Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h (modified) (4 diffs)

code/branches/kicklib/src/external/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -22 +22 @@
 #include "btSolverBody.h"
 #include "btSolverConstraint.h"
-
-
+#include "btTypedConstraint.h"
+#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
 
 ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
@@ -30 +30 @@
 protected:
 
-        btAlignedObjectArray<btSolverBody>      m_tmpSolverBodyPool;
         btConstraintArray                       m_tmpSolverContactConstraintPool;
         btConstraintArray                       m_tmpSolverNonContactConstraintPool;
@@ -36 +35 @@
         btAlignedObjectArray<int>       m_orderTmpConstraintPool;
         btAlignedObjectArray<int>       m_orderFrictionConstraintPool;
+        btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
 
-        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);
+        void setupFrictionConstraint(   btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB,
+                                                                        btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
+                                                                        btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 
+                                                                        btScalar desiredVelocity=0., btScalar cfmSlip=0.);
+
+        btSolverConstraint&     addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
         
+        void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, btManifoldPoint& cp, 
+                                                                const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation, 
+                                                                btVector3& rel_pos1, btVector3& rel_pos2);
+
+        void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, btRigidBody* rb0, btRigidBody* rb1, 
+                                                                                 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
+
         ///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);
+//      void    initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
         btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
 
         void    convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
 
+
+        void    resolveSplitPenetrationSIMD(
+        btRigidBody& body1,
+        btRigidBody& body2,
+        const btSolverConstraint& contactConstraint);
+
         void    resolveSplitPenetrationImpulseCacheFriendly(
-        btSolverBody& body1,
-        btSolverBody& body2,
-        const btSolverConstraint& contactConstraint,
-        const btContactSolverInfo& solverInfo);
+        btRigidBody& body1,
+        btRigidBody& body2,
+        const btSolverConstraint& contactConstraint);
 
         //internal method
         int     getOrInitSolverBody(btCollisionObject& body);
 
-        void    resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+        void    resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
 
-        void    resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+        void    resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
         
-        void    resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+        void    resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
         
-        void    resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+        void    resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
                 
+protected:
+        static btRigidBody& getFixedBody();
+        
+        virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+        virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+        btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+
+        virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+        virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+
+
 public:
 
@@ -72 +100 @@
         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();