| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H |
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| 17 | #define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H |
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| 18 | |
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| 19 | #include "btConstraintSolver.h" |
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| 20 | class btIDebugDraw; |
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| 21 | #include "btContactConstraint.h" |
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| 22 | #include "btSolverBody.h" |
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| 23 | #include "btSolverConstraint.h" |
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| 24 | |
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| 25 | |
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| 26 | |
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| 27 | ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. |
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| 28 | class btSequentialImpulseConstraintSolver : public btConstraintSolver |
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| 29 | { |
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| 30 | protected: |
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| 31 | |
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| 32 | btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool; |
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| 33 | btConstraintArray m_tmpSolverContactConstraintPool; |
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| 34 | btConstraintArray m_tmpSolverNonContactConstraintPool; |
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| 35 | btConstraintArray m_tmpSolverContactFrictionConstraintPool; |
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| 36 | btAlignedObjectArray<int> m_orderTmpConstraintPool; |
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| 37 | btAlignedObjectArray<int> m_orderFrictionConstraintPool; |
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| 38 | |
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| 39 | 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); |
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| 40 | |
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| 41 | ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction |
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| 42 | unsigned long m_btSeed2; |
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| 43 | |
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| 44 | void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject); |
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| 45 | btScalar restitutionCurve(btScalar rel_vel, btScalar restitution); |
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| 46 | |
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| 47 | void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); |
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| 48 | |
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| 49 | void resolveSplitPenetrationImpulseCacheFriendly( |
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| 50 | btSolverBody& body1, |
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| 51 | btSolverBody& body2, |
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| 52 | const btSolverConstraint& contactConstraint, |
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| 53 | const btContactSolverInfo& solverInfo); |
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| 54 | |
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| 55 | //internal method |
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| 56 | int getOrInitSolverBody(btCollisionObject& body); |
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| 57 | |
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| 58 | void resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint); |
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| 59 | |
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| 60 | void resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint); |
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| 61 | |
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| 62 | void resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint); |
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| 63 | |
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| 64 | void resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint); |
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| 65 | |
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| 66 | public: |
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| 67 | |
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| 68 | |
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| 69 | btSequentialImpulseConstraintSolver(); |
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| 70 | virtual ~btSequentialImpulseConstraintSolver(); |
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| 71 | |
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| 72 | virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher); |
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| 73 | |
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| 74 | btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); |
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| 75 | btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc); |
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| 76 | |
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| 77 | ///clear internal cached data and reset random seed |
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| 78 | virtual void reset(); |
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| 79 | |
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| 80 | unsigned long btRand2(); |
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| 81 | |
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| 82 | int btRandInt2 (int n); |
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| 83 | |
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| 84 | void setRandSeed(unsigned long seed) |
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| 85 | { |
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| 86 | m_btSeed2 = seed; |
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| 87 | } |
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| 88 | unsigned long getRandSeed() const |
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| 89 | { |
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| 90 | return m_btSeed2; |
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| 91 | } |
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| 92 | |
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| 93 | }; |
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| 94 | |
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| 95 | #ifndef BT_PREFER_SIMD |
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| 96 | typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered; |
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| 97 | #endif |
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| 98 | |
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| 99 | |
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| 100 | #endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H |
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| 101 | |
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