diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h | 37 |
1 files changed, 34 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 47dbbe3393d..a6029180983 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -27,6 +27,8 @@ class btCollisionObject; #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" +typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); + ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver { @@ -43,6 +45,10 @@ protected: btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool; int m_maxOverrideNumSolverIterations; int m_fixedBodyId; + + btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric; + btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit; + void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, @@ -112,9 +118,7 @@ public: virtual ~btSequentialImpulseConstraintSolver(); virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); - - - + ///clear internal cached data and reset random seed virtual void reset(); @@ -136,6 +140,33 @@ public: { return BT_SEQUENTIAL_IMPULSE_SOLVER; } + + btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric() + { + return m_resolveSingleConstraintRowGeneric; + } + void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver) + { + m_resolveSingleConstraintRowGeneric = rowSolver; + } + btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit() + { + return m_resolveSingleConstraintRowLowerLimit; + } + void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver) + { + m_resolveSingleConstraintRowLowerLimit = rowSolver; + } + + ///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4 + btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); + btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); + + ///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4 + btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); + btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); + btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); }; |