merging trunk 19093:19274etch-a-ton

1 files changed, 32 insertions, 40 deletions

diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
index 7143bc41991..90e7fc8354d 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
@@ -23,67 +23,59 @@ class btIDebugDraw;
 #include "btSolverConstraint.h"
 
 
-/// btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
-/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
-/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
-/// Applies impulses for combined restitution and penetration recovery and to simulate friction
+
+///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
 class btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
+protected:
 
 	btAlignedObjectArray<btSolverBody>	m_tmpSolverBodyPool;
-	btAlignedObjectArray<btSolverConstraint>	m_tmpSolverConstraintPool;
-	btAlignedObjectArray<btSolverConstraint>	m_tmpSolverFrictionConstraintPool;
+	btConstraintArray			m_tmpSolverContactConstraintPool;
+	btConstraintArray			m_tmpSolverNonContactConstraintPool;
+	btConstraintArray			m_tmpSolverContactFrictionConstraintPool;
 	btAlignedObjectArray<int>	m_orderTmpConstraintPool;
 	btAlignedObjectArray<int>	m_orderFrictionConstraintPool;
 
-
-protected:
-	btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
-	btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
-	void  prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
-	void	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);
-
-	ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
-	ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
-
+	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);
 	
 	///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
 	unsigned long	m_btSeed2;
 
-public:
+	void	initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
+	btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
 
-	
-	btSequentialImpulseConstraintSolver();
+	void	convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
 
-	///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
-	///See btRigidBody::m_contactSolverType and btRigidBody::m_frictionSolverType
-	void	setContactSolverFunc(ContactSolverFunc func,int type0,int type1)
-	{
-		m_contactDispatch[type0][type1] = func;
-	}
+	void	resolveSplitPenetrationImpulseCacheFriendly(
+        btSolverBody& body1,
+        btSolverBody& body2,
+        const btSolverConstraint& contactConstraint,
+        const btContactSolverInfo& solverInfo);
+
+	//internal method
+	int	getOrInitSolverBody(btCollisionObject& body);
+
+	void	resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+
+	void	resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
 	
-	///Advanced: Override the default friction solving function for contacts, for certain types of rigidbody
-	///See btRigidBody::m_contactSolverType and btRigidBody::m_frictionSolverType
-	void	SetFrictionSolverFunc(ContactSolverFunc func,int type0,int type1)
-	{
-		m_frictionDispatch[type0][type1] = func;
-	}
+	void	resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+	
+	void	resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+		
+public:
 
-	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);
+	btSequentialImpulseConstraintSolver();
+	virtual ~btSequentialImpulseConstraintSolver();
 
-	virtual btScalar solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-	btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
+	
 	btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-
+	btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
 
 	///clear internal cached data and reset random seed
 	virtual	void	reset();
-
-	btScalar solveCombinedContactFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
-
-
 	
 	unsigned long btRand2();