PfxInt32 BulletWriteWarmstartContactConstraints(PfxSetupContactConstraintsParam ¶m)
{
// PfxInt32 ret = pfxCheckParamOfSetupContactConstraints(param);
//if(ret != SCE_PFX_OK) return ret;
SCE_PFX_PUSH_MARKER("pfxSetupContactConstraints");
PfxConstraintPair *contactPairs = param.contactPairs;
PfxUInt32 numContactPairs = param.numContactPairs;
PfxContactManifold *offsetContactManifolds = param.offsetContactManifolds;
PfxRigidState *offsetRigidStates = param.offsetRigidStates;
PfxRigidBody *offsetRigidBodies = param.offsetRigidBodies;
PfxSolverBody *offsetSolverBodies = param.offsetSolverBodies;
for(PfxUInt32 i=0;i<numContactPairs;i++)
{
PfxConstraintPair &pair = contactPairs[i];
PfxUInt16 iA = pfxGetObjectIdA(pair);
PfxUInt16 iB = pfxGetObjectIdB(pair);
PfxUInt32 iConstraint = pfxGetConstraintId(pair);
PfxContactManifold &contact = offsetContactManifolds[iConstraint];
btPersistentManifold& manifold = manifolds[i];
for (int c=0;c<manifold.m_cachedPoints;c++)
{
contact.getContactPoint(c).m_constraintRow[0].m_accumImpulse = manifold.m_pointCache[c].m_appliedImpulse;
contact.getContactPoint(c).m_constraintRow[1].m_accumImpulse = manifold.m_pointCache[c].m_appliedImpulseLateral1;
contact.getContactPoint(c).m_constraintRow[2].m_accumImpulse = manifold.m_pointCache[c].m_appliedImpulseLateral2;
}
}
return 0;
}
void collision()
{
unsigned int numCurrentPairs = numPairs[pairSwap];
PfxBroadphasePair *currentPairs = pairsBuff[pairSwap];
//J 衝突検出
//E Detect collisions
{
PfxDetectCollisionParam param;
param.contactPairs = currentPairs;
param.numContactPairs = numCurrentPairs;
param.offsetContactManifolds = contacts;
param.offsetRigidStates = states;
param.offsetCollidables = collidables;
param.numRigidBodies = numRigidBodies;
int ret = pfxDetectCollision(param);
if(ret != SCE_PFX_OK) SCE_PFX_PRINTF("pfxDetectCollision failed %d\n",ret);
}
curTotalContacts = 0;
for(PfxUInt32 i=0;i<numCurrentPairs;i++) {
PfxConstraintPair &pair = currentPairs[i];
PfxUInt16 iA = pfxGetObjectIdA(pair);
PfxUInt16 iB = pfxGetObjectIdB(pair);
PfxUInt32 iConstraint = pfxGetConstraintId(pair);
PfxContactManifold &contact = contacts[iConstraint];
curTotalContacts += contact.getNumContacts();
}
//J リフレッシュ
//E Refresh contacts
{
PfxRefreshContactsParam param;
param.contactPairs = currentPairs;
param.numContactPairs = numCurrentPairs;
param.offsetContactManifolds = contacts;
param.offsetRigidStates = states;
param.numRigidBodies = numRigidBodies;
int ret = pfxRefreshContacts(param);
if(ret != SCE_PFX_OK) SCE_PFX_PRINTF("pfxRefreshContacts failed %d\n",ret);
}
}
const PfxContactManifold &physics_get_contact(int id)
{
return contacts[pfxGetConstraintId(pairs[id])];
}
PfxInt32 BulletSetupContactConstraints(PfxSetupContactConstraintsParam ¶m)
{
// PfxInt32 ret = pfxCheckParamOfSetupContactConstraints(param);
//if(ret != SCE_PFX_OK) return ret;
SCE_PFX_PUSH_MARKER("pfxSetupContactConstraints");
PfxConstraintPair *contactPairs = param.contactPairs;
PfxUInt32 numContactPairs = param.numContactPairs;
PfxContactManifold *offsetContactManifolds = param.offsetContactManifolds;
PfxRigidState *offsetRigidStates = param.offsetRigidStates;
PfxRigidBody *offsetRigidBodies = param.offsetRigidBodies;
PfxSolverBody *offsetSolverBodies = param.offsetSolverBodies;
manifolds.resize(0);
for(PfxUInt32 i=0;i<numContactPairs;i++) {
PfxConstraintPair &pair = contactPairs[i];
// if(!sce::PhysicsEffects::pfxCheckSolver(pair)) {
// continue;
//}
PfxUInt16 iA = pfxGetObjectIdA(pair);
PfxUInt16 iB = pfxGetObjectIdB(pair);
PfxUInt32 iConstraint = pfxGetConstraintId(pair);
PfxContactManifold &contact = offsetContactManifolds[iConstraint];
btPersistentManifold& manifold = manifolds.expand();
memset(&manifold,0xff,sizeof(btPersistentManifold));
manifold.m_body0 = &rbs[iA];
manifold.m_body1 = &rbs[iB];
manifold.m_cachedPoints = contact.getNumContacts();
if (!contact.getNumContacts())
continue;
SCE_PFX_ALWAYS_ASSERT(iA==contact.getRigidBodyIdA());
SCE_PFX_ALWAYS_ASSERT(iB==contact.getRigidBodyIdB());
PfxRigidState &stateA = offsetRigidStates[iA];
PfxRigidBody &bodyA = offsetRigidBodies[iA];
PfxSolverBody &solverBodyA = offsetSolverBodies[iA];
PfxRigidState &stateB = offsetRigidStates[iB];
PfxRigidBody &bodyB = offsetRigidBodies[iB];
PfxSolverBody &solverBodyB = offsetSolverBodies[iB];
contact.setInternalFlag(0);
PfxFloat restitution = 0.5f * (bodyA.getRestitution() + bodyB.getRestitution());
if(contact.getDuration() > 1) restitution = 0.0f;
PfxFloat friction = sqrtf(bodyA.getFriction() * bodyB.getFriction());
manifold.m_cachedPoints = contact.getNumContacts();
manifold.m_contactProcessingThreshold = 0.01f;//SCE_PFX_CONTACT_THRESHOLD_NORMAL;
manifold.m_contactBreakingThreshold = 0.01f;
for(int j=0;j<contact.getNumContacts();j++) {
PfxContactPoint &cp = contact.getContactPoint(j);
PfxVector3 ptA = pfxReadVector3(cp.m_localPointA);
manifold.m_pointCache[j].m_localPointA.setValue(ptA.getX(),ptA.getY(),ptA.getZ());
PfxVector3 ptB = pfxReadVector3(cp.m_localPointB);
manifold.m_pointCache[j].m_localPointB.setValue(ptB.getX(),ptB.getY(),ptB.getZ());
manifold.m_pointCache[j].m_normalWorldOnB.setValue(
cp.m_constraintRow[0].m_normal[0],
cp.m_constraintRow[0].m_normal[1],
cp.m_constraintRow[0].m_normal[2]);
manifold.m_pointCache[j].m_distance1 = cp.m_distance1;
manifold.m_pointCache[j].m_combinedFriction = friction;
manifold.m_pointCache[j].m_combinedRestitution = restitution;
manifold.m_pointCache[j].m_appliedImpulse = cp.m_constraintRow[0].m_accumImpulse;
manifold.m_pointCache[j].m_lateralFrictionDir1.setValue(
cp.m_constraintRow[1].m_normal[0],
cp.m_constraintRow[1].m_normal[1],
cp.m_constraintRow[1].m_normal[2]);
manifold.m_pointCache[j].m_appliedImpulseLateral1 = cp.m_constraintRow[1].m_accumImpulse;
manifold.m_pointCache[j].m_lateralFrictionDir2.setValue(
cp.m_constraintRow[2].m_normal[0],
cp.m_constraintRow[2].m_normal[1],
cp.m_constraintRow[2].m_normal[2]);
manifold.m_pointCache[j].m_appliedImpulseLateral2 = cp.m_constraintRow[2].m_accumImpulse;
manifold.m_pointCache[j].m_lateralFrictionInitialized = true;
manifold.m_pointCache[j].m_lifeTime = cp.m_duration;
btTransform trA = manifold.m_body0->getWorldTransform();
btTransform trB = manifold.m_body1->getWorldTransform();
manifold.m_pointCache[j].m_positionWorldOnA = trA( manifold.m_pointCache[j].m_localPointA );
manifold.m_pointCache[j].m_positionWorldOnB = trB( manifold.m_pointCache[j].m_localPointB );
//btVector3 m_localPointA;
//btVector3 m_localPointB;
//btVector3 m_positionWorldOnB;
//m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
//btVector3 m_positionWorldOnA;
/*
pfxSetupContactConstraint(
cp.m_constraintRow[0],
cp.m_constraintRow[1],
cp.m_constraintRow[2],
cp.m_distance,
restitution,
friction,
pfxReadVector3(cp.m_constraintRow[0].m_normal),
pfxReadVector3(cp.m_localPointA),
pfxReadVector3(cp.m_localPointB),
stateA,
stateB,
solverBodyA,
solverBodyB,
param.separateBias,
param.timeStep
);
*/
}
contact.setCompositeFriction(friction);
}
SCE_PFX_POP_MARKER();
return SCE_PFX_OK;
}
