Examples with ManifoldPoint spacegraph.space3d.phys.collision.narrow.ManifoldPoint used on opensource projects

Example 1 with ManifoldPoint

use of spacegraph.space3d.phys.collision.narrow.ManifoldPoint in project narchy by automenta.

the class SequentialImpulseConstrainer method solveGroupCacheFriendlySetup.

public float solveGroupCacheFriendlySetup(Collection<Collidable> bodies, int numBodies, FasterList<PersistentManifold> manifoldPtr, int manifold_offset, int numManifolds, FasterList<TypedConstraint> constraints, int constraints_offset, int numConstraints, ContactSolverInfo infoGlobal) /*,btStackAlloc* stackAlloc*/
{
    if ((numConstraints + numManifolds) == 0) {
        // printf("empty\n");
        return 0f;
    }
    PersistentManifold manifold = null;
    Collidable colObj0 = null, colObj1 = null;
    // btRigidBody* rb0=0,*rb1=0;
    // //#ifdef FORCE_REFESH_CONTACT_MANIFOLDS
    // 
    // BEGIN_PROFILE("refreshManifolds");
    // 
    // int i;
    // 
    // 
    // 
    // for (i=0;i<numManifolds;i++)
    // {
    // manifold = manifoldPtr[i];
    // rb1 = (btRigidBody*)manifold->getBody1();
    // rb0 = (btRigidBody*)manifold->getBody0();
    // 
    // manifold->refreshContactPoints(rb0->getCenterOfMassTransform(),rb1->getCenterOfMassTransform());
    // 
    // }
    // 
    // END_PROFILE("refreshManifolds");
    // //#endif //FORCE_REFESH_CONTACT_MANIFOLDS
    // int sizeofSB = sizeof(btSolverBody);
    // int sizeofSC = sizeof(btSolverConstraint);
    // if (1)
    // if m_stackAlloc, try to pack bodies/constraints to speed up solving
    // btBlock*					sablock;
    // sablock = stackAlloc->beginBlock();
    // int memsize = 16;
    // unsigned char* stackMemory = stackAlloc->allocate(memsize);
    // todo: use stack allocator for this temp memory
    // int minReservation = numManifolds * 2;
    // m_tmpSolverBodyPool.reserve(minReservation);
    // don't convert all bodies, only the one we need so solver the constraints
    /*
				{
				for (int i=0;i<numBodies;i++)
				{
				btRigidBody* rb = btRigidBody::upcast(bodies[i]);
				if (rb && 	(rb->getIslandTag() >= 0))
				{
				btAssert(rb->getCompanionId() < 0);
				int solverBodyId = m_tmpSolverBodyPool.size();
				btSolverBody& solverBody = m_tmpSolverBodyPool.expand();
				initSolverBody(&solverBody,rb);
				rb->setCompanionId(solverBodyId);
				}
				}
				}
				*/
    // m_tmpSolverConstraintPool.reserve(minReservation);
    // m_tmpSolverFrictionConstraintPool.reserve(minReservation);
    {
        int i;
        v3 rel_pos1 = new v3();
        v3 rel_pos2 = new v3();
        v3 pos1 = new v3();
        v3 pos2 = new v3();
        v3 vel = new v3();
        v3 torqueAxis0 = new v3();
        v3 torqueAxis1 = new v3();
        v3 vel1 = new v3();
        v3 vel2 = new v3();
        // Vector3f frictionDir1 = new Vector3f();
        // Vector3f frictionDir2 = new Vector3f();
        v3 vec = new v3();
        Matrix3f tmpMat = new Matrix3f();
        for (i = 0; i < numManifolds; i++) {
            // return array[index];
            manifold = manifoldPtr.get(manifold_offset + i);
            colObj0 = (Collidable) manifold.getBody0();
            colObj1 = (Collidable) manifold.getBody1();
            int solverBodyIdA = -1;
            int solverBodyIdB = -1;
            if (manifold.numContacts() != 0) {
                if (colObj0.tag() >= 0) {
                    if (colObj0.getCompanionId() >= 0) {
                        // body has already been converted
                        solverBodyIdA = colObj0.getCompanionId();
                    } else {
                        solverBodyIdA = tmpSolverBodyPool.size();
                        SolverBody solverBody = new SolverBody();
                        tmpSolverBodyPool.add(solverBody);
                        initSolverBody(solverBody, colObj0);
                        colObj0.setCompanionId(solverBodyIdA);
                    }
                } else {
                    // create a static body
                    solverBodyIdA = tmpSolverBodyPool.size();
                    SolverBody solverBody = new SolverBody();
                    tmpSolverBodyPool.add(solverBody);
                    initSolverBody(solverBody, colObj0);
                }
                if (colObj1.tag() >= 0) {
                    if (colObj1.getCompanionId() >= 0) {
                        solverBodyIdB = colObj1.getCompanionId();
                    } else {
                        solverBodyIdB = tmpSolverBodyPool.size();
                        SolverBody solverBody = new SolverBody();
                        tmpSolverBodyPool.add(solverBody);
                        initSolverBody(solverBody, colObj1);
                        colObj1.setCompanionId(solverBodyIdB);
                    }
                } else {
                    // create a static body
                    solverBodyIdB = tmpSolverBodyPool.size();
                    SolverBody solverBody = new SolverBody();
                    tmpSolverBodyPool.add(solverBody);
                    initSolverBody(solverBody, colObj1);
                }
            }
            float relaxation;
            for (int j = 0; j < manifold.numContacts(); j++) {
                ManifoldPoint cp = manifold.getContactPoint(j);
                if (cp.distance1 <= 0f) {
                    cp.getPositionWorldOnA(pos1);
                    cp.getPositionWorldOnB(pos2);
                    rel_pos1.sub(pos1, colObj0.transform);
                    rel_pos2.sub(pos2, colObj1.transform);
                    relaxation = 1f;
                    float rel_vel;
                    int frictionIndex = tmpSolverConstraintPool.size();
                    SolverConstraint solverConstraint = new SolverConstraint();
                    tmpSolverConstraintPool.add(solverConstraint);
                    Body3D rb0 = Body3D.ifDynamic(colObj0);
                    Body3D rb1 = Body3D.ifDynamic(colObj1);
                    solverConstraint.solverBodyIdA = solverBodyIdA;
                    solverConstraint.solverBodyIdB = solverBodyIdB;
                    solverConstraint.constraintType = SolverConstraint.SolverConstraintType.SOLVER_CONTACT_1D;
                    solverConstraint.originalContactPoint = cp;
                    torqueAxis0.cross(rel_pos1, cp.normalWorldOnB);
                    if (rb0 != null) {
                        solverConstraint.angularComponentA.set(torqueAxis0);
                        rb0.getInvInertiaTensorWorld(tmpMat).transform(solverConstraint.angularComponentA);
                    } else {
                        solverConstraint.angularComponentA.set(0f, 0f, 0f);
                    }
                    torqueAxis1.cross(rel_pos2, cp.normalWorldOnB);
                    if (rb1 != null) {
                        solverConstraint.angularComponentB.set(torqueAxis1);
                        rb1.getInvInertiaTensorWorld(tmpMat).transform(solverConstraint.angularComponentB);
                    } else {
                        solverConstraint.angularComponentB.set(0f, 0f, 0f);
                    }
                    // #ifdef COMPUTE_IMPULSE_DENOM
                    // btScalar denom0 = rb0->computeImpulseDenominator(pos1,cp.m_normalWorldOnB);
                    // btScalar denom1 = rb1->computeImpulseDenominator(pos2,cp.m_normalWorldOnB);
                    // #else
                    float denom0 = 0f;
                    float denom1 = 0f;
                    if (rb0 != null) {
                        vec.cross(solverConstraint.angularComponentA, rel_pos1);
                        denom0 = rb0.getInvMass() + cp.normalWorldOnB.dot(vec);
                    }
                    if (rb1 != null) {
                        vec.cross(solverConstraint.angularComponentB, rel_pos2);
                        denom1 = rb1.getInvMass() + cp.normalWorldOnB.dot(vec);
                    }
                    // #endif //COMPUTE_IMPULSE_DENOM
                    float denom = relaxation / (denom0 + denom1);
                    solverConstraint.jacDiagABInv = denom;
                    solverConstraint.contactNormal.set(cp.normalWorldOnB);
                    solverConstraint.relpos1CrossNormal.cross(rel_pos1, cp.normalWorldOnB);
                    solverConstraint.relpos2CrossNormal.cross(rel_pos2, cp.normalWorldOnB);
                    if (rb0 != null) {
                        rb0.getVelocityInLocalPoint(rel_pos1, vel1);
                    } else {
                        vel1.zero();
                    }
                    if (rb1 != null) {
                        rb1.getVelocityInLocalPoint(rel_pos2, vel2);
                    } else {
                        vel2.zero();
                    }
                    vel.sub(vel1, vel2);
                    rel_vel = cp.normalWorldOnB.dot(vel);
                    solverConstraint.penetration = Math.min(cp.distance1 + infoGlobal.linearSlop, 0f);
                    // solverConstraint.m_penetration = cp.getDistance();
                    solverConstraint.friction = cp.combinedFriction;
                    solverConstraint.restitution = restitutionCurve(rel_vel, cp.combinedRestitution);
                    if (solverConstraint.restitution <= 0f) {
                        solverConstraint.restitution = 0f;
                    }
                    float penVel = -solverConstraint.penetration / infoGlobal.timeStep;
                    if (solverConstraint.restitution > penVel) {
                        solverConstraint.penetration = 0f;
                    }
                    v3 tmp = new v3();
                    // warm starting (or zero if disabled)
                    if ((infoGlobal.solverMode & SolverMode.SOLVER_USE_WARMSTARTING) != 0) {
                        solverConstraint.appliedImpulse = cp.appliedImpulse * infoGlobal.warmstartingFactor;
                        if (rb0 != null) {
                            tmp.scale(rb0.getInvMass(), solverConstraint.contactNormal);
                            // return array[index];
                            tmpSolverBodyPool.get(solverConstraint.solverBodyIdA).internalApplyImpulse(tmp, solverConstraint.angularComponentA, solverConstraint.appliedImpulse);
                        }
                        if (rb1 != null) {
                            tmp.scale(rb1.getInvMass(), solverConstraint.contactNormal);
                            // return array[index];
                            tmpSolverBodyPool.get(solverConstraint.solverBodyIdB).internalApplyImpulse(tmp, solverConstraint.angularComponentB, -solverConstraint.appliedImpulse);
                        }
                    } else {
                        solverConstraint.appliedImpulse = 0f;
                    }
                    solverConstraint.appliedPushImpulse = 0f;
                    solverConstraint.frictionIndex = tmpSolverFrictionConstraintPool.size();
                    if (!cp.lateralFrictionInitialized) {
                        cp.lateralFrictionDir1.scale(rel_vel, cp.normalWorldOnB);
                        cp.lateralFrictionDir1.sub(vel, cp.lateralFrictionDir1);
                        float lat_rel_vel = cp.lateralFrictionDir1.lengthSquared();
                        if (// 0.0f)
                        lat_rel_vel > BulletGlobals.FLT_EPSILON) {
                            cp.lateralFrictionDir1.scale(1f / (float) Math.sqrt(lat_rel_vel));
                            addFrictionConstraint(cp.lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
                            cp.lateralFrictionDir2.cross(cp.lateralFrictionDir1, cp.normalWorldOnB);
                            // ??
                            cp.lateralFrictionDir2.normalize();
                            addFrictionConstraint(cp.lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
                        } else {
                            // re-calculate friction direction every frame, todo: check if this is really needed
                            TransformUtil.planeSpace1(cp.normalWorldOnB, cp.lateralFrictionDir1, cp.lateralFrictionDir2);
                            addFrictionConstraint(cp.lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
                            addFrictionConstraint(cp.lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
                        }
                        cp.lateralFrictionInitialized = true;
                    } else {
                        addFrictionConstraint(cp.lateralFrictionDir1, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
                        addFrictionConstraint(cp.lateralFrictionDir2, solverBodyIdA, solverBodyIdB, frictionIndex, cp, rel_pos1, rel_pos2, colObj0, colObj1, relaxation);
                    }
                    // return array[index];
                    SolverConstraint frictionConstraint1 = tmpSolverFrictionConstraintPool.get(solverConstraint.frictionIndex);
                    if ((infoGlobal.solverMode & SolverMode.SOLVER_USE_WARMSTARTING) != 0) {
                        frictionConstraint1.appliedImpulse = cp.appliedImpulseLateral1 * infoGlobal.warmstartingFactor;
                        if (rb0 != null) {
                            tmp.scale(rb0.getInvMass(), frictionConstraint1.contactNormal);
                            // return array[index];
                            tmpSolverBodyPool.get(solverConstraint.solverBodyIdA).internalApplyImpulse(tmp, frictionConstraint1.angularComponentA, frictionConstraint1.appliedImpulse);
                        }
                        if (rb1 != null) {
                            tmp.scale(rb1.getInvMass(), frictionConstraint1.contactNormal);
                            // return array[index];
                            tmpSolverBodyPool.get(solverConstraint.solverBodyIdB).internalApplyImpulse(tmp, frictionConstraint1.angularComponentB, -frictionConstraint1.appliedImpulse);
                        }
                    } else {
                        frictionConstraint1.appliedImpulse = 0f;
                    }
                    // return array[index];
                    SolverConstraint frictionConstraint2 = tmpSolverFrictionConstraintPool.get(solverConstraint.frictionIndex + 1);
                    if ((infoGlobal.solverMode & SolverMode.SOLVER_USE_WARMSTARTING) != 0) {
                        frictionConstraint2.appliedImpulse = cp.appliedImpulseLateral2 * infoGlobal.warmstartingFactor;
                        if (rb0 != null) {
                            tmp.scale(rb0.getInvMass(), frictionConstraint2.contactNormal);
                            // return array[index];
                            tmpSolverBodyPool.get(solverConstraint.solverBodyIdA).internalApplyImpulse(tmp, frictionConstraint2.angularComponentA, frictionConstraint2.appliedImpulse);
                        }
                        if (rb1 != null) {
                            tmp.scale(rb1.getInvMass(), frictionConstraint2.contactNormal);
                            // return array[index];
                            tmpSolverBodyPool.get(solverConstraint.solverBodyIdB).internalApplyImpulse(tmp, frictionConstraint2.angularComponentB, -frictionConstraint2.appliedImpulse);
                        }
                    } else {
                        frictionConstraint2.appliedImpulse = 0f;
                    }
                }
            }
        }
    }
    // TODO: btContactSolverInfo info = infoGlobal;
    int j;
    for (j = 0; j < numConstraints; j++) {
        constraints.get(constraints_offset + j).buildJacobian();
    }
    // int j;
    // for (j = 0; j < numConstraints; j++) {
    // constraints.get(constraints_offset + j).getInfo2(infoGlobal);
    // }
    int numConstraintPool = tmpSolverConstraintPool.size();
    int numFrictionPool = tmpSolverFrictionConstraintPool.size();
    // todo: use stack allocator for such temporarily memory, same for solver bodies/constraints
    MiscUtil.resize(orderTmpConstraintPool, numConstraintPool, 0);
    MiscUtil.resize(orderFrictionConstraintPool, numFrictionPool, 0);
    int i;
    for (i = 0; i < numConstraintPool; i++) {
        orderTmpConstraintPool.setBoth(i);
    }
    for (i = 0; i < numFrictionPool; i++) {
        orderFrictionConstraintPool.setBoth(i);
    }
    return 0f;
}

Example 2 with ManifoldPoint

use of spacegraph.space3d.phys.collision.narrow.ManifoldPoint in project narchy by automenta.

the class ManifoldResult method addContactPoint.

@Override
public void addContactPoint(v3 normalOnBInWorld, v3 pointInWorld, float depth, float breakingThresh) {
    assert (manifoldPtr != null);
    if (depth > breakingThresh) {
        return;
    }
    boolean isSwapped = manifoldPtr.getBody0() != body0;
    v3 pointA = new v3();
    pointA.scaleAdd(depth, normalOnBInWorld, pointInWorld);
    v3 localA = new v3();
    v3 localB = new v3();
    if (isSwapped) {
        rootTransB.invXform(pointA, localA);
        rootTransA.invXform(pointInWorld, localB);
    } else {
        rootTransA.invXform(pointA, localA);
        rootTransB.invXform(pointInWorld, localB);
    }
    ManifoldPoint newPt = new ManifoldPoint();
    newPt.init(localA, localB, normalOnBInWorld, depth);
    newPt.positionWorldOnA.set(pointA);
    newPt.positionWorldOnB.set(pointInWorld);
    int insertIndex = manifoldPtr.getCacheEntry(newPt, manifoldPtr.getContactBreakingThreshold());
    newPt.combinedFriction = calculateCombinedFriction(body0, body1);
    newPt.combinedRestitution = calculateCombinedRestitution(body0, body1);
    // BP mod, store contact triangles.
    newPt.partId0 = partId0;
    newPt.partId1 = partId1;
    newPt.index0 = index0;
    newPt.index1 = index1;
    // / todo, check this for any side effects
    if (insertIndex >= 0) {
        // const btManifoldPoint& oldPoint = m_manifoldPtr->getContactPoint(insertIndex);
        manifoldPtr.replaceContactPoint(newPt, insertIndex);
    } else {
        insertIndex = manifoldPtr.addManifoldPoint(newPt);
    }
    // User can override friction and/or restitution
    if (manifoldPtr.globals.getContactAddedCallback() != null && // and if either of the two bodies requires custom material
    ((body0.getCollisionFlags() & CollisionFlags.CUSTOM_MATERIAL_CALLBACK) != 0 || (body1.getCollisionFlags() & CollisionFlags.CUSTOM_MATERIAL_CALLBACK) != 0)) {
        // experimental feature info, for per-triangle material etc.
        Collidable obj0 = isSwapped ? body1 : body0;
        Collidable obj1 = isSwapped ? body0 : body1;
        manifoldPtr.globals.getContactAddedCallback().contactAdded(manifoldPtr.getContactPoint(insertIndex), obj0, partId0, index0, obj1, partId1, index1);
    }
}

Example 3 with ManifoldPoint

use of spacegraph.space3d.phys.collision.narrow.ManifoldPoint in project narchy by automenta.

the class SequentialImpulseConstrainer method solveGroupCacheFriendly.

float solveGroupCacheFriendly(Collection<Collidable> bodies, int numBodies, FasterList<PersistentManifold> manifoldPtr, int manifold_offset, int numManifolds, FasterList<TypedConstraint> constraints, int constraints_offset, int numConstraints, ContactSolverInfo infoGlobal) /*,btStackAlloc* stackAlloc*/
{
    solveGroupCacheFriendlySetup(bodies, numBodies, manifoldPtr, manifold_offset, numManifolds, constraints, constraints_offset, numConstraints, infoGlobal);
    solveGroupCacheFriendlyIterations(bodies, numBodies, manifoldPtr, manifold_offset, numManifolds, constraints, constraints_offset, numConstraints, infoGlobal);
    int numPoolConstraints = tmpSolverConstraintPool.size();
    for (int j = 0; j < numPoolConstraints; j++) {
        // return array[index];
        SolverConstraint solveManifold = tmpSolverConstraintPool.get(j);
        ManifoldPoint pt = (ManifoldPoint) solveManifold.originalContactPoint;
        assert (pt != null);
        pt.appliedImpulse = solveManifold.appliedImpulse;
        // return array[index];
        pt.appliedImpulseLateral1 = tmpSolverFrictionConstraintPool.get(solveManifold.frictionIndex).appliedImpulse;
        // return array[index];
        pt.appliedImpulseLateral1 = tmpSolverFrictionConstraintPool.get(solveManifold.frictionIndex + 1).appliedImpulse;
    // do a callback here?
    }
    if (infoGlobal.splitImpulse) {
        for (int i = 0; i < tmpSolverBodyPool.size(); i++) {
            // return array[index];
            tmpSolverBodyPool.get(i).writebackVelocity(infoGlobal.timeStep);
        }
    } else {
        for (int i = 0; i < tmpSolverBodyPool.size(); i++) {
            // return array[index];
            tmpSolverBodyPool.get(i).writebackVelocity();
        }
    }
    // printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size());
    /*
		printf("m_tmpSolverBodyPool.size() = %i\n",m_tmpSolverBodyPool.size());
		printf("m_tmpSolverConstraintPool.size() = %i\n",m_tmpSolverConstraintPool.size());
		printf("m_tmpSolverFrictionConstraintPool.size() = %i\n",m_tmpSolverFrictionConstraintPool.size());
		printf("m_tmpSolverBodyPool.capacity() = %i\n",m_tmpSolverBodyPool.capacity());
		printf("m_tmpSolverConstraintPool.capacity() = %i\n",m_tmpSolverConstraintPool.capacity());
		printf("m_tmpSolverFrictionConstraintPool.capacity() = %i\n",m_tmpSolverFrictionConstraintPool.capacity());
		*/
    tmpSolverBodyPool.clearFast();
    tmpSolverConstraintPool.clearFast();
    tmpSolverFrictionConstraintPool.clearFast();
    return 0f;
}

Example 4 with ManifoldPoint

use of spacegraph.space3d.phys.collision.narrow.ManifoldPoint in project narchy by automenta.

the class SequentialImpulseConstrainer method prepareConstraints.

protected void prepareConstraints(PersistentManifold manifoldPtr, ContactSolverInfo info) {
    Body3D body0 = (Body3D) manifoldPtr.getBody0();
    Body3D body1 = (Body3D) manifoldPtr.getBody1();
    // only necessary to refresh the manifold once (first iteration). The integration is done outside the loop
    // #ifdef FORCE_REFESH_CONTACT_MANIFOLDS
    // manifoldPtr->refreshContactPoints(body0->getCenterOfMassTransform(),body1->getCenterOfMassTransform());
    // #endif //FORCE_REFESH_CONTACT_MANIFOLDS
    int numpoints = manifoldPtr.numContacts();
    BulletStats.gTotalContactPoints += numpoints;
    v3 tmpVec = new v3();
    v3 pos1 = new v3();
    v3 pos2 = new v3();
    v3 rel_pos1 = new v3();
    v3 rel_pos2 = new v3();
    v3 vel1 = new v3();
    v3 vel2 = new v3();
    v3 vel = new v3();
    v3 totalImpulse = new v3();
    v3 torqueAxis0 = new v3();
    v3 torqueAxis1 = new v3();
    v3 ftorqueAxis0 = new v3();
    v3 ftorqueAxis1 = new v3();
    final Transform tt1 = new Transform(), tt2 = new Transform();
    JacobianEntry jac = new JacobianEntry();
    for (int i = 0; i < numpoints; i++) {
        ManifoldPoint cp = manifoldPtr.getContactPoint(i);
        if (cp.distance1 <= 0f) {
            cp.getPositionWorldOnA(pos1);
            cp.getPositionWorldOnB(pos2);
            rel_pos1.sub(pos1, body0.transform);
            rel_pos2.sub(pos2, body1.transform);
            // this jacobian entry is re-used for all iterations
            Matrix3f mat1 = body0.transform.basis;
            mat1.transpose();
            Matrix3f mat2 = body1.transform.basis;
            mat2.transpose();
            jac.init(mat1, mat2, rel_pos1, rel_pos2, cp.normalWorldOnB, body0.invInertiaLocal, body0.getInvMass(), body1.invInertiaLocal, body1.getInvMass());
            float jacDiagAB = jac.Adiag;
            ConstraintPersistentData cpd = (ConstraintPersistentData) cp.userPersistentData;
            if (cpd != null) {
                // might be invalid
                cpd.persistentLifeTime++;
                if (cpd.persistentLifeTime != cp.lifeTime) {
                    // printf("Invalid: cpd->m_persistentLifeTime = %i cp.getLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.getLifeTime());
                    // new (cpd) btConstraintPersistentData;
                    cpd.reset();
                    cpd.persistentLifeTime = cp.lifeTime;
                } else {
                // printf("Persistent: cpd->m_persistentLifeTime = %i cp.getLifeTime() = %i\n",cpd->m_persistentLifeTime,cp.getLifeTime());
                }
            } else {
                // todo: should this be in a pool?
                // void* mem = btAlignedAlloc(sizeof(btConstraintPersistentData),16);
                // cpd = new (mem)btConstraintPersistentData;
                cpd = new ConstraintPersistentData();
                // assert(cpd != null);
                // totalCpd++;
                // printf("totalCpd = %i Created Ptr %x\n",totalCpd,cpd);
                cp.userPersistentData = cpd;
                cpd.persistentLifeTime = cp.lifeTime;
            // printf("CREATED: %x . cpd->m_persistentLifeTime = %i cp.getLifeTime() = %i\n",cpd,cpd->m_persistentLifeTime,cp.getLifeTime());
            }
            assert (cpd != null);
            cpd.jacDiagABInv = 1f / jacDiagAB;
            // Dependent on Rigidbody A and B types, fetch the contact/friction response func
            // perhaps do a similar thing for friction/restutution combiner funcs...
            cpd.frictionSolverFunc = frictionDispatch[body0.frictionSolverType][body1.frictionSolverType];
            cpd.contactSolverFunc = contactDispatch[body0.contactSolverType][body1.contactSolverType];
            body0.getVelocityInLocalPoint(rel_pos1, vel1);
            body1.getVelocityInLocalPoint(rel_pos2, vel2);
            vel.sub(vel1, vel2);
            float rel_vel;
            rel_vel = cp.normalWorldOnB.dot(vel);
            float combinedRestitution = cp.combinedRestitution;
            // /btScalar(info.m_numIterations);
            cpd.penetration = cp.distance1;
            cpd.friction = cp.combinedFriction;
            cpd.restitution = restitutionCurve(rel_vel, combinedRestitution);
            if (cpd.restitution <= 0f) {
                cpd.restitution = 0f;
            }
            // restitution and penetration work in same direction so
            // rel_vel
            float penVel = -cpd.penetration / info.timeStep;
            if (cpd.restitution > penVel) {
                cpd.penetration = 0f;
            }
            float relaxation = info.damping;
            if ((info.solverMode & SolverMode.SOLVER_USE_WARMSTARTING) != 0) {
                cpd.appliedImpulse *= relaxation;
            } else {
                cpd.appliedImpulse = 0f;
            }
            // for friction
            cpd.prevAppliedImpulse = cpd.appliedImpulse;
            // re-calculate friction direction every frame, todo: check if this is really needed
            TransformUtil.planeSpace1(cp.normalWorldOnB, cpd.frictionWorldTangential0, cpd.frictionWorldTangential1);
            // #define NO_FRICTION_WARMSTART 1
            // #ifdef NO_FRICTION_WARMSTART
            cpd.accumulatedTangentImpulse0 = 0f;
            cpd.accumulatedTangentImpulse1 = 0f;
            // #endif //NO_FRICTION_WARMSTART
            float denom0 = body0.computeImpulseDenominator(pos1, cpd.frictionWorldTangential0);
            float denom1 = body1.computeImpulseDenominator(pos2, cpd.frictionWorldTangential0);
            float denom = relaxation / (denom0 + denom1);
            cpd.jacDiagABInvTangent0 = denom;
            denom0 = body0.computeImpulseDenominator(pos1, cpd.frictionWorldTangential1);
            denom1 = body1.computeImpulseDenominator(pos2, cpd.frictionWorldTangential1);
            denom = relaxation / (denom0 + denom1);
            cpd.jacDiagABInvTangent1 = denom;
            // btVector3 totalImpulse =
            // //#ifndef NO_FRICTION_WARMSTART
            // //cpd->m_frictionWorldTangential0*cpd->m_accumulatedTangentImpulse0+
            // //cpd->m_frictionWorldTangential1*cpd->m_accumulatedTangentImpulse1+
            // //#endif //NO_FRICTION_WARMSTART
            // cp.normalWorldOnB*cpd.appliedImpulse;
            totalImpulse.scale(cpd.appliedImpulse, cp.normalWorldOnB);
            // /
            torqueAxis0.cross(rel_pos1, cp.normalWorldOnB);
            cpd.angularComponentA.set(torqueAxis0);
            body0.invInertiaTensorWorld.transform(cpd.angularComponentA);
            torqueAxis1.cross(rel_pos2, cp.normalWorldOnB);
            cpd.angularComponentB.set(torqueAxis1);
            body1.invInertiaTensorWorld.transform(cpd.angularComponentB);
            ftorqueAxis0.cross(rel_pos1, cpd.frictionWorldTangential0);
            cpd.frictionAngularComponent0A.set(ftorqueAxis0);
            body0.invInertiaTensorWorld.transform(cpd.frictionAngularComponent0A);
            ftorqueAxis1.cross(rel_pos1, cpd.frictionWorldTangential1);
            cpd.frictionAngularComponent1A.set(ftorqueAxis1);
            body0.invInertiaTensorWorld.transform(cpd.frictionAngularComponent1A);
            ftorqueAxis0.cross(rel_pos2, cpd.frictionWorldTangential0);
            cpd.frictionAngularComponent0B.set(ftorqueAxis0);
            body1.invInertiaTensorWorld.transform(cpd.frictionAngularComponent0B);
            ftorqueAxis1.cross(rel_pos2, cpd.frictionWorldTangential1);
            cpd.frictionAngularComponent1B.set(ftorqueAxis1);
            body1.invInertiaTensorWorld.transform(cpd.frictionAngularComponent1B);
            // /
            // apply previous frames impulse on both bodies
            body0.impulse(totalImpulse, rel_pos1);
            tmpVec.negate(totalImpulse);
            body1.impulse(tmpVec, rel_pos2);
        }
    }
}