Changeset 2908 for code/branches/questsystem5/src/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

Timestamp:

Apr 8, 2009, 12:58:47 AM (16 years ago)

Author:

dafrick

Message:

Reverted to revision 2906 (because I'm too stupid to merge correctly, 2nd try will follow shortly. )

Location:

code/branches/questsystem5

Files:

• . (modified) (1 prop)
• src/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h (modified) (1 diff)

code/branches/questsystem5/src/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -24 +24 @@
 
 
-
-///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
+///The 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
 class btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
-protected:
 
         btAlignedObjectArray<btSolverBody>      m_tmpSolverBodyPool;
-        btConstraintArray                       m_tmpSolverContactConstraintPool;
-        btConstraintArray                       m_tmpSolverNonContactConstraintPool;
-        btConstraintArray                       m_tmpSolverContactFrictionConstraintPool;
+        btAlignedObjectArray<btSolverConstraint>        m_tmpSolverConstraintPool;
+        btAlignedObjectArray<btSolverConstraint>        m_tmpSolverFrictionConstraintPool;
         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);
         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);
+
+        ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
+        ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
+
         
         ///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    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);
-        
-        void    resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
-        
-        void    resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
-                
 public:
 
         
         btSequentialImpulseConstraintSolver();
+
+        ///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;
+        }
+        
+        ///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;
+        }
+
         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);
 
-        virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
-        
+        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);
         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();