Bullet Collision Detection & Physics Library
btSequentialImpulseConstraintSolver.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
17 #define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
18 
19 class btIDebugDraw;
21 class btDispatcher;
22 class btCollisionObject;
29 
31 
34 {
35 protected:
41 
48 
51 
52  void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
53  btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
54  btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
55  btScalar desiredVelocity=0., btScalar cfmSlip=0.);
56 
57  void setupRollingFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
58  btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
59  btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
60  btScalar desiredVelocity=0., btScalar cfmSlip=0.);
61 
62  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, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
63  btSolverConstraint& addRollingFrictionConstraint(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, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
64 
65 
66  void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
67  const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
68 
69  static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
70 
71  void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
72  btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
73 
75  unsigned long m_btSeed2;
76 
77 
78  btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
79 
80  virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
81 
82  void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
83 
84 
85  void resolveSplitPenetrationSIMD(
86  btSolverBody& bodyA,btSolverBody& bodyB,
87  const btSolverConstraint& contactConstraint);
88 
89  void resolveSplitPenetrationImpulseCacheFriendly(
90  btSolverBody& bodyA,btSolverBody& bodyB,
91  const btSolverConstraint& contactConstraint);
92 
93  //internal method
94  int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
95  void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
96 
97  btSimdScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
98  btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
99  btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
100  btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
101 
102 protected:
103 
104 
105  virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
106  virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
107  virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
108 
109  virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
110  virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
111 
112 
113 public:
114 
116 
119 
120  virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
121 
123  virtual void reset();
124 
125  unsigned long btRand2();
126 
127  int btRandInt2 (int n);
128 
129  void setRandSeed(unsigned long seed)
130  {
131  m_btSeed2 = seed;
132  }
133  unsigned long getRandSeed() const
134  {
135  return m_btSeed2;
136  }
137 
138 
140  {
142  }
143 
145  {
146  return m_resolveSingleConstraintRowGeneric;
147  }
149  {
150  m_resolveSingleConstraintRowGeneric = rowSolver;
151  }
153  {
154  return m_resolveSingleConstraintRowLowerLimit;
155  }
157  {
158  m_resolveSingleConstraintRowLowerLimit = rowSolver;
159  }
160 
162  btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
163  btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
164  btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
165 
167  btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
168  btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
169  btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
170 };
171 
172 
173 
174 
175 #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
176 
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
btConstraintSolverType
btConstraintSolver provides solver interface
void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric
ManifoldContactPoint collects and maintains persistent contactpoints.
btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
virtual btConstraintSolverType getSolverType() const
#define btSimdScalar
Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later...
Definition: btSolverBody.h:104
btAlignedObjectArray< btSolverBody > m_tmpSolverBodyPool
btCollisionObject can be used to manage collision detection objects.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:28
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
Definition: btSolverBody.h:108
btAlignedObjectArray< btTypedConstraint::btConstraintInfo1 > m_tmpConstraintSizesPool
TypedConstraint is the baseclass for Bullet constraints and vehicles.
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
unsigned long m_btSeed2
m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction ...
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
btSimdScalar(* btSingleConstraintRowSolver)(btSolverBody &, btSolverBody &, const btSolverConstraint &)