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Diffstat (limited to 'extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h')
| -rw-r--r-- | extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h | 132 |
1 files changed, 132 insertions, 0 deletions
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h new file mode 100644 index 00000000000..a26fbad787b --- /dev/null +++ b/extern/bullet2/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -0,0 +1,132 @@ +/* +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 SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H +#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H + +#include "btConstraintSolver.h" +class btIDebugDraw; +#include "btContactConstraint.h" +#include "btSolverBody.h" +#include "btSolverConstraint.h" +#include "btTypedConstraint.h" +#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" + +///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. +class btSequentialImpulseConstraintSolver : public btConstraintSolver +{ +protected: + + btConstraintArray m_tmpSolverContactConstraintPool; + btConstraintArray m_tmpSolverNonContactConstraintPool; + btConstraintArray m_tmpSolverContactFrictionConstraintPool; + btAlignedObjectArray<int> m_orderTmpConstraintPool; + btAlignedObjectArray<int> m_orderFrictionConstraintPool; + btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool; + + void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB, + btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, + btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, + btScalar desiredVelocity=0., btScalar cfmSlip=0.); + + btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.); + + void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, btManifoldPoint& cp, + const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation, + btVector3& rel_pos1, btVector3& rel_pos2); + + void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, btRigidBody* rb0, btRigidBody* rb1, + btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); + + ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction + unsigned long m_btSeed2; + +// void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject); + btScalar restitutionCurve(btScalar rel_vel, btScalar restitution); + + void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); + + + void resolveSplitPenetrationSIMD( + btRigidBody& body1, + btRigidBody& body2, + const btSolverConstraint& contactConstraint); + + void resolveSplitPenetrationImpulseCacheFriendly( + btRigidBody& body1, + btRigidBody& body2, + const btSolverConstraint& contactConstraint); + + //internal method + int getOrInitSolverBody(btCollisionObject& body); + + void resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint); + + void resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint); + + void resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint); + + void resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint); + +protected: + static btRigidBody& getFixedBody() + { + static btRigidBody s_fixed(0, 0,0); + s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); + return s_fixed; + } + virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); + 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 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); + + +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); + + + + ///clear internal cached data and reset random seed + virtual void reset(); + + unsigned long btRand2(); + + int btRandInt2 (int n); + + void setRandSeed(unsigned long seed) + { + m_btSeed2 = seed; + } + unsigned long getRandSeed() const + { + return m_btSeed2; + } + +}; + +#ifndef BT_PREFER_SIMD +typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered; +#endif + + +#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H + |