diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h | 72 |
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(); |