18,7 +18,6 @@ subject to the following restrictions:
struct btCollisionAlgorithmCreateFunc;
class btStackAlloc;
class btPoolAllocator;
///btCollisionConfiguration allows to configure Bullet collision detection
@@ -38,7 +37,6 @@ public:
virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
virtual btStackAlloc* getStackAllocator() = 0;
virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;

3
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp vendored
View File

@@ -38,7 +38,8 @@ btCollisionObject::btCollisionObject()
m_hitFraction(btScalar(1.)),
m_ccdSweptSphereRadius(btScalar(0.)),
m_ccdMotionThreshold(btScalar(0.)),
m_checkCollideWith(false)
m_checkCollideWith(false),
m_updateRevision(0)
{
m_worldTransform.setIdentity();
}

37
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionObject.h vendored
View File

@@ -92,7 +92,11 @@ protected:
int m_internalType;
///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
void* m_userObjectPointer;
union
{
void* m_userObjectPointer;
int m_userIndex;
};
///time of impact calculation
btScalar m_hitFraction;
@@ -106,6 +110,9 @@ protected:
/// If some object should have elaborate collision filtering by sub-classes
int m_checkCollideWith;
///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
int m_updateRevision;
virtual bool checkCollideWithOverride(const btCollisionObject* /* co */) const
{
return true;
@@ -135,7 +142,8 @@ public:
CO_GHOST_OBJECT=4,
CO_SOFT_BODY=8,
CO_HF_FLUID=16,
CO_USER_TYPE=32
CO_USER_TYPE=32,
CO_FEATHERSTONE_LINK=64
};
enum AnisotropicFrictionFlags
@@ -202,6 +210,7 @@ public:
virtual void setCollisionShape(btCollisionShape* collisionShape)
{
m_updateRevision++;
m_collisionShape = collisionShape;
m_rootCollisionShape = collisionShape;
}
@@ -257,6 +266,7 @@ public:
void setRestitution(btScalar rest)
{
m_updateRevision++;
m_restitution = rest;
}
btScalar getRestitution() const
@@ -265,6 +275,7 @@ public:
}
void setFriction(btScalar frict)
{
m_updateRevision++;
m_friction = frict;
}
btScalar getFriction() const
@@ -274,6 +285,7 @@ public:
void setRollingFriction(btScalar frict)
{
m_updateRevision++;
m_rollingFriction = frict;
}
btScalar getRollingFriction() const
@@ -300,6 +312,7 @@ public:
void setWorldTransform(const btTransform& worldTrans)
{
m_updateRevision++;
m_worldTransform = worldTrans;
}
@@ -332,16 +345,19 @@ public:
void setInterpolationWorldTransform(const btTransform& trans)
{
m_updateRevision++;
m_interpolationWorldTransform = trans;
}
void setInterpolationLinearVelocity(const btVector3& linvel)
{
m_updateRevision++;
m_interpolationLinearVelocity = linvel;
}
void setInterpolationAngularVelocity(const btVector3& angvel)
{
m_updateRevision++;
m_interpolationAngularVelocity = angvel;
}
@@ -431,13 +447,28 @@ public:
{
return m_userObjectPointer;
}
int getUserIndex() const
{
return m_userIndex;
}
///users can point to their objects, userPointer is not used by Bullet
void setUserPointer(void* userPointer)
{
m_userObjectPointer = userPointer;
}
///users can point to their objects, userPointer is not used by Bullet
void setUserIndex(int index)
{
m_userIndex = index;
}
int getUpdateRevisionInternal() const
{
return m_updateRevision;
}
inline bool checkCollideWith(const btCollisionObject* co) const
{

73
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp vendored
View File

@@ -31,11 +31,10 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btAabbUtil2.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btSerializer.h"
#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
//#define DISABLE_DBVT_COMPOUNDSHAPE_RAYCAST_ACCELERATION
@@ -73,8 +72,6 @@ m_broadphasePairCache(pairCache),
m_debugDrawer(0),
m_forceUpdateAllAabbs(true)
{
m_stackAlloc = collisionConfiguration->getStackAllocator();
m_dispatchInfo.m_stackAllocator = m_stackAlloc;
}
@@ -290,13 +287,19 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
btConvexShape* convexShape = (btConvexShape*) collisionShape;
btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
btSubsimplexConvexCast subSimplexConvexCaster(castShape,convexShape,&simplexSolver);
btGjkConvexCast gjkConvexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
#endif //#USE_SUBSIMPLEX_CONVEX_CAST
bool condition = true;
btConvexCast* convexCasterPtr = 0;
if (resultCallback.m_flags & btTriangleRaycastCallback::kF_UseSubSimplexConvexCastRaytest)
convexCasterPtr = &subSimplexConvexCaster;
else
convexCasterPtr = &gjkConvexCaster;
btConvexCast& convexCaster = *convexCasterPtr;
if (convexCaster.calcTimeOfImpact(rayFromTrans,rayToTrans,colObjWorldTransform,colObjWorldTransform,castResult))
{
@@ -328,34 +331,26 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
} else {
if (collisionShape->isConcave())
{
// BT_PROFILE("rayTestConcave");
if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btBvhTriangleMeshShape
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
//ConvexCast::CastResult
//ConvexCast::CastResult
struct BridgeTriangleRaycastCallback : public btTriangleRaycastCallback
{
btCollisionWorld::RayResultCallback* m_resultCallback;
const btCollisionObject* m_collisionObject;
btTriangleMeshShape* m_triangleMesh;
const btConcaveShape* m_triangleMesh;
btTransform m_colObjWorldTransform;
BridgeTriangleRaycastCallback( const btVector3& from,const btVector3& to,
btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,btTriangleMeshShape* triangleMesh,const btTransform& colObjWorldTransform):
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh),
m_colObjWorldTransform(colObjWorldTransform)
{
}
btCollisionWorld::RayResultCallback* resultCallback, const btCollisionObject* collisionObject,const btConcaveShape* triangleMesh,const btTransform& colObjWorldTransform):
//@BP Mod
btTriangleRaycastCallback(from,to, resultCallback->m_flags),
m_resultCallback(resultCallback),
m_collisionObject(collisionObject),
m_triangleMesh(triangleMesh),
m_colObjWorldTransform(colObjWorldTransform)
{
}
virtual btScalar reportHit(const btVector3& hitNormalLocal, btScalar hitFraction, int partId, int triangleIndex )
@@ -378,10 +373,28 @@ void btCollisionWorld::rayTestSingleInternal(const btTransform& rayFromTrans,con
};
btTransform worldTocollisionObject = colObjWorldTransform.inverse();
btVector3 rayFromLocal = worldTocollisionObject * rayFromTrans.getOrigin();
btVector3 rayToLocal = worldTocollisionObject * rayToTrans.getOrigin();
// BT_PROFILE("rayTestConcave");
if (collisionShape->getShapeType()==TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
///optimized version for btBvhTriangleMeshShape
btBvhTriangleMeshShape* triangleMesh = (btBvhTriangleMeshShape*)collisionShape;
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),triangleMesh,colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
triangleMesh->performRaycast(&rcb,rayFromLocal,rayToLocal);
} else
}
else if(collisionShape->getShapeType()==GIMPACT_SHAPE_PROXYTYPE)
{
btGImpactMeshShape* concaveShape = (btGImpactMeshShape*)collisionShape;
BridgeTriangleRaycastCallback rcb(rayFromLocal,rayToLocal,&resultCallback,collisionObjectWrap->getCollisionObject(),concaveShape, colObjWorldTransform);
rcb.m_hitFraction = resultCallback.m_closestHitFraction;
concaveShape->processAllTrianglesRay(&rcb,rayFromLocal,rayToLocal);
}else
{
//generic (slower) case
btConcaveShape* concaveShape = (btConcaveShape*)collisionShape;

20
extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.h vendored
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://bulletphysics.com/Bullet/
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
@@ -18,13 +18,11 @@ subject to the following restrictions:
* @mainpage Bullet Documentation
*
* @section intro_sec Introduction
* Bullet Collision Detection & Physics SDK
*
* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
*
* The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
* There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
* Please visit http://www.bulletphysics.com
* Please visit http://www.bulletphysics.org
*
* @section install_sec Installation
*
@@ -32,7 +30,16 @@ subject to the following restrictions:
* You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
*
* @subsection step2 Step 2: Building
* Bullet main build system for all platforms is cmake, you can download http://www.cmake.org
* Bullet has multiple build systems, including premake, cmake and autotools. Premake and cmake support all platforms.
* Premake is included in the Bullet/build folder for Windows, Mac OSX and Linux.
* Under Windows you can click on Bullet/build/vs2010.bat to create Microsoft Visual Studio projects.
* On Mac OSX and Linux you can open a terminal and generate Makefile, codeblocks or Xcode4 projects:
* cd Bullet/build
* ./premake4_osx gmake or ./premake4_linux gmake or ./premake4_linux64 gmake or (for Mac) ./premake4_osx xcode4
* cd Bullet/build/gmake
* make
*
* An alternative to premake is cmake. You can download cmake from http://www.cmake.org
* cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
* The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
* You can also use cmake in the command-line. Here are some examples for various platforms:
@@ -65,7 +72,6 @@ subject to the following restrictions:
#ifndef BT_COLLISION_WORLD_H
#define BT_COLLISION_WORLD_H
class btStackAlloc;
class btCollisionShape;
class btConvexShape;
class btBroadphaseInterface;
@@ -91,8 +97,6 @@ protected:
btDispatcherInfo m_dispatchInfo;
btStackAlloc* m_stackAlloc;
btBroadphaseInterface* m_broadphasePairCache;
btIDebugDraw* m_debugDrawer;

9
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp vendored
View File

@@ -11,6 +11,7 @@ subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
@@ -22,6 +23,8 @@ subject to the following restrictions:
#include "btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
btShapePairCallback gCompoundChildShapePairCallback = 0;
btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped)
:btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap),
m_isSwapped(isSwapped),
@@ -129,6 +132,12 @@ public:
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1);
if (gCompoundChildShapePairCallback)
{
if (!gCompoundChildShapePairCallback(m_otherObjWrap->getCollisionShape(), childShape))
return;
}
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{

13
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h vendored
View File

@@ -11,6 +11,7 @@ subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
@@ -28,6 +29,10 @@ class btDispatcher;
class btDispatcher;
class btCollisionObject;
class btCollisionShape;
typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
extern btShapePairCallback gCompoundChildShapePairCallback;
/// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
@@ -37,6 +42,7 @@ class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
class btPersistentManifold* m_sharedManifold;
bool m_ownsManifold;
int m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
void removeChildAlgorithms();
@@ -49,6 +55,12 @@ public:
virtual ~btCompoundCollisionAlgorithm();
btCollisionAlgorithm* getChildAlgorithm (int n) const
{
return m_childCollisionAlgorithms[n];
}
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
@@ -63,6 +75,7 @@ public:
}
}
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)

421
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp vendored Normal file
View File

@@ -0,0 +1,421 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btCompoundCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btAabbUtil2.h"
#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
#include "BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h"
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)
{
m_ownsManifold = false;
void* ptr = btAlignedAlloc(sizeof(btHashedSimplePairCache),16);
m_childCollisionAlgorithmCache= new(ptr) btHashedSimplePairCache();
const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
btAssert (col0ObjWrap->getCollisionShape()->isCompound());
const btCollisionObjectWrapper* col1ObjWrap = body1Wrap;
btAssert (col1ObjWrap->getCollisionShape()->isCompound());
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
m_compoundShapeRevision0 = compoundShape0->getUpdateRevision();
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
m_compoundShapeRevision1 = compoundShape1->getUpdateRevision();
}
btCompoundCompoundCollisionAlgorithm::~btCompoundCompoundCollisionAlgorithm()
{
removeChildAlgorithms();
m_childCollisionAlgorithmCache->~btHashedSimplePairCache();
btAlignedFree(m_childCollisionAlgorithmCache);
}
void btCompoundCompoundCollisionAlgorithm::getAllContactManifolds(btManifoldArray& manifoldArray)
{
int i;
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
for (i=0;i<pairs.size();i++)
{
if (pairs[i].m_userPointer)
{
((btCollisionAlgorithm*)pairs[i].m_userPointer)->getAllContactManifolds(manifoldArray);
}
}
}
void btCompoundCompoundCollisionAlgorithm::removeChildAlgorithms()
{
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
int numChildren = pairs.size();
int i;
for (i=0;i<numChildren;i++)
{
if (pairs[i].m_userPointer)
{
btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
algo->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(algo);
}
}
m_childCollisionAlgorithmCache->removeAllPairs();
}
struct btCompoundCompoundLeafCallback : btDbvt::ICollide
{
int m_numOverlapPairs;
const btCollisionObjectWrapper* m_compound0ColObjWrap;
const btCollisionObjectWrapper* m_compound1ColObjWrap;
btDispatcher* m_dispatcher;
const btDispatcherInfo& m_dispatchInfo;
btManifoldResult* m_resultOut;
class btHashedSimplePairCache* m_childCollisionAlgorithmCache;
btPersistentManifold* m_sharedManifold;
btCompoundCompoundLeafCallback (const btCollisionObjectWrapper* compound1ObjWrap,
const btCollisionObjectWrapper* compound0ObjWrap,
btDispatcher* dispatcher,
const btDispatcherInfo& dispatchInfo,
btManifoldResult* resultOut,
btHashedSimplePairCache* childAlgorithmsCache,
btPersistentManifold* sharedManifold)
:m_compound0ColObjWrap(compound1ObjWrap),m_compound1ColObjWrap(compound0ObjWrap),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
m_childCollisionAlgorithmCache(childAlgorithmsCache),
m_sharedManifold(sharedManifold),
m_numOverlapPairs(0)
{
}
void Process(const btDbvtNode* leaf0,const btDbvtNode* leaf1)
{
m_numOverlapPairs++;
int childIndex0 = leaf0->dataAsInt;
int childIndex1 = leaf1->dataAsInt;
btAssert(childIndex0>=0);
btAssert(childIndex1>=0);
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(m_compound0ColObjWrap->getCollisionShape());
btAssert(childIndex0<compoundShape0->getNumChildShapes());
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(m_compound1ColObjWrap->getCollisionShape());
btAssert(childIndex1<compoundShape1->getNumChildShapes());
const btCollisionShape* childShape0 = compoundShape0->getChildShape(childIndex0);
const btCollisionShape* childShape1 = compoundShape1->getChildShape(childIndex1);
//backup
btTransform orgTrans0 = m_compound0ColObjWrap->getWorldTransform();
const btTransform& childTrans0 = compoundShape0->getChildTransform(childIndex0);
btTransform newChildWorldTrans0 = orgTrans0*childTrans0 ;
btTransform orgTrans1 = m_compound1ColObjWrap->getWorldTransform();
const btTransform& childTrans1 = compoundShape1->getChildTransform(childIndex1);
btTransform newChildWorldTrans1 = orgTrans1*childTrans1 ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
if (gCompoundCompoundChildShapePairCallback)
{
if (!gCompoundCompoundChildShapePairCallback(childShape0,childShape1))
return;
}
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
btCollisionObjectWrapper compoundWrap0(this->m_compound0ColObjWrap,childShape0, m_compound0ColObjWrap->getCollisionObject(),newChildWorldTrans0,-1,childIndex0);
btCollisionObjectWrapper compoundWrap1(this->m_compound1ColObjWrap,childShape1,m_compound1ColObjWrap->getCollisionObject(),newChildWorldTrans1,-1,childIndex1);
btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1);
btCollisionAlgorithm* colAlgo = 0;
if (pair)
{
colAlgo = (btCollisionAlgorithm*)pair->m_userPointer;
} else
{
colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0,&compoundWrap1,m_sharedManifold);
pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0,childIndex1);
btAssert(pair);
pair->m_userPointer = colAlgo;
}
btAssert(colAlgo);
const btCollisionObjectWrapper* tmpWrap0 = 0;
const btCollisionObjectWrapper* tmpWrap1 = 0;
tmpWrap0 = m_resultOut->getBody0Wrap();
tmpWrap1 = m_resultOut->getBody1Wrap();
m_resultOut->setBody0Wrap(&compoundWrap0);
m_resultOut->setBody1Wrap(&compoundWrap1);
m_resultOut->setShapeIdentifiersA(-1,childIndex0);
m_resultOut->setShapeIdentifiersB(-1,childIndex1);
colAlgo->processCollision(&compoundWrap0,&compoundWrap1,m_dispatchInfo,m_resultOut);
m_resultOut->setBody0Wrap(tmpWrap0);
m_resultOut->setBody1Wrap(tmpWrap1);
}
}
};
static DBVT_INLINE bool MyIntersect( const btDbvtAabbMm& a,
const btDbvtAabbMm& b, const btTransform& xform)
{
btVector3 newmin,newmax;
btTransformAabb(b.Mins(),b.Maxs(),0.f,xform,newmin,newmax);
btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin,newmax);
return Intersect(a,newb);
}
static inline void MycollideTT( const btDbvtNode* root0,
const btDbvtNode* root1,
const btTransform& xform,
btCompoundCompoundLeafCallback* callback)
{
if(root0&&root1)
{
int depth=1;
int treshold=btDbvt::DOUBLE_STACKSIZE-4;
btAlignedObjectArray<btDbvt::sStkNN> stkStack;
stkStack.resize(btDbvt::DOUBLE_STACKSIZE);
stkStack[0]=btDbvt::sStkNN(root0,root1);
do {
btDbvt::sStkNN p=stkStack[--depth];
if(MyIntersect(p.a->volume,p.b->volume,xform))
{
if(depth>treshold)
{
stkStack.resize(stkStack.size()*2);
treshold=stkStack.size()-4;
}
if(p.a->isinternal())
{
if(p.b->isinternal())
{
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[0]);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[0]);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b->childs[1]);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b->childs[1]);
}
else
{
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[0],p.b);
stkStack[depth++]=btDbvt::sStkNN(p.a->childs[1],p.b);
}
}
else
{
if(p.b->isinternal())
{
stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[0]);
stkStack[depth++]=btDbvt::sStkNN(p.a,p.b->childs[1]);
}
else
{
callback->Process(p.a,p.b);
}
}
}
} while(depth);
}
}
void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
const btCollisionObjectWrapper* col0ObjWrap = body0Wrap;
const btCollisionObjectWrapper* col1ObjWrap= body1Wrap;
btAssert (col0ObjWrap->getCollisionShape()->isCompound());
btAssert (col1ObjWrap->getCollisionShape()->isCompound());
const btCompoundShape* compoundShape0 = static_cast<const btCompoundShape*>(col0ObjWrap->getCollisionShape());
const btCompoundShape* compoundShape1 = static_cast<const btCompoundShape*>(col1ObjWrap->getCollisionShape());
///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();
}
///we need to refresh all contact manifolds
///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
{
int i;
btManifoldArray manifoldArray;
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
for (i=0;i<pairs.size();i++)
{
if (pairs[i].m_userPointer)
{
btCollisionAlgorithm* algo = (btCollisionAlgorithm*) pairs[i].m_userPointer;
algo->getAllContactManifolds(manifoldArray);
for (int m=0;m<manifoldArray.size();m++)
{
if (manifoldArray[m]->getNumContacts())
{
resultOut->setPersistentManifold(manifoldArray[m]);
resultOut->refreshContactPoints();
resultOut->setPersistentManifold(0);
}
}
manifoldArray.resize(0);
}
}
}
const btDbvt* tree0 = compoundShape0->getDynamicAabbTree();
const btDbvt* tree1 = compoundShape1->getDynamicAabbTree();
btCompoundCompoundLeafCallback callback(col0ObjWrap,col1ObjWrap,this->m_dispatcher,dispatchInfo,resultOut,this->m_childCollisionAlgorithmCache,m_sharedManifold);
const btTransform xform=col0ObjWrap->getWorldTransform().inverse()*col1ObjWrap->getWorldTransform();
MycollideTT(tree0->m_root,tree1->m_root,xform,&callback);
//printf("#compound-compound child/leaf overlap =%d \r",callback.m_numOverlapPairs);
//remove non-overlapping child pairs
{
btAssert(m_removePairs.size()==0);
//iterate over all children, perform an AABB check inside ProcessChildShape
btSimplePairArray& pairs = m_childCollisionAlgorithmCache->getOverlappingPairArray();
int i;
btManifoldArray manifoldArray;
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
for (i=0;i<pairs.size();i++)
{
if (pairs[i].m_userPointer)
{
btCollisionAlgorithm* algo = (btCollisionAlgorithm*)pairs[i].m_userPointer;
{
btTransform orgTrans0;
const btCollisionShape* childShape0 = 0;
btTransform newChildWorldTrans0;
btTransform orgInterpolationTrans0;
childShape0 = compoundShape0->getChildShape(pairs[i].m_indexA);
orgTrans0 = col0ObjWrap->getWorldTransform();
orgInterpolationTrans0 = col0ObjWrap->getWorldTransform();
const btTransform& childTrans0 = compoundShape0->getChildTransform(pairs[i].m_indexA);
newChildWorldTrans0 = orgTrans0*childTrans0 ;
childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0);
}
{
btTransform orgInterpolationTrans1;
const btCollisionShape* childShape1 = 0;
btTransform orgTrans1;
btTransform newChildWorldTrans1;
childShape1 = compoundShape1->getChildShape(pairs[i].m_indexB);
orgTrans1 = col1ObjWrap->getWorldTransform();
orgInterpolationTrans1 = col1ObjWrap->getWorldTransform();
const btTransform& childTrans1 = compoundShape1->getChildTransform(pairs[i].m_indexB);
newChildWorldTrans1 = orgTrans1*childTrans1 ;
childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1);
}
if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
algo->~btCollisionAlgorithm();
m_dispatcher->freeCollisionAlgorithm(algo);
m_removePairs.push_back(btSimplePair(pairs[i].m_indexA,pairs[i].m_indexB));
}
}
}
for (int i=0;i<m_removePairs.size();i++)
{
m_childCollisionAlgorithmCache->removeOverlappingPair(m_removePairs[i].m_indexA,m_removePairs[i].m_indexB);
}
m_removePairs.clear();
}
}
btScalar btCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
btAssert(0);
return 0.f;
}

90
extern/bullet2/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h vendored Normal file
View File

@@ -0,0 +1,90 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
#define BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H
#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
class btDispatcher;
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletCollision/CollisionDispatch/btHashedSimplePairCache.h"
class btDispatcher;
class btCollisionObject;
class btCollisionShape;
typedef bool (*btShapePairCallback)(const btCollisionShape* pShape0, const btCollisionShape* pShape1);
extern btShapePairCallback gCompoundCompoundChildShapePairCallback;
/// btCompoundCompoundCollisionAlgorithm supports collision between two btCompoundCollisionShape shapes
class btCompoundCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
{
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;
void removeChildAlgorithms();
// void preallocateChildAlgorithms(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap);
public:
btCompoundCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,bool isSwapped);
virtual ~btCompoundCompoundCollisionAlgorithm();
virtual void processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
virtual void getAllContactManifolds(btManifoldArray& manifoldArray);
struct CreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,false);
}
};
struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
{
virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap)
{
void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCompoundCollisionAlgorithm));
return new(mem) btCompoundCompoundCollisionAlgorithm(ci,body0Wrap,body1Wrap,true);
}
};
};
#endif //BT_COMPOUND_COMPOUND_COLLISION_ALGORITHM_H

1
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp vendored
View File

@@ -132,7 +132,6 @@ void btConvex2dConvex2dAlgorithm ::processCollision (const btCollisionObjectWrap
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();

18
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp vendored
View File

@@ -76,21 +76,27 @@ void btConvexTriangleCallback::clearCache()
}
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int partId, int triangleIndex)
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
partId, int triangleIndex)
{
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
{
return;
}
//aabb filter is already applied!
//just for debugging purposes
//printf("triangle %d",m_triangleCount++);
const btCollisionObject* ob = const_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
btCollisionAlgorithmConstructionInfo ci;
ci.m_dispatcher1 = m_dispatcher;
//const btCollisionObject* ob = static_cast<btCollisionObject*>(m_triBodyWrap->getCollisionObject());
#if 0
///debug drawing of the overlapping triangles

1
extern/bullet2/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp vendored
View File

@@ -373,7 +373,6 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper*
input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
}
input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0Wrap->getWorldTransform();
input.m_transformB = body1Wrap->getWorldTransform();

32
extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp vendored
View File

@@ -19,6 +19,8 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h"
#include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"
@@ -32,7 +34,6 @@ subject to the following restrictions:
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btPoolAllocator.h"
@@ -65,6 +66,10 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
m_swappedConvexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::CreateFunc),16);
m_compoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCompoundCollisionAlgorithm::CreateFunc),16);
m_compoundCompoundCreateFunc = new (mem)btCompoundCompoundCollisionAlgorithm::CreateFunc;
mem = btAlignedAlloc(sizeof(btCompoundCollisionAlgorithm::SwappedCreateFunc),16);
m_swappedCompoundCreateFunc = new (mem)btCompoundCollisionAlgorithm::SwappedCreateFunc;
mem = btAlignedAlloc(sizeof(btEmptyAlgorithm::CreateFunc),16);
@@ -106,16 +111,6 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize2);
collisionAlgorithmMaxElementSize = btMax(collisionAlgorithmMaxElementSize,maxSize3);
if (constructionInfo.m_stackAlloc)
{
m_ownsStackAllocator = false;
this->m_stackAlloc = constructionInfo.m_stackAlloc;
} else
{
m_ownsStackAllocator = true;
void* mem = btAlignedAlloc(sizeof(btStackAlloc),16);
m_stackAlloc = new(mem)btStackAlloc(constructionInfo.m_defaultStackAllocatorSize);
}
if (constructionInfo.m_persistentManifoldPool)
{
@@ -144,12 +139,6 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault
btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
{
if (m_ownsStackAllocator)
{
m_stackAlloc->destroy();
m_stackAlloc->~btStackAlloc();
btAlignedFree(m_stackAlloc);
}
if (m_ownsCollisionAlgorithmPool)
{
m_collisionAlgorithmPool->~btPoolAllocator();
@@ -172,6 +161,9 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration()
m_compoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_compoundCreateFunc);
m_compoundCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree(m_compoundCompoundCreateFunc);
m_swappedCompoundCreateFunc->~btCollisionAlgorithmCreateFunc();
btAlignedFree( m_swappedCompoundCreateFunc);
@@ -275,6 +267,12 @@ btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlg
return m_swappedConvexConcaveCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1))
{
return m_compoundCompoundCreateFunc;
}
if (btBroadphaseProxy::isCompound(proxyType0))
{
return m_compoundCreateFunc;

14
extern/bullet2/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h vendored
View File

@@ -22,23 +22,19 @@ class btConvexPenetrationDepthSolver;
struct btDefaultCollisionConstructionInfo
{
btStackAlloc* m_stackAlloc;
btPoolAllocator* m_persistentManifoldPool;
btPoolAllocator* m_collisionAlgorithmPool;
int m_defaultMaxPersistentManifoldPoolSize;
int m_defaultMaxCollisionAlgorithmPoolSize;
int m_customCollisionAlgorithmMaxElementSize;
int m_defaultStackAllocatorSize;
int m_useEpaPenetrationAlgorithm;
btDefaultCollisionConstructionInfo()
:m_stackAlloc(0),
m_persistentManifoldPool(0),
:m_persistentManifoldPool(0),
m_collisionAlgorithmPool(0),
m_defaultMaxPersistentManifoldPoolSize(4096),
m_defaultMaxCollisionAlgorithmPoolSize(4096),
m_customCollisionAlgorithmMaxElementSize(0),
m_defaultStackAllocatorSize(0),
m_useEpaPenetrationAlgorithm(true)
{
}
@@ -56,8 +52,6 @@ protected:
int m_persistentManifoldPoolSize;
btStackAlloc* m_stackAlloc;
bool m_ownsStackAllocator;
btPoolAllocator* m_persistentManifoldPool;
bool m_ownsPersistentManifoldPool;
@@ -75,6 +69,8 @@ protected:
btCollisionAlgorithmCreateFunc* m_convexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedConvexConcaveCreateFunc;
btCollisionAlgorithmCreateFunc* m_compoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_compoundCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_swappedCompoundCreateFunc;
btCollisionAlgorithmCreateFunc* m_emptyCreateFunc;
btCollisionAlgorithmCreateFunc* m_sphereSphereCF;
@@ -105,10 +101,6 @@ public:
return m_collisionAlgorithmPool;
}
virtual btStackAlloc* getStackAllocator()
{
return m_stackAlloc;
}
virtual btVoronoiSimplexSolver* getSimplexSolver()
{

278
extern/bullet2/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.cpp vendored Normal file
View File

@@ -0,0 +1,278 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btHashedSimplePairCache.h"
#include <stdio.h>
int gOverlappingSimplePairs = 0;
int gRemoveSimplePairs =0;
int gAddedSimplePairs =0;
int gFindSimplePairs =0;
btHashedSimplePairCache::btHashedSimplePairCache():
m_blockedForChanges(false)
{
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);
growTables();
}
btHashedSimplePairCache::~btHashedSimplePairCache()
{
}
void btHashedSimplePairCache::removeAllPairs()
{
m_overlappingPairArray.clear();
m_hashTable.clear();
m_next.clear();
int initialAllocatedSize= 2;
m_overlappingPairArray.reserve(initialAllocatedSize);
growTables();
}
btSimplePair* btHashedSimplePairCache::findPair(int indexA, int indexB)
{
gFindSimplePairs++;
/*if (indexA > indexB)
btSwap(indexA, indexB);*/
int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA), static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
if (hash >= m_hashTable.size())
{
return NULL;
}
int index = m_hashTable[hash];
while (index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], indexA, indexB) == false)
{
index = m_next[index];
}
if (index == BT_SIMPLE_NULL_PAIR)
{
return NULL;
}
btAssert(index < m_overlappingPairArray.size());
return &m_overlappingPairArray[index];
}
//#include <stdio.h>
void btHashedSimplePairCache::growTables()
{
int newCapacity = m_overlappingPairArray.capacity();
if (m_hashTable.size() < newCapacity)
{
//grow hashtable and next table
int curHashtableSize = m_hashTable.size();
m_hashTable.resize(newCapacity);
m_next.resize(newCapacity);
int i;
for (i= 0; i < newCapacity; ++i)
{
m_hashTable[i] = BT_SIMPLE_NULL_PAIR;
}
for (i = 0; i < newCapacity; ++i)
{
m_next[i] = BT_SIMPLE_NULL_PAIR;
}
for(i=0;i<curHashtableSize;i++)
{
const btSimplePair& pair = m_overlappingPairArray[i];
int indexA = pair.m_indexA;
int indexB = pair.m_indexB;
int hashValue = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask
m_next[i] = m_hashTable[hashValue];
m_hashTable[hashValue] = i;
}
}
}
btSimplePair* btHashedSimplePairCache::internalAddPair(int indexA, int indexB)
{
int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1)); // New hash value with new mask
btSimplePair* pair = internalFindPair(indexA, indexB, hash);
if (pair != NULL)
{
return pair;
}
int count = m_overlappingPairArray.size();
int oldCapacity = m_overlappingPairArray.capacity();
void* mem = &m_overlappingPairArray.expandNonInitializing();
int newCapacity = m_overlappingPairArray.capacity();
if (oldCapacity < newCapacity)
{
growTables();
//hash with new capacity
hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
}
pair = new (mem) btSimplePair(indexA,indexB);
pair->m_userPointer = 0;
m_next[count] = m_hashTable[hash];
m_hashTable[hash] = count;
return pair;
}
void* btHashedSimplePairCache::removeOverlappingPair(int indexA, int indexB)
{
gRemoveSimplePairs++;
/*if (indexA > indexB)
btSwap(indexA, indexB);*/
int hash = static_cast<int>(getHash(static_cast<unsigned int>(indexA),static_cast<unsigned int>(indexB)) & (m_overlappingPairArray.capacity()-1));
btSimplePair* pair = internalFindPair(indexA, indexB, hash);
if (pair == NULL)
{
return 0;
}
void* userData = pair->m_userPointer;
int pairIndex = int(pair - &m_overlappingPairArray[0]);
btAssert(pairIndex < m_overlappingPairArray.size());
// Remove the pair from the hash table.
int index = m_hashTable[hash];
btAssert(index != BT_SIMPLE_NULL_PAIR);
int previous = BT_SIMPLE_NULL_PAIR;
while (index != pairIndex)
{
previous = index;
index = m_next[index];
}
if (previous != BT_SIMPLE_NULL_PAIR)
{
btAssert(m_next[previous] == pairIndex);
m_next[previous] = m_next[pairIndex];
}
else
{
m_hashTable[hash] = m_next[pairIndex];
}
// We now move the last pair into spot of the
// pair being removed. We need to fix the hash
// table indices to support the move.
int lastPairIndex = m_overlappingPairArray.size() - 1;
// If the removed pair is the last pair, we are done.
if (lastPairIndex == pairIndex)
{
m_overlappingPairArray.pop_back();
return userData;
}
// Remove the last pair from the hash table.
const btSimplePair* last = &m_overlappingPairArray[lastPairIndex];
/* missing swap here too, Nat. */
int lastHash = static_cast<int>(getHash(static_cast<unsigned int>(last->m_indexA), static_cast<unsigned int>(last->m_indexB)) & (m_overlappingPairArray.capacity()-1));
index = m_hashTable[lastHash];
btAssert(index != BT_SIMPLE_NULL_PAIR);
previous = BT_SIMPLE_NULL_PAIR;
while (index != lastPairIndex)
{
previous = index;
index = m_next[index];
}
if (previous != BT_SIMPLE_NULL_PAIR)
{
btAssert(m_next[previous] == lastPairIndex);
m_next[previous] = m_next[lastPairIndex];
}
else
{
m_hashTable[lastHash] = m_next[lastPairIndex];
}
// Copy the last pair into the remove pair's spot.
m_overlappingPairArray[pairIndex] = m_overlappingPairArray[lastPairIndex];
// Insert the last pair into the hash table
m_next[pairIndex] = m_hashTable[lastHash];
m_hashTable[lastHash] = pairIndex;
m_overlappingPairArray.pop_back();
return userData;
}
//#include <stdio.h>

174
extern/bullet2/src/BulletCollision/CollisionDispatch/btHashedSimplePairCache.h vendored Normal file
View File

@@ -0,0 +1,174 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_HASHED_SIMPLE_PAIR_CACHE_H
#define BT_HASHED_SIMPLE_PAIR_CACHE_H
#include "LinearMath/btAlignedObjectArray.h"
const int BT_SIMPLE_NULL_PAIR=0xffffffff;
struct btSimplePair
{
btSimplePair(int indexA,int indexB)
:m_indexA(indexA),
m_indexB(indexB),
m_userPointer(0)
{
}
int m_indexA;
int m_indexB;
union
{
void* m_userPointer;
int m_userValue;
};
};
typedef btAlignedObjectArray<btSimplePair> btSimplePairArray;
extern int gOverlappingSimplePairs;
extern int gRemoveSimplePairs;
extern int gAddedSimplePairs;
extern int gFindSimplePairs;
class btHashedSimplePairCache
{
btSimplePairArray m_overlappingPairArray;
bool m_blockedForChanges;
protected:
btAlignedObjectArray<int> m_hashTable;
btAlignedObjectArray<int> m_next;
public:
btHashedSimplePairCache();
virtual ~btHashedSimplePairCache();
void removeAllPairs();
virtual void* removeOverlappingPair(int indexA,int indexB);
// Add a pair and return the new pair. If the pair already exists,
// no new pair is created and the old one is returned.
virtual btSimplePair* addOverlappingPair(int indexA,int indexB)
{
gAddedSimplePairs++;
return internalAddPair(indexA,indexB);
}
virtual btSimplePair* getOverlappingPairArrayPtr()
{
return &m_overlappingPairArray[0];
}
const btSimplePair* getOverlappingPairArrayPtr() const
{
return &m_overlappingPairArray[0];
}
btSimplePairArray& getOverlappingPairArray()
{
return m_overlappingPairArray;
}
const btSimplePairArray& getOverlappingPairArray() const
{
return m_overlappingPairArray;
}
btSimplePair* findPair(int indexA,int indexB);
int GetCount() const { return m_overlappingPairArray.size(); }
int getNumOverlappingPairs() const
{
return m_overlappingPairArray.size();
}
private:
btSimplePair* internalAddPair(int indexA, int indexB);
void growTables();
SIMD_FORCE_INLINE bool equalsPair(const btSimplePair& pair, int indexA, int indexB)
{
return pair.m_indexA == indexA && pair.m_indexB == indexB;
}
SIMD_FORCE_INLINE unsigned int getHash(unsigned int indexA, unsigned int indexB)
{
int key = static_cast<int>(((unsigned int)indexA) | (((unsigned int)indexB) <<16));
// Thomas Wang's hash
key += ~(key << 15);
key ^= (key >> 10);
key += (key << 3);
key ^= (key >> 6);
key += ~(key << 11);
key ^= (key >> 16);
return static_cast<unsigned int>(key);
}
SIMD_FORCE_INLINE btSimplePair* internalFindPair(int proxyIdA , int proxyIdB, int hash)
{
int index = m_hashTable[hash];
while( index != BT_SIMPLE_NULL_PAIR && equalsPair(m_overlappingPairArray[index], proxyIdA, proxyIdB) == false)
{
index = m_next[index];
}
if ( index == BT_SIMPLE_NULL_PAIR )
{
return NULL;
}
btAssert(index < m_overlappingPairArray.size());
return &m_overlappingPairArray[index];
}
};
#endif //BT_HASHED_SIMPLE_PAIR_CACHE_H

4
extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp vendored
View File

@@ -273,6 +273,8 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
void btCompoundShape::setLocalScaling(const btVector3& scaling)
{
@@ -283,7 +285,7 @@ void btCompoundShape::setLocalScaling(const btVector3& scaling)
// childScale = childScale * (childTrans.getBasis() * scaling);
childScale = childScale * scaling / m_localScaling;
m_children[i].m_childShape->setLocalScaling(childScale);
childTrans.setOrigin((childTrans.getOrigin())*scaling);
childTrans.setOrigin((childTrans.getOrigin()) * scaling / m_localScaling);
updateChildTransform(i, childTrans,false);
}

4
extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp vendored
View File

@@ -62,6 +62,10 @@ void btConeShape::setConeUpIndex(int upIndex)
default:
btAssert(0);
};
m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
}
btVector3 btConeShape::coneLocalSupport(const btVector3& v) const

53
extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h vendored
View File

@@ -90,6 +90,13 @@ public:
}
virtual void setLocalScaling(const btVector3& scaling);
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
@@ -104,19 +111,61 @@ class btConeShapeX : public btConeShape
return btVector3 (1,0,0);
}
//debugging
virtual const char* getName()const
{
return "ConeX";
}
};
///btConeShapeZ implements a Cone shape, around the Z axis
class btConeShapeZ : public btConeShape
{
public:
btConeShapeZ(btScalar radius,btScalar height);
public:
btConeShapeZ(btScalar radius,btScalar height);
virtual btVector3 getAnisotropicRollingFrictionDirection() const
{
return btVector3 (0,0,1);
}
//debugging
virtual const char* getName()const
{
return "ConeZ";
}
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btConeShapeData
{
btConvexInternalShapeData m_convexInternalShapeData;
int m_upIndex;
char m_padding[4];
};
SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const
{
return sizeof(btConeShapeData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btConeShapeData* shapeData = (btConeShapeData*) dataBuffer;
btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
shapeData->m_upIndex = m_coneIndices[1];
return "btConeShapeData";
}
#endif //BT_CONE_MINKOWSKI_H

6
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp vendored
View File

@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "btTriangleShape.h"
#include "btSphereShape.h"
#include "btCylinderShape.h"
#include "btConeShape.h"
#include "btCapsuleShape.h"
#include "btConvexHullShape.h"
#include "btConvexPointCloudShape.h"
@@ -336,6 +337,11 @@ btScalar btConvexShape::getMarginNonVirtual () const
btCylinderShape* cylShape = (btCylinderShape*)this;
return cylShape->getMarginNV();
}
case CONE_SHAPE_PROXYTYPE:
{
btConeShape* conShape = (btConeShape*)this;
return conShape->getMarginNV();
}
case CAPSULE_SHAPE_PROXYTYPE:
{
btCapsuleShape* capsuleShape = (btCapsuleShape*)this;

4
extern/bullet2/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp vendored
View File

@@ -369,7 +369,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x,j,vertices[0]);
// getVertex(x,j,vertices[0]);//already got this vertex before, thanks to Danny Chapman
getVertex(x+1,j+1,vertices[1]);
getVertex(x,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
@@ -382,7 +382,7 @@ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback
callback->processTriangle(vertices,x,j);
//second triangle
getVertex(x+1,j,vertices[0]);
getVertex(x,j+1,vertices[1]);
//getVertex(x,j+1,vertices[1]);
getVertex(x+1,j+1,vertices[2]);
callback->processTriangle(vertices,x,j);
}

8
extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.cpp vendored
View File

@@ -111,10 +111,10 @@ int btTriangleMesh::findOrAddVertex(const btVector3& vertex, bool removeDuplicat
return i/3;
}
}
}
m_3componentVertices.push_back((float)vertex.getX());
m_3componentVertices.push_back((float)vertex.getY());
m_3componentVertices.push_back((float)vertex.getZ());
}
m_3componentVertices.push_back(vertex.getX());
m_3componentVertices.push_back(vertex.getY());
m_3componentVertices.push_back(vertex.getZ());
m_indexedMeshes[0].m_numVertices++;
m_indexedMeshes[0].m_vertexBase = (unsigned char*)&m_3componentVertices[0];
return (m_3componentVertices.size()/3)-1;

2
extern/bullet2/src/BulletCollision/CollisionShapes/btTriangleMesh.h vendored
View File

@@ -27,7 +27,7 @@ subject to the following restrictions:
class btTriangleMesh : public btTriangleIndexVertexArray
{
btAlignedObjectArray<btVector3> m_4componentVertices;
btAlignedObjectArray<float> m_3componentVertices;
btAlignedObjectArray<btScalar> m_3componentVertices;
btAlignedObjectArray<unsigned int> m_32bitIndices;
btAlignedObjectArray<unsigned short int> m_16bitIndices;

4
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h vendored
View File

@@ -17,7 +17,6 @@ subject to the following restrictions:
#ifndef BT_CONVEX_PENETRATION_DEPTH_H
#define BT_CONVEX_PENETRATION_DEPTH_H
class btStackAlloc;
class btVector3;
#include "btSimplexSolverInterface.h"
class btConvexShape;
@@ -33,8 +32,7 @@ public:
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
) = 0;
class btIDebugDraw* debugDraw) = 0;
};

5
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h vendored
View File

@@ -19,7 +19,6 @@ subject to the following restrictions:
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
class btStackAlloc;
/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
/// This interface allows to query for closest points and penetration depth between two (convex) objects
@@ -43,15 +42,13 @@ struct btDiscreteCollisionDetectorInterface
struct ClosestPointInput
{
ClosestPointInput()
:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT)),
m_stackAlloc(0)
:m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT))
{
}
btTransform m_transformA;
btTransform m_transformB;
btScalar m_maximumDistanceSquared;
btStackAlloc* m_stackAlloc;
};
virtual ~btDiscreteCollisionDetectorInterface() {};

4
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp vendored
View File

@@ -25,7 +25,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
class btIDebugDraw* debugDraw)
{
(void)debugDraw;
@@ -34,7 +34,7 @@ bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& sim
// const btScalar radialmargin(btScalar(0.));
btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin());
btVector3 guessVector(transformB.getOrigin()-transformA.getOrigin());
btGjkEpaSolver2::sResults results;

2
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h vendored
View File

@@ -33,7 +33,7 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
const btTransform& transformA, const btTransform& transformB,
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
class btIDebugDraw* debugDraw);
private :

29
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp vendored
View File

@@ -50,7 +50,8 @@ m_marginA(objectA->getMargin()),
m_marginB(objectB->getMargin()),
m_ignoreMargin(false),
m_lastUsedMethod(-1),
m_catchDegeneracies(1)
m_catchDegeneracies(1),
m_fixContactNormalDirection(1)
{
}
btGjkPairDetector::btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver)
@@ -65,7 +66,8 @@ m_marginA(marginA),
m_marginB(marginB),
m_ignoreMargin(false),
m_lastUsedMethod(-1),
m_catchDegeneracies(1)
m_catchDegeneracies(1),
m_fixContactNormalDirection(1)
{
}
@@ -353,7 +355,7 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
m_minkowskiA,m_minkowskiB,
localTransA,localTransB,
m_cachedSeparatingAxis, tmpPointOnA, tmpPointOnB,
debugDraw,input.m_stackAlloc
debugDraw
);
@@ -438,6 +440,27 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput& inpu
}
#endif
if (m_fixContactNormalDirection)
{
///@workaround for sticky convex collisions
//in some degenerate cases (usually when the use uses very small margins)
//the contact normal is pointing the wrong direction
//so fix it now (until we can deal with all degenerate cases in GJK and EPA)
//contact normals need to point from B to A in all cases, so we can simply check if the contact normal really points from B to A
//We like to use a dot product of the normal against the difference of the centroids,
//once the centroid is available in the API
//until then we use the center of the aabb to approximate the centroid
btVector3 aabbMin,aabbMax;
m_minkowskiA->getAabb(localTransA,aabbMin,aabbMax);
btVector3 posA = (aabbMax+aabbMin)*btScalar(0.5);
m_minkowskiB->getAabb(localTransB,aabbMin,aabbMax);
btVector3 posB = (aabbMin+aabbMax)*btScalar(0.5);
btVector3 diff = posA-posB;
if (diff.dot(normalInB) < 0.f)
normalInB *= -1.f;
}
m_cachedSeparatingAxis = normalInB;
m_cachedSeparatingDistance = distance;

2
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h vendored
View File

@@ -52,7 +52,7 @@ public:
int m_curIter;
int m_degenerateSimplex;
int m_catchDegeneracies;
int m_fixContactNormalDirection;
btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);

3
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp vendored
View File

@@ -26,11 +26,10 @@ bool btMinkowskiPenetrationDepthSolver::calcPenDepth(btSimplexSolverInterface& s
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
class btIDebugDraw* debugDraw
)
{
(void)stackAlloc;
(void)v;
bool check2d= convexA->isConvex2d() && convexB->isConvex2d();

2
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h vendored
View File

@@ -32,7 +32,7 @@ public:
const btConvexShape* convexA,const btConvexShape* convexB,
const btTransform& transA,const btTransform& transB,
btVector3& v, btVector3& pa, btVector3& pb,
class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
class btIDebugDraw* debugDraw
);
};

2
extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h vendored
View File

@@ -35,7 +35,7 @@ public:
kF_None = 0,
kF_FilterBackfaces = 1 << 0,
kF_KeepUnflippedNormal = 1 << 1, // Prevents returned face normal getting flipped when a ray hits a back-facing triangle
kF_UseSubSimplexConvexCastRaytest = 1 << 2, // Uses an approximate but faster ray versus convex intersection algorithm
kF_Terminator = 0xFFFFFFFF
};
unsigned int m_flags;

3
extern/bullet2/src/BulletDynamics/Character/btCharacterControllerInterface.h vendored
View File

@@ -31,7 +31,7 @@ public:
virtual void setWalkDirection(const btVector3& walkDirection) = 0;
virtual void setVelocityForTimeInterval(const btVector3& velocity, btScalar timeInterval) = 0;
virtual void reset () = 0;
virtual void reset ( btCollisionWorld* collisionWorld ) = 0;
virtual void warp (const btVector3& origin) = 0;
virtual void preStep ( btCollisionWorld* collisionWorld) = 0;
@@ -40,6 +40,7 @@ public:
virtual void jump () = 0;
virtual bool onGround () const = 0;
virtual void setUpInterpolate (bool value) = 0;
};
#endif //BT_CHARACTER_CONTROLLER_INTERFACE_H

167
extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.cpp vendored
View File

@@ -14,6 +14,7 @@ subject to the following restrictions:
*/
#include <stdio.h>
#include "LinearMath/btIDebugDraw.h"
#include "BulletCollision/CollisionDispatch/btGhostObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
@@ -79,7 +80,7 @@ public:
if (!convexResult.m_hitCollisionObject->hasContactResponse())
return btScalar(1.0);
btVector3 hitNormalWorld;
if (normalInWorldSpace)
{
@@ -149,7 +150,11 @@ btKinematicCharacterController::btKinematicCharacterController (btPairCachingGho
m_jumpSpeed = 10.0; // ?
m_wasOnGround = false;
m_wasJumping = false;
m_interpolateUp = true;
setMaxSlope(btRadians(45.0));
m_currentStepOffset = 0;
full_drop = false;
bounce_fix = false;
}
btKinematicCharacterController::~btKinematicCharacterController ()
@@ -190,9 +195,10 @@ bool btKinematicCharacterController::recoverFromPenetration ( btCollisionWorld*
m_manifoldArray.resize(0);
btBroadphasePair* collisionPair = &m_ghostObject->getOverlappingPairCache()->getOverlappingPairArray()[i];
btCollisionObject* obj0 = static_cast<btCollisionObject*>(collisionPair->m_pProxy0->m_clientObject);
btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
btCollisionObject* obj1 = static_cast<btCollisionObject*>(collisionPair->m_pProxy1->m_clientObject);
if ((obj0 && !obj0->hasContactResponse()) || (obj1 && !obj1->hasContactResponse()))
continue;
@@ -268,7 +274,10 @@ void btKinematicCharacterController::stepUp ( btCollisionWorld* world)
{
// we moved up only a fraction of the step height
m_currentStepOffset = m_stepHeight * callback.m_closestHitFraction;
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
if (m_interpolateUp == true)
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
else
m_currentPosition = m_targetPosition;
}
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
@@ -333,7 +342,8 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
{
if (m_normalizedDirection.dot(m_touchingNormal) > btScalar(0.0))
{
updateTargetPositionBasedOnCollision (m_touchingNormal);
//interferes with step movement
//updateTargetPositionBasedOnCollision (m_touchingNormal);
}
}
@@ -405,7 +415,8 @@ void btKinematicCharacterController::stepForwardAndStrafe ( btCollisionWorld* co
void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld, btScalar dt)
{
btTransform start, end;
btTransform start, end, end_double;
bool runonce = false;
// phase 3: down
/*btScalar additionalDownStep = (m_wasOnGround && !onGround()) ? m_stepHeight : 0.0;
@@ -414,44 +425,124 @@ void btKinematicCharacterController::stepDown ( btCollisionWorld* collisionWorld
btVector3 gravity_drop = getUpAxisDirections()[m_upAxis] * downVelocity;
m_targetPosition -= (step_drop + gravity_drop);*/
btVector3 orig_position = m_targetPosition;
btScalar downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
if(downVelocity > 0.0 && downVelocity < m_stepHeight
if(downVelocity > 0.0 && downVelocity > m_fallSpeed
&& (m_wasOnGround || !m_wasJumping))
{
downVelocity = m_stepHeight;
}
downVelocity = m_fallSpeed;
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
start.setIdentity ();
end.setIdentity ();
start.setOrigin (m_currentPosition);
end.setOrigin (m_targetPosition);
btKinematicClosestNotMeConvexResultCallback callback (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine);
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
btKinematicClosestNotMeConvexResultCallback callback2 (m_ghostObject, getUpAxisDirections()[m_upAxis], m_maxSlopeCosine);
callback2.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
callback2.m_collisionFilterMask = getGhostObject()->getBroadphaseHandle()->m_collisionFilterMask;
while (1)
{
start.setIdentity ();
end.setIdentity ();
end_double.setIdentity ();
start.setOrigin (m_currentPosition);
end.setOrigin (m_targetPosition);
//set double test for 2x the step drop, to check for a large drop vs small drop
end_double.setOrigin (m_targetPosition - step_drop);
if (m_useGhostObjectSweepTest)
{
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
if (!callback.hasHit())
{
//test a double fall height, to see if the character should interpolate it's fall (full) or not (partial)
m_ghostObject->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
}
} else
{
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
if (!callback.hasHit())
{
//test a double fall height, to see if the character should interpolate it's fall (large) or not (small)
collisionWorld->convexSweepTest (m_convexShape, start, end_double, callback2, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
}
}
if (m_useGhostObjectSweepTest)
{
m_ghostObject->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
} else
{
collisionWorld->convexSweepTest (m_convexShape, start, end, callback, collisionWorld->getDispatchInfo().m_allowedCcdPenetration);
btScalar downVelocity2 = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
bool has_hit = false;
if (bounce_fix == true)
has_hit = callback.hasHit() || callback2.hasHit();
else
has_hit = callback2.hasHit();
if(downVelocity2 > 0.0 && downVelocity2 < m_stepHeight && has_hit == true && runonce == false
&& (m_wasOnGround || !m_wasJumping))
{
//redo the velocity calculation when falling a small amount, for fast stairs motion
//for larger falls, use the smoother/slower interpolated movement by not touching the target position
m_targetPosition = orig_position;
downVelocity = m_stepHeight;
btVector3 step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
runonce = true;
continue; //re-run previous tests
}
break;
}
if (callback.hasHit())
if (callback.hasHit() || runonce == true)
{
// we dropped a fraction of the height -> hit floor
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
btScalar fraction = (m_currentPosition.getY() - callback.m_hitPointWorld.getY()) / 2;
//printf("hitpoint: %g - pos %g\n", callback.m_hitPointWorld.getY(), m_currentPosition.getY());
if (bounce_fix == true)
{
if (full_drop == true)
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
else
//due to errors in the closestHitFraction variable when used with large polygons, calculate the hit fraction manually
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, fraction);
}
else
m_currentPosition.setInterpolate3 (m_currentPosition, m_targetPosition, callback.m_closestHitFraction);
full_drop = false;
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
m_wasJumping = false;
} else {
// we dropped the full height
full_drop = true;
if (bounce_fix == true)
{
downVelocity = (m_verticalVelocity<0.f?-m_verticalVelocity:0.f) * dt;
if (downVelocity > m_fallSpeed && (m_wasOnGround || !m_wasJumping))
{
m_targetPosition += step_drop; //undo previous target change
downVelocity = m_fallSpeed;
step_drop = getUpAxisDirections()[m_upAxis] * (m_currentStepOffset + downVelocity);
m_targetPosition -= step_drop;
}
}
//printf("full drop - %g, %g\n", m_currentPosition.getY(), m_targetPosition.getY());
m_currentPosition = m_targetPosition;
}
}
@@ -484,13 +575,24 @@ btScalar timeInterval
m_useWalkDirection = false;
m_walkDirection = velocity;
m_normalizedDirection = getNormalizedVector(m_walkDirection);
m_velocityTimeInterval = timeInterval;
m_velocityTimeInterval += timeInterval;
}
void btKinematicCharacterController::reset ()
void btKinematicCharacterController::reset ( btCollisionWorld* collisionWorld )
{
m_verticalVelocity = 0.0;
m_verticalOffset = 0.0;
m_wasOnGround = false;
m_wasJumping = false;
m_walkDirection.setValue(0,0,0);
m_velocityTimeInterval = 0.0;
//clear pair cache
btHashedOverlappingPairCache *cache = m_ghostObject->getOverlappingPairCache();
while (cache->getOverlappingPairArray().size() > 0)
{
cache->removeOverlappingPair(cache->getOverlappingPairArray()[0].m_pProxy0, cache->getOverlappingPairArray()[0].m_pProxy1, collisionWorld->getDispatcher());
}
}
void btKinematicCharacterController::warp (const btVector3& origin)
@@ -661,3 +763,8 @@ btVector3* btKinematicCharacterController::getUpAxisDirections()
void btKinematicCharacterController::debugDraw(btIDebugDraw* debugDrawer)
{
}
void btKinematicCharacterController::setUpInterpolate(bool value)
{
m_interpolateUp = value;
}

6
extern/bullet2/src/BulletDynamics/Character/btKinematicCharacterController.h vendored
View File

@@ -81,6 +81,9 @@ protected:
int m_upAxis;
static btVector3* getUpAxisDirections();
bool m_interpolateUp;
bool full_drop;
bool bounce_fix;
btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
@@ -133,7 +136,7 @@ public:
virtual void setVelocityForTimeInterval(const btVector3& velocity,
btScalar timeInterval);
void reset ();
void reset ( btCollisionWorld* collisionWorld );
void warp (const btVector3& origin);
void preStep ( btCollisionWorld* collisionWorld);
@@ -161,6 +164,7 @@ public:
}
bool onGround () const;
void setUpInterpolate (bool value);
};
#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H

62
extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h vendored
View File

@@ -40,6 +40,15 @@ and swing 1 and 2 are along the z and y axes respectively.
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btConeTwistConstraintData2 btConeTwistConstraintDoubleData
#define btConeTwistConstraintDataName "btConeTwistConstraintDoubleData"
#else
#define btConeTwistConstraintData2 btConeTwistConstraintData
#define btConeTwistConstraintDataName "btConeTwistConstraintData"
#endif //BT_USE_DOUBLE_PRECISION
class btRigidBody;
enum btConeTwistFlags
@@ -295,7 +304,30 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btConeTwistConstraintDoubleData
{
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame;
btTransformDoubleData m_rbBFrame;
//limits
double m_swingSpan1;
double m_swingSpan2;
double m_twistSpan;
double m_limitSoftness;
double m_biasFactor;
double m_relaxationFactor;
double m_damping;
};
#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
///this structure is not used, except for loading pre-2.82 .bullet files
struct btConeTwistConstraintData
{
btTypedConstraintData m_typeConstraintData;
@@ -315,12 +347,12 @@ struct btConeTwistConstraintData
char m_pad[4];
};
#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
//
SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() const
{
return sizeof(btConeTwistConstraintData);
return sizeof(btConeTwistConstraintData2);
}
@@ -328,21 +360,21 @@ SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() cons
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer;
btConeTwistConstraintData2* cone = (btConeTwistConstraintData2*) dataBuffer;
btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
m_rbAFrame.serializeFloat(cone->m_rbAFrame);
m_rbBFrame.serializeFloat(cone->m_rbBFrame);
m_rbAFrame.serialize(cone->m_rbAFrame);
m_rbBFrame.serialize(cone->m_rbBFrame);
cone->m_swingSpan1 = float(m_swingSpan1);
cone->m_swingSpan2 = float(m_swingSpan2);
cone->m_twistSpan = float(m_twistSpan);
cone->m_limitSoftness = float(m_limitSoftness);
cone->m_biasFactor = float(m_biasFactor);
cone->m_relaxationFactor = float(m_relaxationFactor);
cone->m_damping = float(m_damping);
cone->m_swingSpan1 = m_swingSpan1;
cone->m_swingSpan2 = m_swingSpan2;
cone->m_twistSpan = m_twistSpan;
cone->m_limitSoftness = m_limitSoftness;
cone->m_biasFactor = m_biasFactor;
cone->m_relaxationFactor = m_relaxationFactor;
cone->m_damping = m_damping;
return "btConeTwistConstraintData";
return btConeTwistConstraintDataName;
}

16
extern/bullet2/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h vendored
View File

@@ -28,6 +28,14 @@ class btIDebugDraw;
class btStackAlloc;
class btDispatcher;
/// btConstraintSolver provides solver interface
enum btConstraintSolverType
{
BT_SEQUENTIAL_IMPULSE_SOLVER=1,
BT_MLCP_SOLVER=2
};
class btConstraintSolver
{
@@ -38,12 +46,16 @@ public:
virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
///solve a group of constraints
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0;
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer,btDispatcher* dispatcher) = 0;
virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;}
virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */) {;}
///clear internal cached data and reset random seed
virtual void reset() = 0;
virtual btConstraintSolverType getSolverType() const=0;
};

129
extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.cpp vendored Normal file
View File

@@ -0,0 +1,129 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btFixedConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "LinearMath/btTransformUtil.h"
#include <new>
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();
}
btFixedConstraint::~btFixedConstraint ()
{
}
void btFixedConstraint::getInfo1 (btConstraintInfo1* info)
{
info->m_numConstraintRows = 6;
info->nub = 6;
}
void btFixedConstraint::getInfo2 (btConstraintInfo2* info)
{
//fix the 3 linear degrees of freedom
const btVector3& worldPosA = m_rbA.getCenterOfMassTransform().getOrigin();
const btMatrix3x3& worldOrnA = m_rbA.getCenterOfMassTransform().getBasis();
const btVector3& worldPosB= m_rbB.getCenterOfMassTransform().getOrigin();
const btMatrix3x3& worldOrnB = m_rbB.getCenterOfMassTransform().getBasis();
info->m_J1linearAxis[0] = 1;
info->m_J1linearAxis[info->rowskip+1] = 1;
info->m_J1linearAxis[2*info->rowskip+2] = 1;
btVector3 a1 = worldOrnA*m_pivotInA;
{
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;
info->m_J2linearAxis[info->rowskip+1] = -1;
info->m_J2linearAxis[2*info->rowskip+2] = -1;
}
btVector3 a2 = worldOrnB*m_pivotInB;
{
// btVector3 a2n = -a2;
btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
btVector3* angular1 = (btVector3*)(info->m_J2angularAxis+info->rowskip);
btVector3* angular2 = (btVector3*)(info->m_J2angularAxis+2*info->rowskip);
a2.getSkewSymmetricMatrix(angular0,angular1,angular2);
}
// set right hand side for the linear dofs
btScalar k = info->fps * info->erp;
btVector3 linearError = k*(a2+worldPosB-a1-worldPosA);
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;
}
// set right hand side for the angular dofs
btVector3 diff;
btScalar angle;
btMatrix3x3 mrelCur = worldOrnA *worldOrnB.inverse();
btQuaternion qrelCur;
mrelCur.getRotation(qrelCur);
btTransformUtil::calculateDiffAxisAngleQuaternion(m_relTargetAB,qrelCur,diff,angle);
diff*=-angle;
for (j=0; j<3; j++)
{
info->m_constraintError[(3+j)*info->rowskip] = k * diff[j];
}
}

49
extern/bullet2/src/BulletDynamics/ConstraintSolver/btFixedConstraint.h vendored Normal file
View File

@@ -0,0 +1,49 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_FIXED_CONSTRAINT_H
#define BT_FIXED_CONSTRAINT_H
#include "btTypedConstraint.h"
ATTRIBUTE_ALIGNED16(class) btFixedConstraint : public btTypedConstraint
{
btVector3 m_pivotInA;
btVector3 m_pivotInB;
btQuaternion m_relTargetAB;
public:
btFixedConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& frameInA,const btTransform& frameInB);
virtual ~btFixedConstraint();
virtual void getInfo1 (btConstraintInfo1* info);
virtual void getInfo2 (btConstraintInfo2* info);
virtual void setParam(int num, btScalar value, int axis = -1)
{
btAssert(0);
}
virtual btScalar getParam(int num, int axis = -1) const
{
btAssert(0);
return 0.f;
}
};
#endif //BT_FIXED_CONSTRAINT_H

98
extern/bullet2/src/BulletDynamics/ConstraintSolver/btGearConstraint.h vendored
View File

@@ -19,6 +19,18 @@ subject to the following restrictions:
#define BT_GEAR_CONSTRAINT_H
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btGearConstraintData btGearConstraintDoubleData
#define btGearConstraintDataName "btGearConstraintDoubleData"
#else
#define btGearConstraintData btGearConstraintFloatData
#define btGearConstraintDataName "btGearConstraintFloatData"
#endif //BT_USE_DOUBLE_PRECISION
///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.
///See Bullet/Demos/ConstraintDemo for an example use.
class btGearConstraint : public btTypedConstraint
@@ -39,18 +51,102 @@ public:
///internal method used by the constraint solver, don't use them directly
virtual void getInfo2 (btConstraintInfo2* info);
void setAxisA(btVector3& axisA)
{
m_axisInA = axisA;
}
void setAxisB(btVector3& axisB)
{
m_axisInB = axisB;
}
void setRatio(btScalar ratio)
{
m_ratio = ratio;
}
const btVector3& getAxisA() const
{
return m_axisInA;
}
const btVector3& getAxisB() const
{
return m_axisInB;
}
btScalar getRatio() const
{
return m_ratio;
}
virtual void setParam(int num, btScalar value, int axis = -1)
{
(void) num;
(void) value;
(void) axis;
btAssert(0);
};
}
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const
{
(void) num;
(void) axis;
btAssert(0);
return 0.f;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btGearConstraintFloatData
{
btTypedConstraintFloatData m_typeConstraintData;
btVector3FloatData m_axisInA;
btVector3FloatData m_axisInB;
float m_ratio;
char m_padding[4];
};
struct btGearConstraintDoubleData
{
btTypedConstraintDoubleData m_typeConstraintData;
btVector3DoubleData m_axisInA;
btVector3DoubleData m_axisInB;
double m_ratio;
};
SIMD_FORCE_INLINE int btGearConstraint::calculateSerializeBufferSize() const
{
return sizeof(btGearConstraintData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
btTypedConstraint::serialize(&gear->m_typeConstraintData,serializer);
m_axisInA.serialize( gear->m_axisInA );
m_axisInB.serialize( gear->m_axisInB );
gear->m_ratio = m_ratio;
return btGearConstraintDataName;
}
#endif //BT_GEAR_CONSTRAINT_H

44
extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h vendored
View File

@@ -35,6 +35,14 @@ class btRigidBody;
#ifdef BT_USE_DOUBLE_PRECISION
#define btGeneric6DofConstraintData2 btGeneric6DofConstraintDoubleData2
#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintDoubleData2"
#else
#define btGeneric6DofConstraintData2 btGeneric6DofConstraintData
#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintData"
#endif //BT_USE_DOUBLE_PRECISION
//! Rotation Limit structure for generic joints
class btRotationalLimitMotor
@@ -561,7 +569,7 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btGeneric6DofConstraintData
{
btTypedConstraintData m_typeConstraintData;
@@ -578,35 +586,51 @@ struct btGeneric6DofConstraintData
int m_useOffsetForConstraintFrame;
};
struct btGeneric6DofConstraintDoubleData2
{
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransformDoubleData m_rbBFrame;
btVector3DoubleData m_linearUpperLimit;
btVector3DoubleData m_linearLowerLimit;
btVector3DoubleData m_angularUpperLimit;
btVector3DoubleData m_angularLowerLimit;
int m_useLinearReferenceFrameA;
int m_useOffsetForConstraintFrame;
};
SIMD_FORCE_INLINE int btGeneric6DofConstraint::calculateSerializeBufferSize() const
{
return sizeof(btGeneric6DofConstraintData);
return sizeof(btGeneric6DofConstraintData2);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btGeneric6DofConstraintData* dof = (btGeneric6DofConstraintData*)dataBuffer;
btGeneric6DofConstraintData2* dof = (btGeneric6DofConstraintData2*)dataBuffer;
btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer);
m_frameInA.serializeFloat(dof->m_rbAFrame);
m_frameInB.serializeFloat(dof->m_rbBFrame);
m_frameInA.serialize(dof->m_rbAFrame);
m_frameInB.serialize(dof->m_rbBFrame);
int i;
for (i=0;i<3;i++)
{
dof->m_angularLowerLimit.m_floats[i] = float(m_angularLimits[i].m_loLimit);
dof->m_angularUpperLimit.m_floats[i] = float(m_angularLimits[i].m_hiLimit);
dof->m_linearLowerLimit.m_floats[i] = float(m_linearLimits.m_lowerLimit[i]);
dof->m_linearUpperLimit.m_floats[i] = float(m_linearLimits.m_upperLimit[i]);
dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit;
dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit;
dof->m_linearLowerLimit.m_floats[i] = m_linearLimits.m_lowerLimit[i];
dof->m_linearUpperLimit.m_floats[i] = m_linearLimits.m_upperLimit[i];
}
dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0;
dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0;
return "btGeneric6DofConstraintData";
return btGeneric6DofConstraintDataName;
}

33
extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h vendored
View File

@@ -21,6 +21,15 @@ subject to the following restrictions:
#include "btTypedConstraint.h"
#include "btGeneric6DofConstraint.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2
#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2"
#else
#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData
#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"
#endif //BT_USE_DOUBLE_PRECISION
/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
@@ -65,7 +74,6 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btGeneric6DofSpringConstraintData
{
btGeneric6DofConstraintData m_6dofData;
@@ -76,26 +84,37 @@ struct btGeneric6DofSpringConstraintData
float m_springDamping[6];
};
struct btGeneric6DofSpringConstraintDoubleData2
{
btGeneric6DofConstraintDoubleData2 m_6dofData;
int m_springEnabled[6];
double m_equilibriumPoint[6];
double m_springStiffness[6];
double m_springDamping[6];
};
SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const
{
return sizeof(btGeneric6DofSpringConstraintData);
return sizeof(btGeneric6DofSpringConstraintData2);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btGeneric6DofSpringConstraintData* dof = (btGeneric6DofSpringConstraintData*)dataBuffer;
btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer;
btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer);
int i;
for (i=0;i<6;i++)
{
dof->m_equilibriumPoint[i] = (float)m_equilibriumPoint[i];
dof->m_springDamping[i] = (float)m_springDamping[i];
dof->m_equilibriumPoint[i] = m_equilibriumPoint[i];
dof->m_springDamping[i] = m_springDamping[i];
dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0;
dof->m_springStiffness[i] = (float)m_springStiffness[i];
dof->m_springStiffness[i] = m_springStiffness[i];
}
return "btGeneric6DofSpringConstraintData";
return btGeneric6DofSpringConstraintDataName;
}
#endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H

37
extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h vendored
View File

@@ -28,8 +28,8 @@ subject to the following restrictions:
class btRigidBody;
#ifdef BT_USE_DOUBLE_PRECISION
#define btHingeConstraintData btHingeConstraintDoubleData
#define btHingeConstraintDataName "btHingeConstraintDoubleData"
#define btHingeConstraintData btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version
#define btHingeConstraintDataName "btHingeConstraintDoubleData2"
#else
#define btHingeConstraintData btHingeConstraintFloatData
#define btHingeConstraintDataName "btHingeConstraintFloatData"
@@ -302,7 +302,10 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
//only for backward compatibility
#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
///this structure is not used, except for loading pre-2.82 .bullet files
struct btHingeConstraintDoubleData
{
btTypedConstraintData m_typeConstraintData;
@@ -321,7 +324,9 @@ struct btHingeConstraintDoubleData
float m_relaxationFactor;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
struct btHingeConstraintFloatData
{
btTypedConstraintData m_typeConstraintData;
@@ -344,6 +349,30 @@ struct btHingeConstraintFloatData
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btHingeConstraintDoubleData2
{
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransformDoubleData m_rbBFrame;
int m_useReferenceFrameA;
int m_angularOnly;
int m_enableAngularMotor;
double m_motorTargetVelocity;
double m_maxMotorImpulse;
double m_lowerLimit;
double m_upperLimit;
double m_limitSoftness;
double m_biasFactor;
double m_relaxationFactor;
char m_padding1[4];
};
SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const
{
return sizeof(btHingeConstraintData);

22
extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h vendored
View File

@@ -24,10 +24,10 @@ class btRigidBody;
#ifdef BT_USE_DOUBLE_PRECISION
#define btPoint2PointConstraintData btPoint2PointConstraintDoubleData
#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData"
#define btPoint2PointConstraintData2 btPoint2PointConstraintDoubleData2
#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData2"
#else
#define btPoint2PointConstraintData btPoint2PointConstraintFloatData
#define btPoint2PointConstraintData2 btPoint2PointConstraintFloatData
#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
#endif //BT_USE_DOUBLE_PRECISION
@@ -133,6 +133,17 @@ struct btPoint2PointConstraintFloatData
btVector3FloatData m_pivotInB;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btPoint2PointConstraintDoubleData2
{
btTypedConstraintDoubleData m_typeConstraintData;
btVector3DoubleData m_pivotInA;
btVector3DoubleData m_pivotInB;
};
#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
///this structure is not used, except for loading pre-2.82 .bullet files
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btPoint2PointConstraintDoubleData
{
@@ -140,18 +151,19 @@ struct btPoint2PointConstraintDoubleData
btVector3DoubleData m_pivotInA;
btVector3DoubleData m_pivotInB;
};
#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const
{
return sizeof(btPoint2PointConstraintData);
return sizeof(btPoint2PointConstraintData2);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
btPoint2PointConstraintData2* p2pData = (btPoint2PointConstraintData2*)dataBuffer;
btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
m_pivotInA.serialize(p2pData->m_pivotInA);

298
extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp vendored
View File

@@ -152,7 +152,7 @@ void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD(
#endif
}
// Project Gauss Seidel or the equivalent Sequential Impulse
// Projected Gauss Seidel or the equivalent Sequential Impulse
void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
@@ -280,7 +280,7 @@ int btSequentialImpulseConstraintSolver::btRandInt2 (int n)
void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject)
void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep)
{
btRigidBody* rb = collisionObject? btRigidBody::upcast(collisionObject) : 0;
@@ -299,6 +299,9 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
solverBody->m_linearFactor = rb->getLinearFactor();
solverBody->m_linearVelocity = rb->getLinearVelocity();
solverBody->m_angularVelocity = rb->getAngularVelocity();
solverBody->m_externalForceImpulse = rb->getTotalForce()*rb->getInvMass()*timeStep;
solverBody->m_externalTorqueImpulse = rb->getTotalTorque()*rb->getInvInertiaTensorWorld()*timeStep ;
} else
{
solverBody->m_worldTransform.setIdentity();
@@ -308,6 +311,8 @@ void btSequentialImpulseConstraintSolver::initSolverBody(btSolverBody* solverBod
solverBody->m_linearFactor.setValue(1,1,1);
solverBody->m_linearVelocity.setValue(0,0,0);
solverBody->m_angularVelocity.setValue(0,0,0);
solverBody->m_externalForceImpulse.setValue(0,0,0);
solverBody->m_externalTorqueImpulse.setValue(0,0,0);
}
@@ -326,8 +331,7 @@ btScalar btSequentialImpulseConstraintSolver::restitutionCurve(btScalar rel_vel,
static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode)
void btSequentialImpulseConstraintSolver::applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode)
{
@@ -351,8 +355,6 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
{
solverConstraint.m_contactNormal1 = normalAxis;
solverConstraint.m_contactNormal2 = -normalAxis;
btSolverBody& solverBodyA = m_tmpSolverBodyPool[solverBodyIdA];
btSolverBody& solverBodyB = m_tmpSolverBodyPool[solverBodyIdB];
@@ -368,15 +370,30 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;
if (body0)
{
solverConstraint.m_contactNormal1 = normalAxis;
btVector3 ftorqueAxis1 = rel_pos1.cross(solverConstraint.m_contactNormal1);
solverConstraint.m_relpos1CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentA = body0 ? body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor() : btVector3(0,0,0);
}
solverConstraint.m_angularComponentA = body0->getInvInertiaTensorWorld()*ftorqueAxis1*body0->getAngularFactor();
}else
{
solverConstraint.m_contactNormal1.setZero();
solverConstraint.m_relpos1CrossNormal.setZero();
solverConstraint.m_angularComponentA .setZero();
}
if (body1)
{
solverConstraint.m_contactNormal2 = -normalAxis;
btVector3 ftorqueAxis1 = rel_pos2.cross(solverConstraint.m_contactNormal2);
solverConstraint.m_relpos2CrossNormal = ftorqueAxis1;
solverConstraint.m_angularComponentB = body1 ? body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_angularComponentB = body1->getInvInertiaTensorWorld()*ftorqueAxis1*body1->getAngularFactor();
} else
{
solverConstraint.m_contactNormal2.setZero();
solverConstraint.m_relpos2CrossNormal.setZero();
solverConstraint.m_angularComponentB.setZero();
}
{
@@ -401,9 +418,9 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
btScalar rel_vel;
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity:btVector3(0,0,0))
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity:btVector3(0,0,0))
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
rel_vel = vel1Dotn+vel2Dotn;
@@ -414,8 +431,8 @@ void btSequentialImpulseConstraintSolver::setupFrictionConstraint(btSolverConstr
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_cfm = cfmSlip;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
solverConstraint.m_upperLimit = solverConstraint.m_friction;
}
}
@@ -481,9 +498,9 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv
btScalar rel_vel;
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity:btVector3(0,0,0))
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(body0?solverBodyA.m_linearVelocity+solverBodyA.m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(body0?solverBodyA.m_angularVelocity:btVector3(0,0,0));
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity:btVector3(0,0,0))
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(body1?solverBodyB.m_linearVelocity+solverBodyB.m_externalForceImpulse:btVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(body1?solverBodyB.m_angularVelocity:btVector3(0,0,0));
rel_vel = vel1Dotn+vel2Dotn;
@@ -494,8 +511,8 @@ void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint( btSolv
btSimdScalar velocityImpulse = velocityError * btSimdScalar(solverConstraint.m_jacDiagABInv);
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_cfm = cfmSlip;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
solverConstraint.m_lowerLimit = -solverConstraint.m_friction;
solverConstraint.m_upperLimit = solverConstraint.m_friction;
}
}
@@ -517,7 +534,7 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addRollingFrictionConst
}
int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body)
int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body,btScalar timeStep)
{
int solverBodyIdA = -1;
@@ -535,11 +552,19 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
{
solverBodyIdA = m_tmpSolverBodyPool.size();
btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
initSolverBody(&solverBody,&body);
initSolverBody(&solverBody,&body,timeStep);
body.setCompanionId(solverBodyIdA);
} else
{
return 0;//assume first one is a fixed solver body
if (m_fixedBodyId<0)
{
m_fixedBodyId = m_tmpSolverBodyPool.size();
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
initSolverBody(&fixedBody,0,timeStep);
}
return m_fixedBodyId;
// return 0;//assume first one is a fixed solver body
}
}
@@ -552,8 +577,8 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject&
void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstraint& solverConstraint,
int solverBodyIdA, int solverBodyIdB,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
btVector3& rel_pos1, btVector3& rel_pos2)
btScalar& relaxation,
const btVector3& rel_pos1, const btVector3& rel_pos2)
{
const btVector3& pos1 = cp.getPositionWorldOnA();
@@ -567,8 +592,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
// btVector3 rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
// btVector3 rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
//rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
//rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
relaxation = 1.f;
@@ -601,10 +626,24 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
solverConstraint.m_jacDiagABInv = denom;
}
solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB;
solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB;
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
if (rb0)
{
solverConstraint.m_contactNormal1 = cp.m_normalWorldOnB;
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
} else
{
solverConstraint.m_contactNormal1.setZero();
solverConstraint.m_relpos1CrossNormal.setZero();
}
if (rb1)
{
solverConstraint.m_contactNormal2 = -cp.m_normalWorldOnB;
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
}else
{
solverConstraint.m_contactNormal2.setZero();
solverConstraint.m_relpos2CrossNormal.setZero();
}
btScalar restitution = 0.f;
btScalar penetration = cp.getDistance()+infoGlobal.m_linearSlop;
@@ -616,8 +655,8 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
vel2 = rb1? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
// btVector3 vel2 = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
vel = vel1 - vel2;
rel_vel = cp.m_normalWorldOnB.dot(vel);
btVector3 vel = vel1 - vel2;
btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
@@ -648,10 +687,17 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
solverConstraint.m_appliedPushImpulse = 0.f;
{
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rb0?bodyA->m_linearVelocity:btVector3(0,0,0))
+ solverConstraint.m_relpos1CrossNormal.dot(rb0?bodyA->m_angularVelocity:btVector3(0,0,0));
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rb1?bodyB->m_linearVelocity:btVector3(0,0,0))
+ solverConstraint.m_relpos2CrossNormal.dot(rb1?bodyB->m_angularVelocity:btVector3(0,0,0));
btVector3 externalForceImpulseA = bodyA->m_originalBody ? bodyA->m_externalForceImpulse: btVector3(0,0,0);
btVector3 externalTorqueImpulseA = bodyA->m_originalBody ? bodyA->m_externalTorqueImpulse: btVector3(0,0,0);
btVector3 externalForceImpulseB = bodyB->m_originalBody ? bodyB->m_externalForceImpulse: btVector3(0,0,0);
btVector3 externalTorqueImpulseB = bodyB->m_originalBody ?bodyB->m_externalTorqueImpulse : btVector3(0,0,0);
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(bodyA->m_linearVelocity+externalForceImpulseA)
+ solverConstraint.m_relpos1CrossNormal.dot(bodyA->m_angularVelocity+externalTorqueImpulseA);
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(bodyB->m_linearVelocity+externalForceImpulseB)
+ solverConstraint.m_relpos2CrossNormal.dot(bodyB->m_angularVelocity+externalTorqueImpulseB);
btScalar rel_vel = vel1Dotn+vel2Dotn;
btScalar positionalError = 0.f;
@@ -680,7 +726,7 @@ void btSequentialImpulseConstraintSolver::setupContactConstraint(btSolverConstra
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;//-solverConstraint.m_contactNormal1.dot(bodyA->m_externalForce*bodyA->m_invMass-bodyB->m_externalForce/bodyB->m_invMass)*solverConstraint.m_jacDiagABInv;
solverConstraint.m_rhsPenetration = 0.f;
} else
@@ -754,8 +800,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
colObj0 = (btCollisionObject*)manifold->getBody0();
colObj1 = (btCollisionObject*)manifold->getBody1();
int solverBodyIdA = getOrInitSolverBody(*colObj0);
int solverBodyIdB = getOrInitSolverBody(*colObj1);
int solverBodyIdA = getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
int solverBodyIdB = getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
// btRigidBody* bodyA = btRigidBody::upcast(colObj0);
// btRigidBody* bodyB = btRigidBody::upcast(colObj1);
@@ -780,19 +826,35 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
btVector3 rel_pos1;
btVector3 rel_pos2;
btScalar relaxation;
btScalar rel_vel;
btVector3 vel;
int frictionIndex = m_tmpSolverContactConstraintPool.size();
btSolverConstraint& solverConstraint = m_tmpSolverContactConstraintPool.expandNonInitializing();
// btRigidBody* rb0 = btRigidBody::upcast(colObj0);
// btRigidBody* rb1 = btRigidBody::upcast(colObj1);
btRigidBody* rb0 = btRigidBody::upcast(colObj0);
btRigidBody* rb1 = btRigidBody::upcast(colObj1);
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_originalContactPoint = &cp;
setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, vel, rel_vel, relaxation, rel_pos1, rel_pos2);
const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB();
rel_pos1 = pos1 - colObj0->getWorldTransform().getOrigin();
rel_pos2 = pos2 - colObj1->getWorldTransform().getOrigin();
btVector3 vel1;// = rb0 ? rb0->getVelocityInLocalPoint(rel_pos1) : btVector3(0,0,0);
btVector3 vel2;// = rb1 ? rb1->getVelocityInLocalPoint(rel_pos2) : btVector3(0,0,0);
solverBodyA->getVelocityInLocalPointNoDelta(rel_pos1,vel1);
solverBodyB->getVelocityInLocalPointNoDelta(rel_pos2,vel2 );
btVector3 vel = vel1 - vel2;
btScalar rel_vel = cp.m_normalWorldOnB.dot(vel);
setupContactConstraint(solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal, relaxation, rel_pos1, rel_pos2);
// const btVector3& pos1 = cp.getPositionWorldOnA();
// const btVector3& pos2 = cp.getPositionWorldOnB();
@@ -801,9 +863,11 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
solverConstraint.m_frictionIndex = m_tmpSolverContactFrictionConstraintPool.size();
btVector3 angVelA,angVelB;
solverBodyA->getAngularVelocity(angVelA);
solverBodyB->getAngularVelocity(angVelB);
btVector3 angVelA(0,0,0),angVelB(0,0,0);
if (rb0)
angVelA = rb0->getAngularVelocity();
if (rb1)
angVelB = rb1->getAngularVelocity();
btVector3 relAngVel = angVelB-angVelA;
if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0))
@@ -857,6 +921,10 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
{
cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
@@ -864,17 +932,16 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
} else
{
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
@@ -882,9 +949,6 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
{
@@ -899,8 +963,8 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
addFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation, cp.m_contactMotion2, cp.m_contactCFM2);
setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
}
setFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
@@ -909,10 +973,24 @@ void btSequentialImpulseConstraintSolver::convertContact(btPersistentManifold* m
}
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
void btSequentialImpulseConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal)
{
int i;
btPersistentManifold* manifold = 0;
// btCollisionObject* colObj0=0,*colObj1=0;
for (i=0;i<numManifolds;i++)
{
manifold = manifoldPtr[i];
convertContact(manifold,infoGlobal);
}
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
m_fixedBodyId = -1;
BT_PROFILE("solveGroupCacheFriendlySetup");
(void)stackAlloc;
(void)debugDrawer;
m_maxOverrideNumSolverIterations = 0;
@@ -996,14 +1074,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
m_tmpSolverBodyPool.reserve(numBodies+1);
m_tmpSolverBodyPool.resize(0);
btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
initSolverBody(&fixedBody,0);
//btSolverBody& fixedBody = m_tmpSolverBodyPool.expand();
//initSolverBody(&fixedBody,0);
//convert all bodies
for (int i=0;i<numBodies;i++)
{
int bodyId = getOrInitSolverBody(*bodies[i]);
int bodyId = getOrInitSolverBody(*bodies[i],infoGlobal.m_timeStep);
btRigidBody* body = btRigidBody::upcast(bodies[i]);
if (body && body->getInvMass())
{
@@ -1012,9 +1091,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
if (body->getFlags()&BT_ENABLE_GYROPSCOPIC_FORCE)
{
gyroForce = body->computeGyroscopicForce(infoGlobal.m_maxGyroscopicForce);
solverBody.m_externalTorqueImpulse -= gyroForce*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
}
solverBody.m_linearVelocity += body->getTotalForce()*body->getInvMass()*infoGlobal.m_timeStep;
solverBody.m_angularVelocity += (body->getTotalTorque()-gyroForce)*body->getInvInertiaTensorWorld()*infoGlobal.m_timeStep;
}
}
@@ -1084,8 +1162,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
btRigidBody& rbA = constraint->getRigidBodyA();
btRigidBody& rbB = constraint->getRigidBodyB();
int solverBodyIdA = getOrInitSolverBody(rbA);
int solverBodyIdB = getOrInitSolverBody(rbB);
int solverBodyIdA = getOrInitSolverBody(rbA,infoGlobal.m_timeStep);
int solverBodyIdB = getOrInitSolverBody(rbB,infoGlobal.m_timeStep);
btSolverBody* bodyAPtr = &m_tmpSolverBodyPool[solverBodyIdA];
btSolverBody* bodyBPtr = &m_tmpSolverBodyPool[solverBodyIdB];
@@ -1182,15 +1260,22 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
///fix rhs
///todo: add force/torque accelerators
{
btScalar rel_vel;
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()) + solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity());
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()) + solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity());
btVector3 externalForceImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalForceImpulse : btVector3(0,0,0);
btVector3 externalTorqueImpulseA = bodyAPtr->m_originalBody ? bodyAPtr->m_externalTorqueImpulse : btVector3(0,0,0);
btVector3 externalForceImpulseB = bodyBPtr->m_originalBody ? bodyBPtr->m_externalForceImpulse : btVector3(0,0,0);
btVector3 externalTorqueImpulseB = bodyBPtr->m_originalBody ?bodyBPtr->m_externalTorqueImpulse : btVector3(0,0,0);
btScalar vel1Dotn = solverConstraint.m_contactNormal1.dot(rbA.getLinearVelocity()+externalForceImpulseA)
+ solverConstraint.m_relpos1CrossNormal.dot(rbA.getAngularVelocity()+externalTorqueImpulseA);
btScalar vel2Dotn = solverConstraint.m_contactNormal2.dot(rbB.getLinearVelocity()+externalForceImpulseB)
+ solverConstraint.m_relpos2CrossNormal.dot(rbB.getAngularVelocity()+externalTorqueImpulseB);
rel_vel = vel1Dotn+vel2Dotn;
btScalar restitution = 0.f;
btScalar positionalError = solverConstraint.m_rhs;//already filled in by getConstraintInfo2
btScalar velocityError = restitution - rel_vel * info2.m_damping;
@@ -1199,6 +1284,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
solverConstraint.m_appliedImpulse = 0.f;
}
}
}
@@ -1206,18 +1292,8 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
}
{
int i;
btPersistentManifold* manifold = 0;
// btCollisionObject* colObj0=0,*colObj1=0;
convertContacts(manifoldPtr,numManifolds,infoGlobal);
for (i=0;i<numManifolds;i++)
{
manifold = manifoldPtr[i];
convertContact(manifold,infoGlobal);
}
}
}
// btContactSolverInfo info = infoGlobal;
@@ -1256,7 +1332,7 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
}
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/,btStackAlloc* /*stackAlloc*/)
btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** /*bodies */,int /*numBodies*/,btPersistentManifold** /*manifoldPtr*/, int /*numManifolds*/,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* /*debugDrawer*/)
{
int numNonContactPool = m_tmpSolverNonContactConstraintPool.size();
@@ -1309,14 +1385,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
{
for (int j=0;j<numConstraints;j++)
{
if (constraints[j]->isEnabled())
{
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
}
if (constraints[j]->isEnabled())
{
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
}
}
///solve all contact constraints using SIMD, if available
@@ -1376,7 +1452,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
for (j=0;j<numPoolConstraints;j++)
{
const btSolverConstraint& solveManifold = m_tmpSolverContactConstraintPool[m_orderTmpConstraintPool[j]];
resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
//resolveSingleConstraintRowLowerLimitSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
resolveSingleConstraintRowLowerLimit(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
}
@@ -1395,7 +1472,8 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
solveManifold.m_lowerLimit = -(solveManifold.m_friction*totalImpulse);
solveManifold.m_upperLimit = solveManifold.m_friction*totalImpulse;
resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
//resolveSingleConstraintRowGenericSIMD(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
resolveSingleConstraintRowGeneric(m_tmpSolverBodyPool[solveManifold.m_solverBodyIdA],m_tmpSolverBodyPool[solveManifold.m_solverBodyIdB],solveManifold);
}
}
@@ -1437,14 +1515,14 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
{
for (int j=0;j<numConstraints;j++)
{
if (constraints[j]->isEnabled())
{
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA());
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB());
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
}
if (constraints[j]->isEnabled())
{
int bodyAid = getOrInitSolverBody(constraints[j]->getRigidBodyA(),infoGlobal.m_timeStep);
int bodyBid = getOrInitSolverBody(constraints[j]->getRigidBodyB(),infoGlobal.m_timeStep);
btSolverBody& bodyA = m_tmpSolverBodyPool[bodyAid];
btSolverBody& bodyB = m_tmpSolverBodyPool[bodyBid];
constraints[j]->solveConstraintObsolete(bodyA,bodyB,infoGlobal.m_timeStep);
}
}
///solve all contact constraints
int numPoolConstraints = m_tmpSolverContactConstraintPool.size();
@@ -1492,7 +1570,7 @@ btScalar btSequentialImpulseConstraintSolver::solveSingleIteration(int iteration
}
void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
int iteration;
if (infoGlobal.m_splitImpulse)
@@ -1532,20 +1610,20 @@ void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIte
}
}
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc)
btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
BT_PROFILE("solveGroupCacheFriendlyIterations");
{
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
solveGroupCacheFriendlySplitImpulseIterations(bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
int maxIterations = m_maxOverrideNumSolverIterations > infoGlobal.m_numIterations? m_maxOverrideNumSolverIterations : infoGlobal.m_numIterations;
for ( int iteration = 0 ; iteration< maxIterations ; iteration++)
//for ( int iteration = maxIterations-1 ; iteration >= 0;iteration--)
{
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer,stackAlloc);
solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
}
}
@@ -1610,9 +1688,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
m_tmpSolverBodyPool[i].writebackVelocityAndTransform(infoGlobal.m_timeStep, infoGlobal.m_splitImpulseTurnErp);
else
m_tmpSolverBodyPool[i].writebackVelocity();
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(
m_tmpSolverBodyPool[i].m_linearVelocity+
m_tmpSolverBodyPool[i].m_externalForceImpulse);
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(
m_tmpSolverBodyPool[i].m_angularVelocity+
m_tmpSolverBodyPool[i].m_externalTorqueImpulse);
m_tmpSolverBodyPool[i].m_originalBody->setLinearVelocity(m_tmpSolverBodyPool[i].m_linearVelocity);
m_tmpSolverBodyPool[i].m_originalBody->setAngularVelocity(m_tmpSolverBodyPool[i].m_angularVelocity);
if (infoGlobal.m_splitImpulse)
m_tmpSolverBodyPool[i].m_originalBody->setWorldTransform(m_tmpSolverBodyPool[i].m_worldTransform);
@@ -1632,15 +1716,15 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish(btCo
/// btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc,btDispatcher* /*dispatcher*/)
btScalar btSequentialImpulseConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btDispatcher* /*dispatcher*/)
{
BT_PROFILE("solveGroup");
//you need to provide at least some bodies
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlySetup( bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer, stackAlloc);
solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, numManifolds,constraints, numConstraints,infoGlobal,debugDrawer);
solveGroupCacheFriendlyFinish(bodies, numBodies, infoGlobal);

31
extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h vendored
View File

@@ -18,7 +18,6 @@ subject to the following restrictions:
class btIDebugDraw;
class btPersistentManifold;
class btStackAlloc;
class btDispatcher;
class btCollisionObject;
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
@@ -43,7 +42,7 @@ protected:
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
int m_maxOverrideNumSolverIterations;
int m_fixedBodyId;
void setupFrictionConstraint( 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,
@@ -57,10 +56,11 @@ protected:
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, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
btSolverConstraint& addRollingFrictionConstraint(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, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
btVector3& rel_pos1, 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);
@@ -71,6 +71,8 @@ protected:
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
@@ -83,8 +85,8 @@ protected:
const btSolverConstraint& contactConstraint);
//internal method
int getOrInitSolverBody(btCollisionObject& body);
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
void resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
@@ -97,12 +99,12 @@ protected:
protected:
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
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,btStackAlloc* stackAlloc);
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
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);
public:
@@ -112,7 +114,7 @@ public:
btSequentialImpulseConstraintSolver();
virtual ~btSequentialImpulseConstraintSolver();
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
@@ -132,6 +134,11 @@ public:
return m_btSeed2;
}
virtual btConstraintSolverType getSolverType() const
{
return BT_SEQUENTIAL_IMPULSE_SOLVER;
}
};

46
extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h vendored
View File

@@ -25,7 +25,13 @@ TODO:
#ifndef BT_SLIDER_CONSTRAINT_H
#define BT_SLIDER_CONSTRAINT_H
#ifdef BT_USE_DOUBLE_PRECISION
#define btSliderConstraintData2 btSliderConstraintDoubleData
#define btSliderConstraintDataName "btSliderConstraintDoubleData"
#else
#define btSliderConstraintData2 btSliderConstraintData
#define btSliderConstraintDataName "btSliderConstraintData"
#endif //BT_USE_DOUBLE_PRECISION
#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
@@ -283,7 +289,10 @@ public:
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btSliderConstraintData
{
btTypedConstraintData m_typeConstraintData;
@@ -302,31 +311,48 @@ struct btSliderConstraintData
};
struct btSliderConstraintDoubleData
{
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
btTransformDoubleData m_rbBFrame;
double m_linearUpperLimit;
double m_linearLowerLimit;
double m_angularUpperLimit;
double m_angularLowerLimit;
int m_useLinearReferenceFrameA;
int m_useOffsetForConstraintFrame;
};
SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
{
return sizeof(btSliderConstraintData);
return sizeof(btSliderConstraintData2);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer;
btSliderConstraintData2* sliderData = (btSliderConstraintData2*) dataBuffer;
btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
m_frameInA.serializeFloat(sliderData->m_rbAFrame);
m_frameInB.serializeFloat(sliderData->m_rbBFrame);
m_frameInA.serialize(sliderData->m_rbAFrame);
m_frameInB.serialize(sliderData->m_rbBFrame);
sliderData->m_linearUpperLimit = float(m_upperLinLimit);
sliderData->m_linearLowerLimit = float(m_lowerLinLimit);
sliderData->m_linearUpperLimit = m_upperLinLimit;
sliderData->m_linearLowerLimit = m_lowerLinLimit;
sliderData->m_angularUpperLimit = float(m_upperAngLimit);
sliderData->m_angularLowerLimit = float(m_lowerAngLimit);
sliderData->m_angularUpperLimit = m_upperAngLimit;
sliderData->m_angularLowerLimit = m_lowerAngLimit;
sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
return "btSliderConstraintData";
return btSliderConstraintDataName;
}

13
extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverBody.h vendored
View File

@@ -118,6 +118,8 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
btVector3 m_turnVelocity;
btVector3 m_linearVelocity;
btVector3 m_angularVelocity;
btVector3 m_externalForceImpulse;
btVector3 m_externalTorqueImpulse;
btRigidBody* m_originalBody;
void setWorldTransform(const btTransform& worldTransform)
@@ -130,6 +132,17 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverBody
return m_worldTransform;
}
SIMD_FORCE_INLINE void getVelocityInLocalPointNoDelta(const btVector3& rel_pos, btVector3& velocity ) const
{
if (m_originalBody)
velocity = m_linearVelocity + m_externalForceImpulse + (m_angularVelocity+m_externalTorqueImpulse).cross(rel_pos);
else
velocity.setValue(0,0,0);
}
SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
{
if (m_originalBody)

1
extern/bullet2/src/BulletDynamics/ConstraintSolver/btSolverConstraint.h vendored
View File

@@ -55,6 +55,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
{
void* m_originalContactPoint;
btScalar m_unusedPadding4;
int m_numRowsForNonContactConstraint;
};
int m_overrideNumSolverIterations;

10
extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp vendored
View File

@@ -109,7 +109,7 @@ btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScal
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
{
btTypedConstraintData* tcd = (btTypedConstraintData*) dataBuffer;
btTypedConstraintData2* tcd = (btTypedConstraintData2*) dataBuffer;
tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA);
tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB);
@@ -123,14 +123,14 @@ const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
tcd->m_objectType = m_objectType;
tcd->m_needsFeedback = m_needsFeedback;
tcd->m_overrideNumSolverIterations = m_overrideNumSolverIterations;
tcd->m_breakingImpulseThreshold = float(m_breakingImpulseThreshold);
tcd->m_breakingImpulseThreshold = m_breakingImpulseThreshold;
tcd->m_isEnabled = m_isEnabled? 1: 0;
tcd->m_userConstraintId =m_userConstraintId;
tcd->m_userConstraintType =m_userConstraintType;
tcd->m_appliedImpulse = float(m_appliedImpulse);
tcd->m_dbgDrawSize = float(m_dbgDrawSize );
tcd->m_appliedImpulse = m_appliedImpulse;
tcd->m_dbgDrawSize = m_dbgDrawSize;
tcd->m_disableCollisionsBetweenLinkedBodies = false;
@@ -142,7 +142,7 @@ const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali
if (m_rbB.getConstraintRef(i) == this)
tcd->m_disableCollisionsBetweenLinkedBodies = true;
return "btTypedConstraintData";
return btTypedConstraintDataName;
}
btRigidBody& btTypedConstraint::getFixedBody()

64
extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h vendored
View File

@@ -21,6 +21,15 @@ subject to the following restrictions:
#include "btSolverConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btTypedConstraintData2 btTypedConstraintDoubleData
#define btTypedConstraintDataName "btTypedConstraintDoubleData"
#else
#define btTypedConstraintData2 btTypedConstraintFloatData
#define btTypedConstraintDataName "btTypedConstraintFloatData"
#endif //BT_USE_DOUBLE_PRECISION
class btSerializer;
//Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
@@ -34,6 +43,7 @@ enum btTypedConstraintType
CONTACT_CONSTRAINT_TYPE,
D6_SPRING_CONSTRAINT_TYPE,
GEAR_CONSTRAINT_TYPE,
FIXED_CONSTRAINT_TYPE,
MAX_CONSTRAINT_TYPE
};
@@ -356,6 +366,33 @@ SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScal
}
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btTypedConstraintFloatData
{
btRigidBodyFloatData *m_rbA;
btRigidBodyFloatData *m_rbB;
char *m_name;
int m_objectType;
int m_userConstraintType;
int m_userConstraintId;
int m_needsFeedback;
float m_appliedImpulse;
float m_dbgDrawSize;
int m_disableCollisionsBetweenLinkedBodies;
int m_overrideNumSolverIterations;
float m_breakingImpulseThreshold;
int m_isEnabled;
};
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
#define BT_BACKWARDS_COMPATIBLE_SERIALIZATION
#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
///this structure is not used, except for loading pre-2.82 .bullet files
struct btTypedConstraintData
{
btRigidBodyData *m_rbA;
@@ -377,10 +414,35 @@ struct btTypedConstraintData
int m_isEnabled;
};
#endif //BACKWARDS_COMPATIBLE
struct btTypedConstraintDoubleData
{
btRigidBodyDoubleData *m_rbA;
btRigidBodyDoubleData *m_rbB;
char *m_name;
int m_objectType;
int m_userConstraintType;
int m_userConstraintId;
int m_needsFeedback;
double m_appliedImpulse;
double m_dbgDrawSize;
int m_disableCollisionsBetweenLinkedBodies;
int m_overrideNumSolverIterations;
double m_breakingImpulseThreshold;
int m_isEnabled;
char padding[4];
};
SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const
{
return sizeof(btTypedConstraintData);
return sizeof(btTypedConstraintData2);
}

39
extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp vendored
View File

@@ -87,7 +87,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
btTypedConstraint** m_sortedConstraints;
int m_numConstraints;
btIDebugDraw* m_debugDrawer;
btStackAlloc* m_stackAlloc;
btDispatcher* m_dispatcher;
btAlignedObjectArray<btCollisionObject*> m_bodies;
@@ -104,7 +103,6 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
m_sortedConstraints(NULL),
m_numConstraints(0),
m_debugDrawer(NULL),
m_stackAlloc(stackAlloc),
m_dispatcher(dispatcher)
{
@@ -135,7 +133,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
if (islandId<0)
{
///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,&m_sortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
} else
{
//also add all non-contact constraints/joints for this island
@@ -163,7 +161,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
if (m_solverInfo->m_minimumSolverBatchSize<=1)
{
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
} else
{
@@ -190,7 +188,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal
btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_stackAlloc,m_dispatcher);
m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher);
m_bodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
@@ -210,7 +208,9 @@ m_gravity(0,-10,0),
m_localTime(0),
m_synchronizeAllMotionStates(false),
m_applySpeculativeContactRestitution(false),
m_profileTimings(0)
m_profileTimings(0),
m_fixedTimeStep(0),
m_latencyMotionStateInterpolation(true)
{
if (!m_constraintSolver)
@@ -232,7 +232,7 @@ m_profileTimings(0)
{
void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallback),16);
m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, m_stackAlloc, dispatcher);
m_solverIslandCallback = new (mem) InplaceSolverIslandCallback (m_constraintSolver, 0, dispatcher);
}
}
@@ -359,7 +359,9 @@ void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
{
btTransform interpolatedTransform;
btTransformUtil::integrateTransform(body->getInterpolationWorldTransform(),
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),m_localTime*body->getHitFraction(),interpolatedTransform);
body->getInterpolationLinearVelocity(),body->getInterpolationAngularVelocity(),
(m_latencyMotionStateInterpolation && m_fixedTimeStep) ? m_localTime - m_fixedTimeStep : m_localTime*body->getHitFraction(),
interpolatedTransform);
body->getMotionState()->setWorldTransform(interpolatedTransform);
}
}
@@ -403,6 +405,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
if (maxSubSteps)
{
//fixed timestep with interpolation
m_fixedTimeStep = fixedTimeStep;
m_localTime += timeStep;
if (m_localTime >= fixedTimeStep)
{
@@ -413,7 +416,8 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
{
//variable timestep
fixedTimeStep = timeStep;
m_localTime = timeStep;
m_localTime = m_latencyMotionStateInterpolation ? 0 : timeStep;
m_fixedTimeStep = 0;
if (btFuzzyZero(timeStep))
{
numSimulationSubSteps = 0;
@@ -724,7 +728,7 @@ void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
m_solverIslandCallback->processConstraints();
m_constraintSolver->allSolved(solverInfo, m_debugDrawer, m_stackAlloc);
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
}
@@ -746,12 +750,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
if (colObj0->isActive() || colObj1->isActive())
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
}
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
}
}
}
@@ -770,12 +769,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
if (colObj0->isActive() || colObj1->isActive())
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),
(colObj1)->getIslandTag());
}
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
}
}
}
@@ -1131,7 +1125,6 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep)
{
//don't integrate/update velocities here, it happens in the constraint solver
//damping
body->applyDamping(timeStep);
body->predictIntegratedTransform(timeStep,body->getInterpolationWorldTransform());

15
extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h vendored
View File

@@ -53,6 +53,7 @@ protected:
//for variable timesteps
btScalar m_localTime;
btScalar m_fixedTimeStep;
//for variable timesteps
bool m_ownsIslandManager;
@@ -64,6 +65,8 @@ protected:
int m_profileTimings;
bool m_latencyMotionStateInterpolation;
btAlignedObjectArray<btPersistentManifold*> m_predictiveManifolds;
virtual void predictUnconstraintMotion(btScalar timeStep);
@@ -74,7 +77,7 @@ protected:
virtual void solveConstraints(btContactSolverInfo& solverInfo);
void updateActivationState(btScalar timeStep);
virtual void updateActivationState(btScalar timeStep);
void updateActions(btScalar timeStep);
@@ -216,6 +219,16 @@ public:
///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
virtual void serialize(btSerializer* serializer);
///Interpolate motion state between previous and current transform, instead of current and next transform.
///This can relieve discontinuities in the rendering, due to penetrations
void setLatencyMotionStateInterpolation(bool latencyInterpolation )
{
m_latencyMotionStateInterpolation = latencyInterpolation;
}
bool getLatencyMotionStateInterpolation() const
{
return m_latencyMotionStateInterpolation;
}
};
#endif //BT_DISCRETE_DYNAMICS_WORLD_H

3
extern/bullet2/src/BulletDynamics/Dynamics/btDynamicsWorld.h vendored
View File

@@ -33,7 +33,8 @@ enum btDynamicsWorldType
BT_SIMPLE_DYNAMICS_WORLD=1,
BT_DISCRETE_DYNAMICS_WORLD=2,
BT_CONTINUOUS_DYNAMICS_WORLD=3,
BT_SOFT_RIGID_DYNAMICS_WORLD=4
BT_SOFT_RIGID_DYNAMICS_WORLD=4,
BT_GPU_DYNAMICS_WORLD=5
};
///The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.

4
extern/bullet2/src/BulletDynamics/Dynamics/btRigidBody.h vendored
View File

@@ -363,11 +363,13 @@ public:
inline void setLinearVelocity(const btVector3& lin_vel)
{
m_updateRevision++;
m_linearVelocity = lin_vel;
}
inline void setAngularVelocity(const btVector3& ang_vel)
{
m_updateRevision++;
m_angularVelocity = ang_vel;
}
@@ -484,11 +486,13 @@ public:
void setAngularFactor(const btVector3& angFac)
{
m_updateRevision++;
m_angularFactor = angFac;
}
void setAngularFactor(btScalar angFac)
{
m_updateRevision++;
m_angularFactor.setValue(angFac,angFac,angFac);
}
const btVector3& getAngularFactor() const

4
extern/bullet2/src/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp vendored
View File

@@ -78,8 +78,8 @@ int btSimpleDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, b
btContactSolverInfo infoGlobal;
infoGlobal.m_timeStep = timeStep;
m_constraintSolver->prepareSolve(0,numManifolds);
m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_stackAlloc,m_dispatcher1);
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer, m_stackAlloc);
m_constraintSolver->solveGroup(&getCollisionObjectArray()[0],getNumCollisionObjects(),manifoldPtr, numManifolds,0,0,infoGlobal,m_debugDrawer, m_dispatcher1);
m_constraintSolver->allSolved(infoGlobal,m_debugDrawer);
}
///integrate transforms

1009
extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.cpp vendored Normal file
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File diff suppressed because it is too large Load Diff

466
extern/bullet2/src/BulletDynamics/Featherstone/btMultiBody.h vendored Normal file
View File

@@ -0,0 +1,466 @@
/*
* PURPOSE:
* Class representing an articulated rigid body. Stores the body's
* current state, allows forces and torques to be set, handles
* timestepping and implements Featherstone's algorithm.
*
* COPYRIGHT:
* Copyright (C) Stephen Thompson, <stephen@solarflare.org.uk>, 2011-2013
* Portions written By Erwin Coumans: replacing Eigen math library by Bullet LinearMath and a dedicated 6x6 matrix inverse (solveImatrix)
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_MULTIBODY_H
#define BT_MULTIBODY_H
#include "LinearMath/btScalar.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btMultiBodyLink.h"
class btMultiBodyLinkCollider;
class btMultiBody
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
//
// initialization
//
btMultiBody(int n_links, // NOT including the base
btScalar mass, // mass of base
const btVector3 &inertia, // inertia of base, in base frame; assumed diagonal
bool fixed_base_, // whether the base is fixed (true) or can move (false)
bool can_sleep_);
~btMultiBody();
void setupPrismatic(int i, // 0 to num_links-1
btScalar mass,
const btVector3 &inertia, // in my frame; assumed diagonal
int parent,
const btQuaternion &rot_parent_to_this, // rotate points in parent frame to my frame.
const btVector3 &joint_axis, // in my frame
const btVector3 &r_vector_when_q_zero, // vector from parent COM to my COM, in my frame, when q = 0.
bool disableParentCollision=false
);
void setupRevolute(int i, // 0 to num_links-1
btScalar mass,
const btVector3 &inertia,
int parent,
const btQuaternion &zero_rot_parent_to_this, // rotate points in parent frame to this frame, when q = 0
const btVector3 &joint_axis, // in my frame
const btVector3 &parent_axis_position, // vector from parent COM to joint axis, in PARENT frame
const btVector3 &my_axis_position, // vector from joint axis to my COM, in MY frame
bool disableParentCollision=false);
const btMultibodyLink& getLink(int index) const
{
return links[index];
}
btMultibodyLink& getLink(int index)
{
return links[index];
}
void setBaseCollider(btMultiBodyLinkCollider* collider)//collider can be NULL to disable collision for the base
{
m_baseCollider = collider;
}
const btMultiBodyLinkCollider* getBaseCollider() const
{
return m_baseCollider;
}
btMultiBodyLinkCollider* getBaseCollider()
{
return m_baseCollider;
}
//
// get parent
// input: link num from 0 to num_links-1
// output: link num from 0 to num_links-1, OR -1 to mean the base.
//
int getParent(int link_num) const;
//
// get number of links, masses, moments of inertia
//
int getNumLinks() const { return links.size(); }
btScalar getBaseMass() const { return base_mass; }
const btVector3 & getBaseInertia() const { return base_inertia; }
btScalar getLinkMass(int i) const;
const btVector3 & getLinkInertia(int i) const;
//
// change mass (incomplete: can only change base mass and inertia at present)
//
void setBaseMass(btScalar mass) { base_mass = mass; }
void setBaseInertia(const btVector3 &inertia) { base_inertia = inertia; }
//
// get/set pos/vel/rot/omega for the base link
//
const btVector3 & getBasePos() const { return base_pos; } // in world frame
const btVector3 getBaseVel() const
{
return btVector3(m_real_buf[3],m_real_buf[4],m_real_buf[5]);
} // in world frame
const btQuaternion & getWorldToBaseRot() const
{
return base_quat;
} // rotates world vectors into base frame
btVector3 getBaseOmega() const { return btVector3(m_real_buf[0],m_real_buf[1],m_real_buf[2]); } // in world frame
void setBasePos(const btVector3 &pos)
{
base_pos = pos;
}
void setBaseVel(const btVector3 &vel)
{
m_real_buf[3]=vel[0]; m_real_buf[4]=vel[1]; m_real_buf[5]=vel[2];
}
void setWorldToBaseRot(const btQuaternion &rot)
{
base_quat = rot;
}
void setBaseOmega(const btVector3 &omega)
{
m_real_buf[0]=omega[0];
m_real_buf[1]=omega[1];
m_real_buf[2]=omega[2];
}
//
// get/set pos/vel for child links (i = 0 to num_links-1)
//
btScalar getJointPos(int i) const;
btScalar getJointVel(int i) const;
void setJointPos(int i, btScalar q);
void setJointVel(int i, btScalar qdot);
//
// direct access to velocities as a vector of 6 + num_links elements.
// (omega first, then v, then joint velocities.)
//
const btScalar * getVelocityVector() const
{
return &m_real_buf[0];
}
/* btScalar * getVelocityVector()
{
return &real_buf[0];
}
*/
//
// get the frames of reference (positions and orientations) of the child links
// (i = 0 to num_links-1)
//
const btVector3 & getRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords
const btQuaternion & getParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i.
//
// transform vectors in local frame of link i to world frame (or vice versa)
//
btVector3 localPosToWorld(int i, const btVector3 &vec) const;
btVector3 localDirToWorld(int i, const btVector3 &vec) const;
btVector3 worldPosToLocal(int i, const btVector3 &vec) const;
btVector3 worldDirToLocal(int i, const btVector3 &vec) const;
//
// calculate kinetic energy and angular momentum
// useful for debugging.
//
btScalar getKineticEnergy() const;
btVector3 getAngularMomentum() const;
//
// set external forces and torques. Note all external forces/torques are given in the WORLD frame.
//
void clearForcesAndTorques();
void clearVelocities();
void addBaseForce(const btVector3 &f)
{
base_force += f;
}
void addBaseTorque(const btVector3 &t) { base_torque += t; }
void addLinkForce(int i, const btVector3 &f);
void addLinkTorque(int i, const btVector3 &t);
void addJointTorque(int i, btScalar Q);
const btVector3 & getBaseForce() const { return base_force; }
const btVector3 & getBaseTorque() const { return base_torque; }
const btVector3 & getLinkForce(int i) const;
const btVector3 & getLinkTorque(int i) const;
btScalar getJointTorque(int i) const;
//
// dynamics routines.
//
// timestep the velocities (given the external forces/torques set using addBaseForce etc).
// also sets up caches for calcAccelerationDeltas.
//
// Note: the caller must provide three vectors which are used as
// temporary scratch space. The idea here is to reduce dynamic
// memory allocation: the same scratch vectors can be re-used
// again and again for different Multibodies, instead of each
// btMultiBody allocating (and then deallocating) their own
// individual scratch buffers. This gives a considerable speed
// improvement, at least on Windows (where dynamic memory
// allocation appears to be fairly slow).
//
void stepVelocities(btScalar dt,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v,
btAlignedObjectArray<btMatrix3x3> &scratch_m);
// calcAccelerationDeltas
// input: force vector (in same format as jacobian, i.e.:
// 3 torque values, 3 force values, num_links joint torque values)
// output: 3 omegadot values, 3 vdot values, num_links q_double_dot values
// (existing contents of output array are replaced)
// stepVelocities must have been called first.
void calcAccelerationDeltas(const btScalar *force, btScalar *output,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v) const;
// apply a delta-vee directly. used in sequential impulses code.
void applyDeltaVee(const btScalar * delta_vee)
{
for (int i = 0; i < 6 + getNumLinks(); ++i)
{
m_real_buf[i] += delta_vee[i];
}
}
void applyDeltaVee(const btScalar * delta_vee, btScalar multiplier)
{
btScalar sum = 0;
for (int i = 0; i < 6 + getNumLinks(); ++i)
{
sum += delta_vee[i]*multiplier*delta_vee[i]*multiplier;
}
btScalar l = btSqrt(sum);
/*
static btScalar maxl = -1e30f;
if (l>maxl)
{
maxl=l;
// printf("maxl=%f\n",maxl);
}
*/
if (l>m_maxAppliedImpulse)
{
// printf("exceeds 100: l=%f\n",maxl);
multiplier *= m_maxAppliedImpulse/l;
}
for (int i = 0; i < 6 + getNumLinks(); ++i)
{
sum += delta_vee[i]*multiplier*delta_vee[i]*multiplier;
m_real_buf[i] += delta_vee[i] * multiplier;
}
}
// timestep the positions (given current velocities).
void stepPositions(btScalar dt);
//
// contacts
//
// This routine fills out a contact constraint jacobian for this body.
// the 'normal' supplied must be -n for body1 or +n for body2 of the contact.
// 'normal' & 'contact_point' are both given in world coordinates.
void fillContactJacobian(int link,
const btVector3 &contact_point,
const btVector3 &normal,
btScalar *jac,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v,
btAlignedObjectArray<btMatrix3x3> &scratch_m) const;
//
// sleeping
//
void setCanSleep(bool canSleep)
{
can_sleep = canSleep;
}
bool isAwake() const { return awake; }
void wakeUp();
void goToSleep();
void checkMotionAndSleepIfRequired(btScalar timestep);
bool hasFixedBase() const
{
return fixed_base;
}
int getCompanionId() const
{
return m_companionId;
}
void setCompanionId(int id)
{
//printf("for %p setCompanionId(%d)\n",this, id);
m_companionId = id;
}
void setNumLinks(int numLinks)//careful: when changing the number of links, make sure to re-initialize or update existing links
{
links.resize(numLinks);
}
btScalar getLinearDamping() const
{
return m_linearDamping;
}
void setLinearDamping( btScalar damp)
{
m_linearDamping = damp;
}
btScalar getAngularDamping() const
{
return m_angularDamping;
}
bool getUseGyroTerm() const
{
return m_useGyroTerm;
}
void setUseGyroTerm(bool useGyro)
{
m_useGyroTerm = useGyro;
}
btScalar getMaxAppliedImpulse() const
{
return m_maxAppliedImpulse;
}
void setMaxAppliedImpulse(btScalar maxImp)
{
m_maxAppliedImpulse = maxImp;
}
void setHasSelfCollision(bool hasSelfCollision)
{
m_hasSelfCollision = hasSelfCollision;
}
bool hasSelfCollision() const
{
return m_hasSelfCollision;
}
private:
btMultiBody(const btMultiBody &); // not implemented
void operator=(const btMultiBody &); // not implemented
void compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const;
void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const;
private:
btMultiBodyLinkCollider* m_baseCollider;//can be NULL
btVector3 base_pos; // position of COM of base (world frame)
btQuaternion base_quat; // rotates world points into base frame
btScalar base_mass; // mass of the base
btVector3 base_inertia; // inertia of the base (in local frame; diagonal)
btVector3 base_force; // external force applied to base. World frame.
btVector3 base_torque; // external torque applied to base. World frame.
btAlignedObjectArray<btMultibodyLink> links; // array of links, excluding the base. index from 0 to num_links-1.
btAlignedObjectArray<btMultiBodyLinkCollider*> m_colliders;
//
// real_buf:
// offset size array
// 0 6 + num_links v (base_omega; base_vel; joint_vels)
// 6+num_links num_links D
//
// vector_buf:
// offset size array
// 0 num_links h_top
// num_links num_links h_bottom
//
// matrix_buf:
// offset size array
// 0 num_links+1 rot_from_parent
//
btAlignedObjectArray<btScalar> m_real_buf;
btAlignedObjectArray<btVector3> vector_buf;
btAlignedObjectArray<btMatrix3x3> matrix_buf;
//std::auto_ptr<Eigen::LU<Eigen::Matrix<btScalar, 6, 6> > > cached_imatrix_lu;
btMatrix3x3 cached_inertia_top_left;
btMatrix3x3 cached_inertia_top_right;
btMatrix3x3 cached_inertia_lower_left;
btMatrix3x3 cached_inertia_lower_right;
bool fixed_base;
// Sleep parameters.
bool awake;
bool can_sleep;
btScalar sleep_timer;
int m_companionId;
btScalar m_linearDamping;
btScalar m_angularDamping;
bool m_useGyroTerm;
btScalar m_maxAppliedImpulse;
bool m_hasSelfCollision;
};
#endif

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#include "btMultiBodyConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral)
:m_bodyA(bodyA),
m_bodyB(bodyB),
m_linkA(linkA),
m_linkB(linkB),
m_num_rows(numRows),
m_isUnilateral(isUnilateral),
m_maxAppliedImpulse(100)
{
m_jac_size_A = (6 + bodyA->getNumLinks());
m_jac_size_both = (m_jac_size_A + (bodyB ? 6 + bodyB->getNumLinks() : 0));
m_pos_offset = ((1 + m_jac_size_both)*m_num_rows);
m_data.resize((2 + m_jac_size_both) * m_num_rows);
}
btMultiBodyConstraint::~btMultiBodyConstraint()
{
}
btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody(btMultiBodySolverConstraint& constraintRow,
btMultiBodyJacobianData& data,
btScalar* jacOrgA,btScalar* jacOrgB,
const btContactSolverInfo& infoGlobal,
btScalar desiredVelocity,
btScalar lowerLimit,
btScalar upperLimit)
{
constraintRow.m_multiBodyA = m_bodyA;
constraintRow.m_multiBodyB = m_bodyB;
btMultiBody* multiBodyA = constraintRow.m_multiBodyA;
btMultiBody* multiBodyB = constraintRow.m_multiBodyB;
if (multiBodyA)
{
const int ndofA = multiBodyA->getNumLinks() + 6;
constraintRow.m_deltaVelAindex = multiBodyA->getCompanionId();
if (constraintRow.m_deltaVelAindex <0)
{
constraintRow.m_deltaVelAindex = data.m_deltaVelocities.size();
multiBodyA->setCompanionId(constraintRow.m_deltaVelAindex);
data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofA);
} else
{
btAssert(data.m_deltaVelocities.size() >= constraintRow.m_deltaVelAindex+ndofA);
}
constraintRow.m_jacAindex = data.m_jacobians.size();
data.m_jacobians.resize(data.m_jacobians.size()+ndofA);
data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
for (int i=0;i<ndofA;i++)
data.m_jacobians[constraintRow.m_jacAindex+i] = jacOrgA[i];
btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacAindex];
multiBodyA->calcAccelerationDeltas(&data.m_jacobians[constraintRow.m_jacAindex],delta,data.scratch_r, data.scratch_v);
}
if (multiBodyB)
{
const int ndofB = multiBodyB->getNumLinks() + 6;
constraintRow.m_deltaVelBindex = multiBodyB->getCompanionId();
if (constraintRow.m_deltaVelBindex <0)
{
constraintRow.m_deltaVelBindex = data.m_deltaVelocities.size();
multiBodyB->setCompanionId(constraintRow.m_deltaVelBindex);
data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofB);
}
constraintRow.m_jacBindex = data.m_jacobians.size();
data.m_jacobians.resize(data.m_jacobians.size()+ndofB);
for (int i=0;i<ndofB;i++)
data.m_jacobians[constraintRow.m_jacBindex+i] = jacOrgB[i];
data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofB);
btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
multiBodyB->calcAccelerationDeltas(&data.m_jacobians[constraintRow.m_jacBindex],&data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacBindex],data.scratch_r, data.scratch_v);
}
{
btVector3 vec;
btScalar denom0 = 0.f;
btScalar denom1 = 0.f;
btScalar* jacB = 0;
btScalar* jacA = 0;
btScalar* lambdaA =0;
btScalar* lambdaB =0;
int ndofA = 0;
if (multiBodyA)
{
ndofA = multiBodyA->getNumLinks() + 6;
jacA = &data.m_jacobians[constraintRow.m_jacAindex];
lambdaA = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
{
btScalar j = jacA[i] ;
btScalar l =lambdaA[i];
denom0 += j*l;
}
}
if (multiBodyB)
{
const int ndofB = multiBodyB->getNumLinks() + 6;
jacB = &data.m_jacobians[constraintRow.m_jacBindex];
lambdaB = &data.m_deltaVelocitiesUnitImpulse[constraintRow.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
{
btScalar j = jacB[i] ;
btScalar l =lambdaB[i];
denom1 += j*l;
}
}
if (multiBodyA && (multiBodyA==multiBodyB))
{
// ndof1 == ndof2 in this case
for (int i = 0; i < ndofA; ++i)
{
denom1 += jacB[i] * lambdaA[i];
denom1 += jacA[i] * lambdaB[i];
}
}
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
{
constraintRow.m_jacDiagABInv = 1.f/(d);
} else
{
constraintRow.m_jacDiagABInv = 1.f;
}
}
//compute rhs and remaining constraintRow fields
btScalar rel_vel = 0.f;
int ndofA = 0;
int ndofB = 0;
{
btVector3 vel1,vel2;
if (multiBodyA)
{
ndofA = multiBodyA->getNumLinks() + 6;
btScalar* jacA = &data.m_jacobians[constraintRow.m_jacAindex];
for (int i = 0; i < ndofA ; ++i)
rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
}
if (multiBodyB)
{
ndofB = multiBodyB->getNumLinks() + 6;
btScalar* jacB = &data.m_jacobians[constraintRow.m_jacBindex];
for (int i = 0; i < ndofB ; ++i)
rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
}
constraintRow.m_friction = 0.f;
constraintRow.m_appliedImpulse = 0.f;
constraintRow.m_appliedPushImpulse = 0.f;
btScalar velocityError = desiredVelocity - rel_vel;// * damping;
btScalar erp = infoGlobal.m_erp2;
btScalar velocityImpulse = velocityError *constraintRow.m_jacDiagABInv;
if (!infoGlobal.m_splitImpulse)
{
//combine position and velocity into rhs
constraintRow.m_rhs = velocityImpulse;
constraintRow.m_rhsPenetration = 0.f;
} else
{
//split position and velocity into rhs and m_rhsPenetration
constraintRow.m_rhs = velocityImpulse;
constraintRow.m_rhsPenetration = 0.f;
}
constraintRow.m_cfm = 0.f;
constraintRow.m_lowerLimit = lowerLimit;
constraintRow.m_upperLimit = upperLimit;
}
return rel_vel;
}
void btMultiBodyConstraint::applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
{
for (int i = 0; i < ndof; ++i)
data.m_deltaVelocities[velocityIndex+i] += delta_vee[i] * impulse;
}
void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
const btVector3& contactNormalOnB,
const btVector3& posAworld, const btVector3& posBworld,
btScalar position,
const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
{
btVector3 rel_pos1 = posAworld;
btVector3 rel_pos2 = posBworld;
solverConstraint.m_multiBodyA = m_bodyA;
solverConstraint.m_multiBodyB = m_bodyB;
solverConstraint.m_linkA = m_linkA;
solverConstraint.m_linkB = m_linkB;
btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
const btVector3& pos1 = posAworld;
const btVector3& pos2 = posBworld;
btSolverBody* bodyA = multiBodyA ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdA);
btSolverBody* bodyB = multiBodyB ? 0 : &data.m_solverBodyPool->at(solverConstraint.m_solverBodyIdB);
btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
if (bodyA)
rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
if (bodyB)
rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
relaxation = 1.f;
if (multiBodyA)
{
const int ndofA = multiBodyA->getNumLinks() + 6;
solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
if (solverConstraint.m_deltaVelAindex <0)
{
solverConstraint.m_deltaVelAindex = data.m_deltaVelocities.size();
multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofA);
} else
{
btAssert(data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA);
}
solverConstraint.m_jacAindex = data.m_jacobians.size();
data.m_jacobians.resize(data.m_jacobians.size()+ndofA);
data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
btScalar* jac1=&data.m_jacobians[solverConstraint.m_jacAindex];
multiBodyA->fillContactJacobian(solverConstraint.m_linkA, posAworld, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
btScalar* delta = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacAindex],delta,data.scratch_r, data.scratch_v);
} else
{
btVector3 torqueAxis0 = rel_pos1.cross(contactNormalOnB);
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = contactNormalOnB;
}
if (multiBodyB)
{
const int ndofB = multiBodyB->getNumLinks() + 6;
solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
if (solverConstraint.m_deltaVelBindex <0)
{
solverConstraint.m_deltaVelBindex = data.m_deltaVelocities.size();
multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
data.m_deltaVelocities.resize(data.m_deltaVelocities.size()+ndofB);
}
solverConstraint.m_jacBindex = data.m_jacobians.size();
data.m_jacobians.resize(data.m_jacobians.size()+ndofB);
data.m_deltaVelocitiesUnitImpulse.resize(data.m_deltaVelocitiesUnitImpulse.size()+ndofB);
btAssert(data.m_jacobians.size() == data.m_deltaVelocitiesUnitImpulse.size());
multiBodyB->fillContactJacobian(solverConstraint.m_linkB, posBworld, -contactNormalOnB, &data.m_jacobians[solverConstraint.m_jacBindex], data.scratch_r, data.scratch_v, data.scratch_m);
multiBodyB->calcAccelerationDeltas(&data.m_jacobians[solverConstraint.m_jacBindex],&data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],data.scratch_r, data.scratch_v);
} else
{
btVector3 torqueAxis1 = rel_pos2.cross(contactNormalOnB);
solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
solverConstraint.m_contactNormal2 = -contactNormalOnB;
}
{
btVector3 vec;
btScalar denom0 = 0.f;
btScalar denom1 = 0.f;
btScalar* jacB = 0;
btScalar* jacA = 0;
btScalar* lambdaA =0;
btScalar* lambdaB =0;
int ndofA = 0;
if (multiBodyA)
{
ndofA = multiBodyA->getNumLinks() + 6;
jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
lambdaA = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
{
btScalar j = jacA[i] ;
btScalar l =lambdaA[i];
denom0 += j*l;
}
} else
{
if (rb0)
{
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
denom0 = rb0->getInvMass() + contactNormalOnB.dot(vec);
}
}
if (multiBodyB)
{
const int ndofB = multiBodyB->getNumLinks() + 6;
jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
lambdaB = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
{
btScalar j = jacB[i] ;
btScalar l =lambdaB[i];
denom1 += j*l;
}
} else
{
if (rb1)
{
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
denom1 = rb1->getInvMass() + contactNormalOnB.dot(vec);
}
}
if (multiBodyA && (multiBodyA==multiBodyB))
{
// ndof1 == ndof2 in this case
for (int i = 0; i < ndofA; ++i)
{
denom1 += jacB[i] * lambdaA[i];
denom1 += jacA[i] * lambdaB[i];
}
}
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
{
solverConstraint.m_jacDiagABInv = relaxation/(d);
} else
{
solverConstraint.m_jacDiagABInv = 1.f;
}
}
//compute rhs and remaining solverConstraint fields
btScalar restitution = 0.f;
btScalar penetration = isFriction? 0 : position+infoGlobal.m_linearSlop;
btScalar rel_vel = 0.f;
int ndofA = 0;
int ndofB = 0;
{
btVector3 vel1,vel2;
if (multiBodyA)
{
ndofA = multiBodyA->getNumLinks() + 6;
btScalar* jacA = &data.m_jacobians[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA ; ++i)
rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
} else
{
if (rb0)
{
rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
}
}
if (multiBodyB)
{
ndofB = multiBodyB->getNumLinks() + 6;
btScalar* jacB = &data.m_jacobians[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB ; ++i)
rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
} else
{
if (rb1)
{
rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
}
}
solverConstraint.m_friction = 0.f;//cp.m_combinedFriction;
restitution = restitution * -rel_vel;//restitutionCurve(rel_vel, cp.m_combinedRestitution);
if (restitution <= btScalar(0.))
{
restitution = 0.f;
};
}
///warm starting (or zero if disabled)
/*
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (solverConstraint.m_appliedImpulse)
{
if (multiBodyA)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->applyDeltaVee(deltaV,impulse);
applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
} else
{
if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
}
if (multiBodyB)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
multiBodyB->applyDeltaVee(deltaV,impulse);
applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
} else
{
if (rb1)
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
}
}
} else
*/
{
solverConstraint.m_appliedImpulse = 0.f;
}
solverConstraint.m_appliedPushImpulse = 0.f;
{
btScalar positionalError = 0.f;
btScalar velocityError = restitution - rel_vel;// * damping;
btScalar erp = infoGlobal.m_erp2;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
erp = infoGlobal.m_erp;
}
if (penetration>0)
{
positionalError = 0;
velocityError = -penetration / infoGlobal.m_timeStep;
} else
{
positionalError = -penetration * erp/infoGlobal.m_timeStep;
}
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
solverConstraint.m_rhsPenetration = 0.f;
} else
{
//split position and velocity into rhs and m_rhsPenetration
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = penetrationImpulse;
}
solverConstraint.m_cfm = 0.f;
solverConstraint.m_lowerLimit = -m_maxAppliedImpulse;
solverConstraint.m_upperLimit = m_maxAppliedImpulse;
}
}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_MULTIBODY_CONSTRAINT_H
#define BT_MULTIBODY_CONSTRAINT_H
#include "LinearMath/btScalar.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btMultiBody.h"
class btMultiBody;
struct btSolverInfo;
#include "btMultiBodySolverConstraint.h"
struct btMultiBodyJacobianData
{
btAlignedObjectArray<btScalar> m_jacobians;
btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse;
btAlignedObjectArray<btScalar> m_deltaVelocities;
btAlignedObjectArray<btScalar> scratch_r;
btAlignedObjectArray<btVector3> scratch_v;
btAlignedObjectArray<btMatrix3x3> scratch_m;
btAlignedObjectArray<btSolverBody>* m_solverBodyPool;
int m_fixedBodyId;
};
class btMultiBodyConstraint
{
protected:
btMultiBody* m_bodyA;
btMultiBody* m_bodyB;
int m_linkA;
int m_linkB;
int m_num_rows;
int m_jac_size_A;
int m_jac_size_both;
int m_pos_offset;
bool m_isUnilateral;
btScalar m_maxAppliedImpulse;
// data block laid out as follows:
// cached impulses. (one per row.)
// jacobians. (interleaved, row1 body1 then row1 body2 then row2 body 1 etc)
// positions. (one per row.)
btAlignedObjectArray<btScalar> m_data;
void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof);
void fillMultiBodyConstraintMixed(btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
const btVector3& contactNormalOnB,
const btVector3& posAworld, const btVector3& posBworld,
btScalar position,
const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
btScalar fillConstraintRowMultiBodyMultiBody(btMultiBodySolverConstraint& constraintRow,
btMultiBodyJacobianData& data,
btScalar* jacOrgA,btScalar* jacOrgB,
const btContactSolverInfo& infoGlobal,
btScalar desiredVelocity,
btScalar lowerLimit,
btScalar upperLimit);
public:
btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral);
virtual ~btMultiBodyConstraint();
virtual int getIslandIdA() const =0;
virtual int getIslandIdB() const =0;
virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal)=0;
int getNumRows() const
{
return m_num_rows;
}
btMultiBody* getMultiBodyA()
{
return m_bodyA;
}
btMultiBody* getMultiBodyB()
{
return m_bodyB;
}
// current constraint position
// constraint is pos >= 0 for unilateral, or pos = 0 for bilateral
// NOTE: ignored position for friction rows.
btScalar getPosition(int row) const
{
return m_data[m_pos_offset + row];
}
void setPosition(int row, btScalar pos)
{
m_data[m_pos_offset + row] = pos;
}
bool isUnilateral() const
{
return m_isUnilateral;
}
// jacobian blocks.
// each of size 6 + num_links. (jacobian2 is null if no body2.)
// format: 3 'omega' coefficients, 3 'v' coefficients, then the 'qdot' coefficients.
btScalar* jacobianA(int row)
{
return &m_data[m_num_rows + row * m_jac_size_both];
}
const btScalar* jacobianA(int row) const
{
return &m_data[m_num_rows + (row * m_jac_size_both)];
}
btScalar* jacobianB(int row)
{
return &m_data[m_num_rows + (row * m_jac_size_both) + m_jac_size_A];
}
const btScalar* jacobianB(int row) const
{
return &m_data[m_num_rows + (row * m_jac_size_both) + m_jac_size_A];
}
btScalar getMaxAppliedImpulse() const
{
return m_maxAppliedImpulse;
}
void setMaxAppliedImpulse(btScalar maxImp)
{
m_maxAppliedImpulse = maxImp;
}
};
#endif //BT_MULTIBODY_CONSTRAINT_H

795
extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp vendored Normal file
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@@ -0,0 +1,795 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btMultiBodyConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "btMultiBodyLinkCollider.h"
#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "btMultiBodyConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "LinearMath/btQuickprof.h"
btScalar btMultiBodyConstraintSolver::solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
btScalar val = btSequentialImpulseConstraintSolver::solveSingleIteration(iteration, bodies ,numBodies,manifoldPtr, numManifolds,constraints,numConstraints,infoGlobal,debugDrawer);
//solve featherstone non-contact constraints
//printf("m_multiBodyNonContactConstraints = %d\n",m_multiBodyNonContactConstraints.size());
for (int j=0;j<m_multiBodyNonContactConstraints.size();j++)
{
btMultiBodySolverConstraint& constraint = m_multiBodyNonContactConstraints[j];
//if (iteration < constraint.m_overrideNumSolverIterations)
//resolveSingleConstraintRowGenericMultiBody(constraint);
resolveSingleConstraintRowGeneric(constraint);
}
//solve featherstone normal contact
for (int j=0;j<m_multiBodyNormalContactConstraints.size();j++)
{
btMultiBodySolverConstraint& constraint = m_multiBodyNormalContactConstraints[j];
if (iteration < infoGlobal.m_numIterations)
resolveSingleConstraintRowGeneric(constraint);
}
//solve featherstone frictional contact
for (int j=0;j<this->m_multiBodyFrictionContactConstraints.size();j++)
{
if (iteration < infoGlobal.m_numIterations)
{
btMultiBodySolverConstraint& frictionConstraint = m_multiBodyFrictionContactConstraints[j];
btScalar totalImpulse = m_multiBodyNormalContactConstraints[frictionConstraint.m_frictionIndex].m_appliedImpulse;
//adjust friction limits here
if (totalImpulse>btScalar(0))
{
frictionConstraint.m_lowerLimit = -(frictionConstraint.m_friction*totalImpulse);
frictionConstraint.m_upperLimit = frictionConstraint.m_friction*totalImpulse;
resolveSingleConstraintRowGeneric(frictionConstraint);
}
}
}
return val;
}
btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer)
{
m_multiBodyNonContactConstraints.resize(0);
m_multiBodyNormalContactConstraints.resize(0);
m_multiBodyFrictionContactConstraints.resize(0);
m_data.m_jacobians.resize(0);
m_data.m_deltaVelocitiesUnitImpulse.resize(0);
m_data.m_deltaVelocities.resize(0);
for (int i=0;i<numBodies;i++)
{
const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(bodies[i]);
if (fcA)
{
fcA->m_multiBody->setCompanionId(-1);
}
}
btScalar val = btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup( bodies,numBodies,manifoldPtr, numManifolds, constraints,numConstraints,infoGlobal,debugDrawer);
return val;
}
void btMultiBodyConstraintSolver::applyDeltaVee(btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof)
{
for (int i = 0; i < ndof; ++i)
m_data.m_deltaVelocities[velocityIndex+i] += delta_vee[i] * impulse;
}
void btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
btScalar deltaVelADotn=0;
btScalar deltaVelBDotn=0;
btSolverBody* bodyA = 0;
btSolverBody* bodyB = 0;
int ndofA=0;
int ndofB=0;
if (c.m_multiBodyA)
{
ndofA = c.m_multiBodyA->getNumLinks() + 6;
for (int i = 0; i < ndofA; ++i)
deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i];
} else
{
bodyA = &m_tmpSolverBodyPool[c.m_solverBodyIdA];
deltaVelADotn += c.m_contactNormal1.dot(bodyA->internalGetDeltaLinearVelocity()) + c.m_relpos1CrossNormal.dot(bodyA->internalGetDeltaAngularVelocity());
}
if (c.m_multiBodyB)
{
ndofB = c.m_multiBodyB->getNumLinks() + 6;
for (int i = 0; i < ndofB; ++i)
deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i];
} else
{
bodyB = &m_tmpSolverBodyPool[c.m_solverBodyIdB];
deltaVelBDotn += c.m_contactNormal2.dot(bodyB->internalGetDeltaLinearVelocity()) + c.m_relpos2CrossNormal.dot(bodyB->internalGetDeltaAngularVelocity());
}
deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
if (sum < c.m_lowerLimit)
{
deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
c.m_appliedImpulse = c.m_lowerLimit;
}
else if (sum > c.m_upperLimit)
{
deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
c.m_appliedImpulse = c.m_upperLimit;
}
else
{
c.m_appliedImpulse = sum;
}
if (c.m_multiBodyA)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA);
c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse);
} else
{
bodyA->internalApplyImpulse(c.m_contactNormal1*bodyA->internalGetInvMass(),c.m_angularComponentA,deltaImpulse);
}
if (c.m_multiBodyB)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB);
c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse);
} else
{
bodyB->internalApplyImpulse(c.m_contactNormal2*bodyB->internalGetInvMass(),c.m_angularComponentB,deltaImpulse);
}
}
void btMultiBodyConstraintSolver::resolveSingleConstraintRowGenericMultiBody(const btMultiBodySolverConstraint& c)
{
btScalar deltaImpulse = c.m_rhs-btScalar(c.m_appliedImpulse)*c.m_cfm;
btScalar deltaVelADotn=0;
btScalar deltaVelBDotn=0;
int ndofA=0;
int ndofB=0;
if (c.m_multiBodyA)
{
ndofA = c.m_multiBodyA->getNumLinks() + 6;
for (int i = 0; i < ndofA; ++i)
deltaVelADotn += m_data.m_jacobians[c.m_jacAindex+i] * m_data.m_deltaVelocities[c.m_deltaVelAindex+i];
}
if (c.m_multiBodyB)
{
ndofB = c.m_multiBodyB->getNumLinks() + 6;
for (int i = 0; i < ndofB; ++i)
deltaVelBDotn += m_data.m_jacobians[c.m_jacBindex+i] * m_data.m_deltaVelocities[c.m_deltaVelBindex+i];
}
deltaImpulse -= deltaVelADotn*c.m_jacDiagABInv;//m_jacDiagABInv = 1./denom
deltaImpulse -= deltaVelBDotn*c.m_jacDiagABInv;
const btScalar sum = btScalar(c.m_appliedImpulse) + deltaImpulse;
if (sum < c.m_lowerLimit)
{
deltaImpulse = c.m_lowerLimit-c.m_appliedImpulse;
c.m_appliedImpulse = c.m_lowerLimit;
}
else if (sum > c.m_upperLimit)
{
deltaImpulse = c.m_upperLimit-c.m_appliedImpulse;
c.m_appliedImpulse = c.m_upperLimit;
}
else
{
c.m_appliedImpulse = sum;
}
if (c.m_multiBodyA)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse,c.m_deltaVelAindex,ndofA);
c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],deltaImpulse);
}
if (c.m_multiBodyB)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse,c.m_deltaVelBindex,ndofB);
c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],deltaImpulse);
}
}
void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
const btVector3& contactNormal,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
{
BT_PROFILE("setupMultiBodyContactConstraint");
btVector3 rel_pos1;
btVector3 rel_pos2;
btMultiBody* multiBodyA = solverConstraint.m_multiBodyA;
btMultiBody* multiBodyB = solverConstraint.m_multiBodyB;
const btVector3& pos1 = cp.getPositionWorldOnA();
const btVector3& pos2 = cp.getPositionWorldOnB();
btSolverBody* bodyA = multiBodyA ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdA];
btSolverBody* bodyB = multiBodyB ? 0 : &m_tmpSolverBodyPool[solverConstraint.m_solverBodyIdB];
btRigidBody* rb0 = multiBodyA ? 0 : bodyA->m_originalBody;
btRigidBody* rb1 = multiBodyB ? 0 : bodyB->m_originalBody;
if (bodyA)
rel_pos1 = pos1 - bodyA->getWorldTransform().getOrigin();
if (bodyB)
rel_pos2 = pos2 - bodyB->getWorldTransform().getOrigin();
relaxation = 1.f;
if (multiBodyA)
{
const int ndofA = multiBodyA->getNumLinks() + 6;
solverConstraint.m_deltaVelAindex = multiBodyA->getCompanionId();
if (solverConstraint.m_deltaVelAindex <0)
{
solverConstraint.m_deltaVelAindex = m_data.m_deltaVelocities.size();
multiBodyA->setCompanionId(solverConstraint.m_deltaVelAindex);
m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofA);
} else
{
btAssert(m_data.m_deltaVelocities.size() >= solverConstraint.m_deltaVelAindex+ndofA);
}
solverConstraint.m_jacAindex = m_data.m_jacobians.size();
m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofA);
m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofA);
btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
btScalar* jac1=&m_data.m_jacobians[solverConstraint.m_jacAindex];
multiBodyA->fillContactJacobian(solverConstraint.m_linkA, cp.getPositionWorldOnA(), contactNormal, jac1, m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
btScalar* delta = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacAindex],delta,m_data.scratch_r, m_data.scratch_v);
} else
{
btVector3 torqueAxis0 = rel_pos1.cross(contactNormal);
solverConstraint.m_angularComponentA = rb0 ? rb0->getInvInertiaTensorWorld()*torqueAxis0*rb0->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_relpos1CrossNormal = torqueAxis0;
solverConstraint.m_contactNormal1 = contactNormal;
}
if (multiBodyB)
{
const int ndofB = multiBodyB->getNumLinks() + 6;
solverConstraint.m_deltaVelBindex = multiBodyB->getCompanionId();
if (solverConstraint.m_deltaVelBindex <0)
{
solverConstraint.m_deltaVelBindex = m_data.m_deltaVelocities.size();
multiBodyB->setCompanionId(solverConstraint.m_deltaVelBindex);
m_data.m_deltaVelocities.resize(m_data.m_deltaVelocities.size()+ndofB);
}
solverConstraint.m_jacBindex = m_data.m_jacobians.size();
m_data.m_jacobians.resize(m_data.m_jacobians.size()+ndofB);
m_data.m_deltaVelocitiesUnitImpulse.resize(m_data.m_deltaVelocitiesUnitImpulse.size()+ndofB);
btAssert(m_data.m_jacobians.size() == m_data.m_deltaVelocitiesUnitImpulse.size());
multiBodyB->fillContactJacobian(solverConstraint.m_linkB, cp.getPositionWorldOnB(), -contactNormal, &m_data.m_jacobians[solverConstraint.m_jacBindex], m_data.scratch_r, m_data.scratch_v, m_data.scratch_m);
multiBodyB->calcAccelerationDeltas(&m_data.m_jacobians[solverConstraint.m_jacBindex],&m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex],m_data.scratch_r, m_data.scratch_v);
} else
{
btVector3 torqueAxis1 = rel_pos2.cross(contactNormal);
solverConstraint.m_angularComponentB = rb1 ? rb1->getInvInertiaTensorWorld()*-torqueAxis1*rb1->getAngularFactor() : btVector3(0,0,0);
solverConstraint.m_relpos2CrossNormal = -torqueAxis1;
solverConstraint.m_contactNormal2 = -contactNormal;
}
{
btVector3 vec;
btScalar denom0 = 0.f;
btScalar denom1 = 0.f;
btScalar* jacB = 0;
btScalar* jacA = 0;
btScalar* lambdaA =0;
btScalar* lambdaB =0;
int ndofA = 0;
if (multiBodyA)
{
ndofA = multiBodyA->getNumLinks() + 6;
jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
lambdaA = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA; ++i)
{
btScalar j = jacA[i] ;
btScalar l =lambdaA[i];
denom0 += j*l;
}
} else
{
if (rb0)
{
vec = ( solverConstraint.m_angularComponentA).cross(rel_pos1);
denom0 = rb0->getInvMass() + contactNormal.dot(vec);
}
}
if (multiBodyB)
{
const int ndofB = multiBodyB->getNumLinks() + 6;
jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
lambdaB = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB; ++i)
{
btScalar j = jacB[i] ;
btScalar l =lambdaB[i];
denom1 += j*l;
}
} else
{
if (rb1)
{
vec = ( -solverConstraint.m_angularComponentB).cross(rel_pos2);
denom1 = rb1->getInvMass() + contactNormal.dot(vec);
}
}
if (multiBodyA && (multiBodyA==multiBodyB))
{
// ndof1 == ndof2 in this case
for (int i = 0; i < ndofA; ++i)
{
denom1 += jacB[i] * lambdaA[i];
denom1 += jacA[i] * lambdaB[i];
}
}
btScalar d = denom0+denom1;
if (btFabs(d)>SIMD_EPSILON)
{
solverConstraint.m_jacDiagABInv = relaxation/(d);
} else
{
solverConstraint.m_jacDiagABInv = 1.f;
}
}
//compute rhs and remaining solverConstraint fields
btScalar restitution = 0.f;
btScalar penetration = isFriction? 0 : cp.getDistance()+infoGlobal.m_linearSlop;
btScalar rel_vel = 0.f;
int ndofA = 0;
int ndofB = 0;
{
btVector3 vel1,vel2;
if (multiBodyA)
{
ndofA = multiBodyA->getNumLinks() + 6;
btScalar* jacA = &m_data.m_jacobians[solverConstraint.m_jacAindex];
for (int i = 0; i < ndofA ; ++i)
rel_vel += multiBodyA->getVelocityVector()[i] * jacA[i];
} else
{
if (rb0)
{
rel_vel += rb0->getVelocityInLocalPoint(rel_pos1).dot(solverConstraint.m_contactNormal1);
}
}
if (multiBodyB)
{
ndofB = multiBodyB->getNumLinks() + 6;
btScalar* jacB = &m_data.m_jacobians[solverConstraint.m_jacBindex];
for (int i = 0; i < ndofB ; ++i)
rel_vel += multiBodyB->getVelocityVector()[i] * jacB[i];
} else
{
if (rb1)
{
rel_vel += rb1->getVelocityInLocalPoint(rel_pos2).dot(solverConstraint.m_contactNormal2);
}
}
solverConstraint.m_friction = cp.m_combinedFriction;
restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
if (restitution <= btScalar(0.))
{
restitution = 0.f;
};
}
///warm starting (or zero if disabled)
if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
{
solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
if (solverConstraint.m_appliedImpulse)
{
if (multiBodyA)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
multiBodyA->applyDeltaVee(deltaV,impulse);
applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
} else
{
if (rb0)
bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
}
if (multiBodyB)
{
btScalar impulse = solverConstraint.m_appliedImpulse;
btScalar* deltaV = &m_data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
multiBodyB->applyDeltaVee(deltaV,impulse);
applyDeltaVee(deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
} else
{
if (rb1)
bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
}
}
} else
{
solverConstraint.m_appliedImpulse = 0.f;
}
solverConstraint.m_appliedPushImpulse = 0.f;
{
btScalar positionalError = 0.f;
btScalar velocityError = restitution - rel_vel;// * damping;
btScalar erp = infoGlobal.m_erp2;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
erp = infoGlobal.m_erp;
}
if (penetration>0)
{
positionalError = 0;
velocityError = -penetration / infoGlobal.m_timeStep;
} else
{
positionalError = -penetration * erp/infoGlobal.m_timeStep;
}
btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
solverConstraint.m_rhs = penetrationImpulse+velocityImpulse;
solverConstraint.m_rhsPenetration = 0.f;
} else
{
//split position and velocity into rhs and m_rhsPenetration
solverConstraint.m_rhs = velocityImpulse;
solverConstraint.m_rhsPenetration = penetrationImpulse;
}
solverConstraint.m_cfm = 0.f;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
}
}
btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
{
BT_PROFILE("addMultiBodyFrictionConstraint");
btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
solverConstraint.m_frictionIndex = frictionIndex;
bool isFriction = true;
const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
btMultiBody* mbA = fcA? fcA->m_multiBody : 0;
btMultiBody* mbB = fcB? fcB->m_multiBody : 0;
int solverBodyIdA = mbA? -1 : getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_multiBodyA = mbA;
if (mbA)
solverConstraint.m_linkA = fcA->m_link;
solverConstraint.m_multiBodyB = mbB;
if (mbB)
solverConstraint.m_linkB = fcB->m_link;
solverConstraint.m_originalContactPoint = &cp;
setupMultiBodyContactConstraint(solverConstraint, normalAxis, cp, infoGlobal,relaxation,isFriction, desiredVelocity, cfmSlip);
return solverConstraint;
}
void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal)
{
const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
btMultiBody* mbA = fcA? fcA->m_multiBody : 0;
btMultiBody* mbB = fcB? fcB->m_multiBody : 0;
btCollisionObject* colObj0=0,*colObj1=0;
colObj0 = (btCollisionObject*)manifold->getBody0();
colObj1 = (btCollisionObject*)manifold->getBody1();
int solverBodyIdA = mbA? -1 : getOrInitSolverBody(*colObj0,infoGlobal.m_timeStep);
int solverBodyIdB = mbB ? -1 : getOrInitSolverBody(*colObj1,infoGlobal.m_timeStep);
btSolverBody* solverBodyA = mbA ? 0 : &m_tmpSolverBodyPool[solverBodyIdA];
btSolverBody* solverBodyB = mbB ? 0 : &m_tmpSolverBodyPool[solverBodyIdB];
///avoid collision response between two static objects
// if (!solverBodyA || (solverBodyA->m_invMass.isZero() && (!solverBodyB || solverBodyB->m_invMass.isZero())))
// return;
int rollingFriction=1;
for (int j=0;j<manifold->getNumContacts();j++)
{
btManifoldPoint& cp = manifold->getContactPoint(j);
if (cp.getDistance() <= manifold->getContactProcessingThreshold())
{
btScalar relaxation;
int frictionIndex = m_multiBodyNormalContactConstraints.size();
btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints.expandNonInitializing();
btRigidBody* rb0 = btRigidBody::upcast(colObj0);
btRigidBody* rb1 = btRigidBody::upcast(colObj1);
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_multiBodyA = mbA;
if (mbA)
solverConstraint.m_linkA = fcA->m_link;
solverConstraint.m_multiBodyB = mbB;
if (mbB)
solverConstraint.m_linkB = fcB->m_link;
solverConstraint.m_originalContactPoint = &cp;
bool isFriction = false;
setupMultiBodyContactConstraint(solverConstraint, cp.m_normalWorldOnB,cp, infoGlobal, relaxation, isFriction);
// const btVector3& pos1 = cp.getPositionWorldOnA();
// const btVector3& pos2 = cp.getPositionWorldOnB();
/////setup the friction constraints
#define ENABLE_FRICTION
#ifdef ENABLE_FRICTION
solverConstraint.m_frictionIndex = frictionIndex;
#if ROLLING_FRICTION
btVector3 angVelA(0,0,0),angVelB(0,0,0);
if (rb0)
angVelA = rb0->getAngularVelocity();
if (rb1)
angVelB = rb1->getAngularVelocity();
btVector3 relAngVel = angVelB-angVelA;
if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0))
{
//only a single rollingFriction per manifold
rollingFriction--;
if (relAngVel.length()>infoGlobal.m_singleAxisRollingFrictionThreshold)
{
relAngVel.normalize();
applyAnisotropicFriction(colObj0,relAngVel,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
applyAnisotropicFriction(colObj1,relAngVel,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
if (relAngVel.length()>0.001)
addRollingFrictionConstraint(relAngVel,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
} else
{
addRollingFrictionConstraint(cp.m_normalWorldOnB,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
btVector3 axis0,axis1;
btPlaneSpace1(cp.m_normalWorldOnB,axis0,axis1);
applyAnisotropicFriction(colObj0,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
applyAnisotropicFriction(colObj1,axis0,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
applyAnisotropicFriction(colObj0,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
applyAnisotropicFriction(colObj1,axis1,btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION);
if (axis0.length()>0.001)
addRollingFrictionConstraint(axis0,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
if (axis1.length()>0.001)
addRollingFrictionConstraint(axis1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
}
#endif //ROLLING_FRICTION
///Bullet has several options to set the friction directions
///By default, each contact has only a single friction direction that is recomputed automatically very frame
///based on the relative linear velocity.
///If the relative velocity it zero, it will automatically compute a friction direction.
///You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS.
///In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.
///
///If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.
///
///The user can manually override the friction directions for certain contacts using a contact callback,
///and set the cp.m_lateralFrictionInitialized to true
///In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2)
///this will give a conveyor belt effect
///
if (!(infoGlobal.m_solverMode & SOLVER_ENABLE_FRICTION_DIRECTION_CACHING) || !cp.m_lateralFrictionInitialized)
{/*
cp.m_lateralFrictionDir1 = vel - cp.m_normalWorldOnB * rel_vel;
btScalar lat_rel_vel = cp.m_lateralFrictionDir1.length2();
if (!(infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION) && lat_rel_vel > SIMD_EPSILON)
{
cp.m_lateralFrictionDir1 *= 1.f/btSqrt(lat_rel_vel);
if((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
cp.m_lateralFrictionDir2 = cp.m_lateralFrictionDir1.cross(cp.m_normalWorldOnB);
cp.m_lateralFrictionDir2.normalize();//??
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
}
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,solverBodyIdA,solverBodyIdB,frictionIndex,cp,rel_pos1,rel_pos2,colObj0,colObj1, relaxation);
} else
*/
{
btPlaneSpace1(cp.m_normalWorldOnB,cp.m_lateralFrictionDir1,cp.m_lateralFrictionDir2);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
{
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir2,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
}
applyAnisotropicFriction(colObj0,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
applyAnisotropicFriction(colObj1,cp.m_lateralFrictionDir1,btCollisionObject::CF_ANISOTROPIC_FRICTION);
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS) && (infoGlobal.m_solverMode & SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION))
{
cp.m_lateralFrictionInitialized = true;
}
}
} else
{
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal,cp.m_contactMotion1, cp.m_contactCFM1);
if ((infoGlobal.m_solverMode & SOLVER_USE_2_FRICTION_DIRECTIONS))
addMultiBodyFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,colObj0,colObj1, relaxation, infoGlobal,cp.m_contactMotion2, cp.m_contactCFM2);
//setMultiBodyFrictionConstraintImpulse( solverConstraint, solverBodyIdA, solverBodyIdB, cp, infoGlobal);
//todo:
solverConstraint.m_appliedImpulse = 0.f;
solverConstraint.m_appliedPushImpulse = 0.f;
}
#endif //ENABLE_FRICTION
}
}
}
void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal)
{
btPersistentManifold* manifold = 0;
for (int i=0;i<numManifolds;i++)
{
btPersistentManifold* manifold= manifoldPtr[i];
const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
if (!fcA && !fcB)
{
//the contact doesn't involve any Featherstone btMultiBody, so deal with the regular btRigidBody/btCollisionObject case
convertContact(manifold,infoGlobal);
} else
{
convertMultiBodyContact(manifold,infoGlobal);
}
}
//also convert the multibody constraints, if any
for (int i=0;i<m_tmpNumMultiBodyConstraints;i++)
{
btMultiBodyConstraint* c = m_tmpMultiBodyConstraints[i];
m_data.m_solverBodyPool = &m_tmpSolverBodyPool;
m_data.m_fixedBodyId = m_fixedBodyId;
c->createConstraintRows(m_multiBodyNonContactConstraints,m_data, infoGlobal);
}
}
btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
{
return btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher);
}
void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
{
//printf("solveMultiBodyGroup start\n");
m_tmpMultiBodyConstraints = multiBodyConstraints;
m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;
btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher);
m_tmpMultiBodyConstraints = 0;
m_tmpNumMultiBodyConstraints = 0;
}

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_MULTIBODY_CONSTRAINT_SOLVER_H
#define BT_MULTIBODY_CONSTRAINT_SOLVER_H
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "btMultiBodySolverConstraint.h"
class btMultiBody;
#include "btMultiBodyConstraint.h"
ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
{
protected:
btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
btMultiBodyJacobianData m_data;
//temp storage for multi body constraints for a specific island/group called by 'solveGroup'
btMultiBodyConstraint** m_tmpMultiBodyConstraints;
int m_tmpNumMultiBodyConstraints;
void resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
void resolveSingleConstraintRowGenericMultiBody(const btMultiBodySolverConstraint& c);
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);
btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint& constraintRow,
btScalar* jacA,btScalar* jacB,
btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
const btContactSolverInfo& infoGlobal);
void setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
const btVector3& contactNormal,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
void convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
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);
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
void applyDeltaVee(btScalar* deltaV, btScalar impulse, int velocityIndex, int ndof);
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
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);
};
#endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btMultiBodyDynamicsWorld.h"
#include "btMultiBodyConstraintSolver.h"
#include "btMultiBody.h"
#include "btMultiBodyLinkCollider.h"
#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h"
#include "LinearMath/btQuickprof.h"
#include "btMultiBodyConstraint.h"
void btMultiBodyDynamicsWorld::addMultiBody(btMultiBody* body, short group, short mask)
{
m_multiBodies.push_back(body);
}
void btMultiBodyDynamicsWorld::removeMultiBody(btMultiBody* body)
{
m_multiBodies.remove(body);
}
void btMultiBodyDynamicsWorld::calculateSimulationIslands()
{
BT_PROFILE("calculateSimulationIslands");
getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
{
//merge islands based on speculative contact manifolds too
for (int i=0;i<this->m_predictiveManifolds.size();i++)
{
btPersistentManifold* manifold = m_predictiveManifolds[i];
const btCollisionObject* colObj0 = manifold->getBody0();
const btCollisionObject* colObj1 = manifold->getBody1();
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
}
}
}
{
int i;
int numConstraints = int(m_constraints.size());
for (i=0;i< numConstraints ; i++ )
{
btTypedConstraint* constraint = m_constraints[i];
if (constraint->isEnabled())
{
const btRigidBody* colObj0 = &constraint->getRigidBodyA();
const btRigidBody* colObj1 = &constraint->getRigidBodyB();
if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) &&
((colObj1) && (!(colObj1)->isStaticOrKinematicObject())))
{
getSimulationIslandManager()->getUnionFind().unite((colObj0)->getIslandTag(),(colObj1)->getIslandTag());
}
}
}
}
//merge islands linked by Featherstone link colliders
for (int i=0;i<m_multiBodies.size();i++)
{
btMultiBody* body = m_multiBodies[i];
{
btMultiBodyLinkCollider* prev = body->getBaseCollider();
for (int b=0;b<body->getNumLinks();b++)
{
btMultiBodyLinkCollider* cur = body->getLink(b).m_collider;
if (((cur) && (!(cur)->isStaticOrKinematicObject())) &&
((prev) && (!(prev)->isStaticOrKinematicObject())))
{
int tagPrev = prev->getIslandTag();
int tagCur = cur->getIslandTag();
getSimulationIslandManager()->getUnionFind().unite(tagPrev, tagCur);
}
if (cur && !cur->isStaticOrKinematicObject())
prev = cur;
}
}
}
//merge islands linked by multibody constraints
{
for (int i=0;i<this->m_multiBodyConstraints.size();i++)
{
btMultiBodyConstraint* c = m_multiBodyConstraints[i];
int tagA = c->getIslandIdA();
int tagB = c->getIslandIdB();
if (tagA>=0 && tagB>=0)
getSimulationIslandManager()->getUnionFind().unite(tagA, tagB);
}
}
//Store the island id in each body
getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
}
void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
{
BT_PROFILE("btMultiBodyDynamicsWorld::updateActivationState");
for ( int i=0;i<m_multiBodies.size();i++)
{
btMultiBody* body = m_multiBodies[i];
if (body)
{
body->checkMotionAndSleepIfRequired(timeStep);
if (!body->isAwake())
{
btMultiBodyLinkCollider* col = body->getBaseCollider();
if (col && col->getActivationState() == ACTIVE_TAG)
{
col->setActivationState( WANTS_DEACTIVATION);
col->setDeactivationTime(0.f);
}
for (int b=0;b<body->getNumLinks();b++)
{
btMultiBodyLinkCollider* col = body->getLink(b).m_collider;
if (col && col->getActivationState() == ACTIVE_TAG)
{
col->setActivationState( WANTS_DEACTIVATION);
col->setDeactivationTime(0.f);
}
}
} else
{
btMultiBodyLinkCollider* col = body->getBaseCollider();
if (col && col->getActivationState() != DISABLE_DEACTIVATION)
col->setActivationState( ACTIVE_TAG );
for (int b=0;b<body->getNumLinks();b++)
{
btMultiBodyLinkCollider* col = body->getLink(b).m_collider;
if (col && col->getActivationState() != DISABLE_DEACTIVATION)
col->setActivationState( ACTIVE_TAG );
}
}
}
}
btDiscreteDynamicsWorld::updateActivationState(timeStep);
}
SIMD_FORCE_INLINE int btGetConstraintIslandId2(const btTypedConstraint* lhs)
{
int islandId;
const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag();
return islandId;
}
class btSortConstraintOnIslandPredicate2
{
public:
bool operator() ( const btTypedConstraint* lhs, const btTypedConstraint* rhs ) const
{
int rIslandId0,lIslandId0;
rIslandId0 = btGetConstraintIslandId2(rhs);
lIslandId0 = btGetConstraintIslandId2(lhs);
return lIslandId0 < rIslandId0;
}
};
SIMD_FORCE_INLINE int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint* lhs)
{
int islandId;
int islandTagA = lhs->getIslandIdA();
int islandTagB = lhs->getIslandIdB();
islandId= islandTagA>=0?islandTagA:islandTagB;
return islandId;
}
class btSortMultiBodyConstraintOnIslandPredicate
{
public:
bool operator() ( const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs ) const
{
int rIslandId0,lIslandId0;
rIslandId0 = btGetMultiBodyConstraintIslandId(rhs);
lIslandId0 = btGetMultiBodyConstraintIslandId(lhs);
return lIslandId0 < rIslandId0;
}
};
struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
{
btContactSolverInfo* m_solverInfo;
btMultiBodyConstraintSolver* m_solver;
btMultiBodyConstraint** m_multiBodySortedConstraints;
int m_numMultiBodyConstraints;
btTypedConstraint** m_sortedConstraints;
int m_numConstraints;
btIDebugDraw* m_debugDrawer;
btDispatcher* m_dispatcher;
btAlignedObjectArray<btCollisionObject*> m_bodies;
btAlignedObjectArray<btPersistentManifold*> m_manifolds;
btAlignedObjectArray<btTypedConstraint*> m_constraints;
btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
MultiBodyInplaceSolverIslandCallback( btMultiBodyConstraintSolver* solver,
btDispatcher* dispatcher)
:m_solverInfo(NULL),
m_solver(solver),
m_multiBodySortedConstraints(NULL),
m_numConstraints(0),
m_debugDrawer(NULL),
m_dispatcher(dispatcher)
{
}
MultiBodyInplaceSolverIslandCallback& operator=(MultiBodyInplaceSolverIslandCallback& other)
{
btAssert(0);
(void)other;
return *this;
}
SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer)
{
btAssert(solverInfo);
m_solverInfo = solverInfo;
m_multiBodySortedConstraints = sortedMultiBodyConstraints;
m_numMultiBodyConstraints = numMultiBodyConstraints;
m_sortedConstraints = sortedConstraints;
m_numConstraints = numConstraints;
m_debugDrawer = debugDrawer;
m_bodies.resize (0);
m_manifolds.resize (0);
m_constraints.resize (0);
m_multiBodyConstraints.resize(0);
}
virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId)
{
if (islandId<0)
{
///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
m_solver->solveMultiBodyGroup( bodies,numBodies,manifolds, numManifolds,m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0],m_numConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
} else
{
//also add all non-contact constraints/joints for this island
btTypedConstraint** startConstraint = 0;
btMultiBodyConstraint** startMultiBodyConstraint = 0;
int numCurConstraints = 0;
int numCurMultiBodyConstraints = 0;
int i;
//find the first constraint for this island
for (i=0;i<m_numConstraints;i++)
{
if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
{
startConstraint = &m_sortedConstraints[i];
break;
}
}
//count the number of constraints in this island
for (;i<m_numConstraints;i++)
{
if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
{
numCurConstraints++;
}
}
for (i=0;i<m_numMultiBodyConstraints;i++)
{
if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
{
startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
break;
}
}
//count the number of multi body constraints in this island
for (;i<m_numMultiBodyConstraints;i++)
{
if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
{
numCurMultiBodyConstraints++;
}
}
if (m_solverInfo->m_minimumSolverBatchSize<=1)
{
m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
} else
{
for (i=0;i<numBodies;i++)
m_bodies.push_back(bodies[i]);
for (i=0;i<numManifolds;i++)
m_manifolds.push_back(manifolds[i]);
for (i=0;i<numCurConstraints;i++)
m_constraints.push_back(startConstraint[i]);
for (i=0;i<numCurMultiBodyConstraints;i++)
m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize)
{
processConstraints();
} else
{
//printf("deferred\n");
}
}
}
}
void processConstraints()
{
btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0;
btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0;
btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0;
btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
m_solver->solveMultiBodyGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo,m_debugDrawer,m_dispatcher);
m_bodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
m_multiBodyConstraints.resize(0);
}
};
btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration)
:btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration),
m_multiBodyConstraintSolver(constraintSolver)
{
//split impulse is not yet supported for Featherstone hierarchies
getSolverInfo().m_splitImpulse = false;
getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS;
m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver,dispatcher);
}
btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld ()
{
delete m_solverMultiBodyIslandCallback;
}
void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
{
btAlignedObjectArray<btScalar> scratch_r;
btAlignedObjectArray<btVector3> scratch_v;
btAlignedObjectArray<btMatrix3x3> scratch_m;
BT_PROFILE("solveConstraints");
m_sortedConstraints.resize( m_constraints.size());
int i;
for (i=0;i<getNumConstraints();i++)
{
m_sortedConstraints[i] = m_constraints[i];
}
m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate2());
btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0;
m_sortedMultiBodyConstraints.resize(m_multiBodyConstraints.size());
for (i=0;i<m_multiBodyConstraints.size();i++)
{
m_sortedMultiBodyConstraints[i] = m_multiBodyConstraints[i];
}
m_sortedMultiBodyConstraints.quickSort(btSortMultiBodyConstraintOnIslandPredicate());
btMultiBodyConstraint** sortedMultiBodyConstraints = m_sortedMultiBodyConstraints.size() ? &m_sortedMultiBodyConstraints[0] : 0;
m_solverMultiBodyIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),sortedMultiBodyConstraints,m_sortedMultiBodyConstraints.size(), getDebugDrawer());
m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds());
/// solve all the constraints for this island
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverMultiBodyIslandCallback);
{
BT_PROFILE("btMultiBody addForce and stepVelocities");
for (int i=0;i<this->m_multiBodies.size();i++)
{
btMultiBody* bod = m_multiBodies[i];
bool isSleeping = false;
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
{
isSleeping = true;
}
for (int b=0;b<bod->getNumLinks();b++)
{
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
isSleeping = true;
}
if (!isSleeping)
{
scratch_r.resize(bod->getNumLinks()+1);
scratch_v.resize(bod->getNumLinks()+1);
scratch_m.resize(bod->getNumLinks()+1);
bod->clearForcesAndTorques();
bod->addBaseForce(m_gravity * bod->getBaseMass());
for (int j = 0; j < bod->getNumLinks(); ++j)
{
bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
}
bod->stepVelocities(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
}
}
}
m_solverMultiBodyIslandCallback->processConstraints();
m_constraintSolver->allSolved(solverInfo, m_debugDrawer);
}
void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
{
btDiscreteDynamicsWorld::integrateTransforms(timeStep);
{
BT_PROFILE("btMultiBody stepPositions");
//integrate and update the Featherstone hierarchies
btAlignedObjectArray<btQuaternion> world_to_local;
btAlignedObjectArray<btVector3> local_origin;
for (int b=0;b<m_multiBodies.size();b++)
{
btMultiBody* bod = m_multiBodies[b];
bool isSleeping = false;
if (bod->getBaseCollider() && bod->getBaseCollider()->getActivationState() == ISLAND_SLEEPING)
{
isSleeping = true;
}
for (int b=0;b<bod->getNumLinks();b++)
{
if (bod->getLink(b).m_collider && bod->getLink(b).m_collider->getActivationState()==ISLAND_SLEEPING)
isSleeping = true;
}
if (!isSleeping)
{
int nLinks = bod->getNumLinks();
///base + num links
world_to_local.resize(nLinks+1);
local_origin.resize(nLinks+1);
bod->stepPositions(timeStep);
world_to_local[0] = bod->getWorldToBaseRot();
local_origin[0] = bod->getBasePos();
if (bod->getBaseCollider())
{
btVector3 posr = local_origin[0];
float pos[4]={posr.x(),posr.y(),posr.z(),1};
float quat[4]={-world_to_local[0].x(),-world_to_local[0].y(),-world_to_local[0].z(),world_to_local[0].w()};
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
bod->getBaseCollider()->setWorldTransform(tr);
}
for (int k=0;k<bod->getNumLinks();k++)
{
const int parent = bod->getParent(k);
world_to_local[k+1] = bod->getParentToLocalRot(k) * world_to_local[parent+1];
local_origin[k+1] = local_origin[parent+1] + (quatRotate(world_to_local[k+1].inverse() , bod->getRVector(k)));
}
for (int m=0;m<bod->getNumLinks();m++)
{
btMultiBodyLinkCollider* col = bod->getLink(m).m_collider;
if (col)
{
int link = col->m_link;
btAssert(link == m);
int index = link+1;
btVector3 posr = local_origin[index];
float pos[4]={posr.x(),posr.y(),posr.z(),1};
float quat[4]={-world_to_local[index].x(),-world_to_local[index].y(),-world_to_local[index].z(),world_to_local[index].w()};
btTransform tr;
tr.setIdentity();
tr.setOrigin(posr);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
}
}
} else
{
bod->clearVelocities();
}
}
}
}
void btMultiBodyDynamicsWorld::addMultiBodyConstraint( btMultiBodyConstraint* constraint)
{
m_multiBodyConstraints.push_back(constraint);
}
void btMultiBodyDynamicsWorld::removeMultiBodyConstraint( btMultiBodyConstraint* constraint)
{
m_multiBodyConstraints.remove(constraint);
}

56
extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h vendored Normal file
View File

@@ -0,0 +1,56 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_MULTIBODY_DYNAMICS_WORLD_H
#define BT_MULTIBODY_DYNAMICS_WORLD_H
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
class btMultiBody;
class btMultiBodyConstraint;
class btMultiBodyConstraintSolver;
struct MultiBodyInplaceSolverIslandCallback;
///The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet
///This implementation is still preliminary/experimental.
class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
{
protected:
btAlignedObjectArray<btMultiBody*> m_multiBodies;
btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
btMultiBodyConstraintSolver* m_multiBodyConstraintSolver;
MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback;
virtual void calculateSimulationIslands();
virtual void updateActivationState(btScalar timeStep);
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void integrateTransforms(btScalar timeStep);
public:
btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btMultiBodyDynamicsWorld ();
virtual void addMultiBody(btMultiBody* body, short group= btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter);
virtual void removeMultiBody(btMultiBody* body);
virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint);
virtual void removeMultiBodyConstraint( btMultiBodyConstraint* constraint);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H

133
extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp vendored Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///This file was written by Erwin Coumans
#include "btMultiBodyJointLimitConstraint.h"
#include "btMultiBody.h"
#include "btMultiBodyLinkCollider.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper)
:btMultiBodyConstraint(body,body,link,link,2,true),
m_lowerBound(lower),
m_upperBound(upper)
{
// the data.m_jacobians never change, so may as well
// initialize them here
// note: we rely on the fact that data.m_jacobians are
// always initialized to zero by the Constraint ctor
// row 0: the lower bound
jacobianA(0)[6 + link] = 1;
// row 1: the upper bound
jacobianB(1)[6 + link] = -1;
}
btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint()
{
}
int btMultiBodyJointLimitConstraint::getIslandIdA() const
{
btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
if (col)
return col->getIslandTag();
for (int i=0;i<m_bodyA->getNumLinks();i++)
{
if (m_bodyA->getLink(i).m_collider)
return m_bodyA->getLink(i).m_collider->getIslandTag();
}
return -1;
}
int btMultiBodyJointLimitConstraint::getIslandIdB() const
{
btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)
return col->getIslandTag();
for (int i=0;i<m_bodyB->getNumLinks();i++)
{
col = m_bodyB->getLink(i).m_collider;
if (col)
return col->getIslandTag();
}
return -1;
}
void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal)
{
// only positions need to be updated -- data.m_jacobians and force
// directions were set in the ctor and never change.
// row 0: the lower bound
setPosition(0, m_bodyA->getJointPos(m_linkA) - m_lowerBound);
// row 1: the upper bound
setPosition(1, m_upperBound - m_bodyA->getJointPos(m_linkA));
for (int row=0;row<getNumRows();row++)
{
btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
constraintRow.m_multiBodyA = m_bodyA;
constraintRow.m_multiBodyB = m_bodyB;
btScalar rel_vel = fillConstraintRowMultiBodyMultiBody(constraintRow,data,jacobianA(row),jacobianB(row),infoGlobal,0,-m_maxAppliedImpulse,m_maxAppliedImpulse);
{
btScalar penetration = getPosition(row);
btScalar positionalError = 0.f;
btScalar velocityError = - rel_vel;// * damping;
btScalar erp = infoGlobal.m_erp2;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
erp = infoGlobal.m_erp;
}
if (penetration>0)
{
positionalError = 0;
velocityError = -penetration / infoGlobal.m_timeStep;
} else
{
positionalError = -penetration * erp/infoGlobal.m_timeStep;
}
btScalar penetrationImpulse = positionalError*constraintRow.m_jacDiagABInv;
btScalar velocityImpulse = velocityError *constraintRow.m_jacDiagABInv;
if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold))
{
//combine position and velocity into rhs
constraintRow.m_rhs = penetrationImpulse+velocityImpulse;
constraintRow.m_rhsPenetration = 0.f;
} else
{
//split position and velocity into rhs and m_rhsPenetration
constraintRow.m_rhs = velocityImpulse;
constraintRow.m_rhsPenetration = penetrationImpulse;
}
}
}
}

44
extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h vendored Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
#define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
#include "btMultiBodyConstraint.h"
struct btSolverInfo;
class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint
{
protected:
btScalar m_lowerBound;
btScalar m_upperBound;
public:
btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);
virtual ~btMultiBodyJointLimitConstraint();
virtual int getIslandIdA() const;
virtual int getIslandIdB() const;
virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal);
};
#endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H

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