[Bf-committers] [Bf-blender-cvs] SVN commit: /data/svn/bf-blender [20369] trunk/blender: Set default constraint solver mode more compatible to Blender 2. 48 settings, this fixes rigid body stacking in this blend file:

Campbell Barton ideasman42 at gmail.com
Sun May 24 06:15:28 CEST 2009


Best rename pad3 in DNA, pad's are not meant to be used by blender,
only for alignment.

On Sun, May 24, 2009 at 8:35 AM, Erwin Coumans <blender at erwincoumans.com> wrote:
> Revision: 20369
>          http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20369
> Author:   erwin
> Date:     2009-05-24 00:35:47 +0200 (Sun, 24 May 2009)
>
> Log Message:
> -----------
> Set default constraint solver mode more compatible to Blender 2.48 settings, this fixes rigid body stacking in this blend file:
> http://blenderartists.org/forum/showpost.php?p=1382653&postcount=102
>
> (todo: expose this setting in World setting GUI)
>
> Expose contact processing threshold in Advanced GUI, next to rigid body margin, called CPT.
> Default to 1, makes rigid body stacking a bit more stable, smaller values makes sliding easier (at the cost of easier jittering).
> Disabled for 'dynamic' objects that don't rotate, because characters etc. always need smooth sliding.
>
> Modified Paths:
> --------------
>    trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
>    trunk/blender/source/blender/blenkernel/intern/object.c
>    trunk/blender/source/blender/blenloader/intern/readfile.c
>    trunk/blender/source/blender/makesdna/DNA_object_types.h
>    trunk/blender/source/blender/src/buttons_logic.c
>    trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp
>    trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
>    trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
>    trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
>    trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
>
> Modified: trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
> ===================================================================
> --- trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h      2009-05-23 22:19:25 UTC (rev 20368)
> +++ trunk/blender/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h      2009-05-23 22:35:47 UTC (rev 20369)
> @@ -77,7 +77,7 @@
>                m_splitImpulsePenetrationThreshold = -0.02f;
>                m_linearSlop = btScalar(0.0);
>                m_warmstartingFactor=btScalar(0.85);
> -               m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD ;//SOLVER_RANDMIZE_ORDER
> +               m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_USE_2_FRICTION_DIRECTIONS |SOLVER_SIMD | SOLVER_RANDMIZE_ORDER;
>                m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
>        }
>  };
>
> Modified: trunk/blender/source/blender/blenkernel/intern/object.c
> ===================================================================
> --- trunk/blender/source/blender/blenkernel/intern/object.c     2009-05-23 22:19:25 UTC (rev 20368)
> +++ trunk/blender/source/blender/blenkernel/intern/object.c     2009-05-23 22:35:47 UTC (rev 20369)
> @@ -984,6 +984,8 @@
>        ob->anisotropicFriction[2] = 1.0f;
>        ob->gameflag= OB_PROP|OB_COLLISION;
>        ob->margin = 0.0;
> +       /* ob->pad3 == Contact Processing Threshold */
> +       ob->pad3 = 1.;
>
>        /* NT fluid sim defaults */
>        ob->fluidsimFlag = 0;
>
> Modified: trunk/blender/source/blender/blenloader/intern/readfile.c
> ===================================================================
> --- trunk/blender/source/blender/blenloader/intern/readfile.c   2009-05-23 22:19:25 UTC (rev 20368)
> +++ trunk/blender/source/blender/blenloader/intern/readfile.c   2009-05-23 22:35:47 UTC (rev 20369)
> @@ -8083,7 +8083,7 @@
>                /* Adjustments needed after Bullets update */
>                for(ob = main->object.first; ob; ob= ob->id.next) {
>                        ob->damping *= 0.635f;
> -                       ob->rdamping = 0.1 + (0.59f * ob->rdamping);
> +                       ob->rdamping = 0.1 + (0.8f * ob->rdamping);
>                }
>        }
>
> @@ -8105,11 +8105,12 @@
>                        wrld->occlusionRes = 128;
>                }
>        }
> -
> +
>        if (main->versionfile < 248 || (main->versionfile == 248 && main->subversionfile < 5)) {
>                Object *ob;
>                World *wrld;
>                for(ob = main->object.first; ob; ob= ob->id.next) {
> +                       ob->pad3 = 1.; //pad3 is used for m_contactProcessingThreshold
>                        if(ob->parent) {
>                                /* check if top parent has compound shape set and if yes, set this object
>                                   to compound shaper as well (was the behaviour before, now it's optional) */
>
> Modified: trunk/blender/source/blender/makesdna/DNA_object_types.h
> ===================================================================
> --- trunk/blender/source/blender/makesdna/DNA_object_types.h    2009-05-23 22:19:25 UTC (rev 20368)
> +++ trunk/blender/source/blender/makesdna/DNA_object_types.h    2009-05-23 22:35:47 UTC (rev 20369)
> @@ -159,7 +159,7 @@
>        float margin;
>        float max_vel; /* clamp the maximum velocity 0.0 is disabled */
>        float min_vel; /* clamp the maximum velocity 0.0 is disabled */
> -       float pad3; /* clamp the maximum velocity 0.0 is disabled */
> +       float pad3; /* pad3 is now used for m_contactProcessingThreshold, can we still rename it? */
>
>        char dt, dtx;
>        char totcol;    /* copy of mesh or curve or meta */
>
> Modified: trunk/blender/source/blender/src/buttons_logic.c
> ===================================================================
> --- trunk/blender/source/blender/src/buttons_logic.c    2009-05-23 22:19:25 UTC (rev 20368)
> +++ trunk/blender/source/blender/src/buttons_logic.c    2009-05-23 22:35:47 UTC (rev 20369)
> @@ -3198,11 +3198,17 @@
>                        uiDefButF(block, NUM, 0, "Margin",
>                                        xco, yco, 180, 19, &ob->margin, 0.001, 1.0, 1, 0,
>                                        "Collision margin");
> +
>
> -                       yco -= 20;
>
>                        if (ob->gameflag & OB_RIGID_BODY)
>                        {
> +                               uiDefButF(block, NUM, 0, "CPT",
> +                                       xco+180, yco, 180, 19, &ob->pad3, 0.00, 1., 1, 0,
> +                                       "Contact Processing Threshold");
> +
> +                               yco -= 20;
> +
>                                uiDefButBitI(block, TOG, OB_LOCK_RIGID_BODY_X_AXIS, 0, "Lock X Axis",
>                                        xco, yco, 180, 19, &ob->gameflag2, 0, 0, 0, 0,
>                                        "Disable simulation of linear motion along the X axis");
> @@ -3226,8 +3232,9 @@
>                                uiDefButBitI(block, TOG, OB_LOCK_RIGID_BODY_Z_ROT_AXIS, 0, "Lock Z Rot Axis",
>                                        xco+=180, yco, 180, 19, &ob->gameflag2, 0, 0, 0, 0,
>                                        "Disable simulation of angular motion along the Z axis");
> -                               yco -= 20;
>                        }
> +
> +                       yco -= 20;
>                        xco = 0;
>
>                        uiBlockEndAlign(block);
> @@ -3279,6 +3286,10 @@
>                        uiDefButF(block, NUM, 0, "Margin",
>                                        xco, yco, 180, 19, &ob->margin, 0.0, 1.0, 1, 0,
>                                        "Collision margin");
> +                       uiDefButF(block, NUM, 0, "CPT",
> +                               xco+180, yco, 180, 19, &ob->pad3, 0.00, 1., 1, 0,
> +                               "Contact Processing Threshold");
> +
>                }
>                yco -= 20;
>                xco = 0;
>
> Modified: trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp
> ===================================================================
> --- trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp      2009-05-23 22:19:25 UTC (rev 20368)
> +++ trunk/blender/source/gameengine/Converter/BL_BlenderDataConversion.cpp      2009-05-23 22:35:47 UTC (rev 20369)
> @@ -1412,11 +1412,22 @@
>        objprop.m_isCompoundChild = isCompoundChild;
>        objprop.m_hasCompoundChildren = hasCompoundChildren;
>        objprop.m_margin = blenderobject->margin;
> +
>        // ACTOR is now a separate feature
>        objprop.m_isactor = (blenderobject->gameflag & OB_ACTOR)!=0;
>        objprop.m_dyna = (blenderobject->gameflag & OB_DYNAMIC) != 0;
>        objprop.m_softbody = (blenderobject->gameflag & OB_SOFT_BODY) != 0;
>        objprop.m_angular_rigidbody = (blenderobject->gameflag & OB_RIGID_BODY) != 0;
> +
> +       ///contact processing threshold is only for rigid bodies and static geometry, not 'dynamic'
> +       if (objprop.m_angular_rigidbody || !objprop.m_dyna )
> +       {
> +               objprop.m_contactProcessingThreshold = blenderobject->pad3;
> +       } else
> +       {
> +               objprop.m_contactProcessingThreshold = 0.f;
> +       }
> +
>        objprop.m_sensor = (blenderobject->gameflag & OB_SENSOR) != 0;
>
>        if (objprop.m_softbody)
> @@ -1461,6 +1472,7 @@
>                        objprop.m_soft_numclusteriterations= blenderobject->bsoft->numclusteriterations;        /* number of iterations to refine collision clusters*/
>                        objprop.m_soft_welding = blenderobject->bsoft->welding;         /* welding */
>                        objprop.m_margin = blenderobject->bsoft->margin;
> +                       objprop.m_contactProcessingThreshold = 0.f;
>                } else
>                {
>                        objprop.m_gamesoftFlag = OB_BSB_BENDING_CONSTRAINTS | OB_BSB_SHAPE_MATCHING | OB_BSB_AERO_VPOINT;
> @@ -1501,6 +1513,7 @@
>                        objprop.m_soft_numclusteriterations= 16;
>                        objprop.m_soft_welding = 0.f;
>                        objprop.m_margin = 0.f;
> +                       objprop.m_contactProcessingThreshold = 0.f;
>                }
>        }
>
>
> Modified: trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h
> ===================================================================
> --- trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h    2009-05-23 22:19:25 UTC (rev 20368)
> +++ trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObject.h    2009-05-23 22:35:47 UTC (rev 20369)
> @@ -139,6 +139,8 @@
>
>        /////////////////////////
>        double  m_margin;
> +       float   m_contactProcessingThreshold;
> +
>        KX_BoundBoxClass        m_boundclass;
>        union {
>                KX_BoxBounds    box;
>
> Modified: trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp
> ===================================================================
> --- trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp 2009-05-23 22:19:25 UTC (rev 20368)
> +++ trunk/blender/source/gameengine/Ketsji/KX_ConvertPhysicsObjects.cpp 2009-05-23 22:35:47 UTC (rev 20369)
> @@ -1103,6 +1103,8 @@
>                (isbulletdyna) ? short(CcdConstructionInfo::AllFilter) :
>                short(CcdConstructionInfo::AllFilter ^ CcdConstructionInfo::StaticFilter);
>        ci.m_bRigid = objprop->m_dyna && objprop->m_angular_rigidbody;
> +
> +       ci.m_contactProcessingThreshold = objprop->m_contactProcessingThreshold;//todo: expose this in advanced settings, just like margin, default to 10000 or so
>        ci.m_bSoft = objprop->m_softbody;
>        ci.m_bSensor = isbulletsensor;
>        MT_Vector3 scaling = gameobj->NodeGetWorldScaling();
>
> Modified: trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
> ===================================================================
> --- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp     2009-05-23 22:19:25 UTC (rev 20368)
> +++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp     2009-05-23 22:35:47 UTC (rev 20369)
> @@ -519,6 +519,8 @@
>                {
>                        body->setAngularFactor(0.f);
>                }
> +               body->setContactProcessingThreshold(m_cci.m_contactProcessingThreshold);
> +
>        }
>        if (m_object && m_cci.m_do_anisotropic)
>        {
>
> Modified: trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h
> ===================================================================
> --- trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h       2009-05-23 22:19:25 UTC (rev 20368)
> +++ trunk/blender/source/gameengine/Physics/Bullet/CcdPhysicsController.h       2009-05-23 22:35:47 UTC (rev 20369)
> @@ -231,7 +231,8 @@
>                m_physicsEnv(0),
>                m_inertiaFactor(1.f),
>                m_do_anisotropic(false),
> -               m_anisotropicFriction(1.f,1.f,1.f)
> +               m_anisotropicFriction(1.f,1.f,1.f),
> +               m_contactProcessingThreshold(1e10)
>        {
>        }
>
> @@ -317,6 +318,13 @@
>        btScalar        m_fh_distance;           ///< The range above the surface where Fh is active.
>        bool            m_fh_normal;             ///< Should the object slide off slopes?
>        float           m_radius;//for fh backwards compatibility
> +
> +       ///m_contactProcessingThreshold allows to process contact points with positive distance
> +       ///normally only contacts with negative distance (penetration) are solved
> +       ///however, rigid body stacking is more stable when positive contacts are still passed into the constraint solver
> +       ///this might sometimes lead to collisions with 'internal edges' such as a sliding character controller
> +       ///so disable/set m_contactProcessingThreshold to zero for sliding characters etc.
> +       float           m_contactProcessingThreshold;///< Process contacts with positive distance in range [0..INF]
>
>  };
>
>
>
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-- 
- Campbell


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