Bullet Collision Detection & Physics Library: btSequentialImpulseConstraintSolver.h Source File

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;
20 class btPersistentManifold;
21 class btDispatcher;
22 class btCollisionObject;
23 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
24 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
25 #include "BulletDynamics/ConstraintSolver/btSolverBody.h"
26 #include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
27 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
28 #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
29
30 typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
31
33 ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
34 {
35 protected:
36 btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
37 btConstraintArray m_tmpSolverContactConstraintPool;
38 btConstraintArray m_tmpSolverNonContactConstraintPool;
39 btConstraintArray m_tmpSolverContactFrictionConstraintPool;
40 btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
41
42 btAlignedObjectArray<int> m_orderTmpConstraintPool;
43 btAlignedObjectArray<int> m_orderNonContactConstraintPool;
44 btAlignedObjectArray<int> m_orderFrictionConstraintPool;
45 btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
46 int m_maxOverrideNumSolverIterations;
47 int m_fixedBodyId;
48
49 btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
50 btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
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 setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
58 btManifoldPoint& cp,btScalar combinedTorsionalFriction, 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& addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, 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
115 BT_DECLARE_ALIGNED_ALLOCATOR();
116
117 btSequentialImpulseConstraintSolver();
118 virtual ~btSequentialImpulseConstraintSolver();
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
139 virtual btConstraintSolverType getSolverType() const
140 {
141 return BT_SEQUENTIAL_IMPULSE_SOLVER;
142 }
143
144 btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
145 {
146 return m_resolveSingleConstraintRowGeneric;
147 }
148 void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
149 {
150 m_resolveSingleConstraintRowGeneric = rowSolver;
151 }
152 btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
153 {
154 return m_resolveSingleConstraintRowLowerLimit;
155 }
156 void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
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
btSequentialImpulseConstraintSolver::m_fixedBodyId
int m_fixedBodyId
Definition: btSequentialImpulseConstraintSolver.h:47
btSequentialImpulseConstraintSolver::getRandSeed
unsigned long getRandSeed() const
Definition: btSequentialImpulseConstraintSolver.h:133
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btSequentialImpulseConstraintSolver::m_tmpSolverContactFrictionConstraintPool
btConstraintArray m_tmpSolverContactFrictionConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:39
btSequentialImpulseConstraintSolver::m_tmpSolverContactRollingFrictionConstraintPool
btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:40
btAlignedObjectArray< btSolverBody >
btConstraintSolverType
btConstraintSolverType
btConstraintSolver provides solver interface
Definition: btConstraintSolver.h:33
btSequentialImpulseConstraintSolver::setConstraintRowSolverGeneric
void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
Definition: btSequentialImpulseConstraintSolver.h:148
btSolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition: btSolverConstraint.h:30
btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowGeneric
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric
Definition: btSequentialImpulseConstraintSolver.h:49
BT_SEQUENTIAL_IMPULSE_SOLVER
Definition: btConstraintSolver.h:35
btManifoldPoint
ManifoldContactPoint collects and maintains persistent contactpoints.
Definition: btManifoldPoint.h:48
btSequentialImpulseConstraintSolver::m_orderTmpConstraintPool
btAlignedObjectArray< int > m_orderTmpConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:42
btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverLowerLimit
btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
Definition: btSequentialImpulseConstraintSolver.h:152
btSequentialImpulseConstraintSolver::getSolverType
virtual btConstraintSolverType getSolverType() const
Definition: btSequentialImpulseConstraintSolver.h:139
btTypedConstraint.h
btSimdScalar
#define btSimdScalar
Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later...
Definition: btSolverBody.h:104
btSequentialImpulseConstraintSolver::m_tmpSolverBodyPool
btAlignedObjectArray< btSolverBody > m_tmpSolverBodyPool
Definition: btSequentialImpulseConstraintSolver.h:36
btSequentialImpulseConstraintSolver::m_tmpSolverContactConstraintPool
btConstraintArray m_tmpSolverContactConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:37
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
btSequentialImpulseConstraintSolver::m_maxOverrideNumSolverIterations
int m_maxOverrideNumSolverIterations
Definition: btSequentialImpulseConstraintSolver.h:46
btSolverConstraint.h
btSequentialImpulseConstraintSolver
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
Definition: btSequentialImpulseConstraintSolver.h:33
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:65
btContactSolverInfo
Definition: btContactSolverInfo.h:65
btConstraintSolver.h
btSolverBody
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
Definition: btSolverBody.h:108
btSequentialImpulseConstraintSolver::m_tmpConstraintSizesPool
btAlignedObjectArray< btTypedConstraint::btConstraintInfo1 > m_tmpConstraintSizesPool
Definition: btSequentialImpulseConstraintSolver.h:45
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:78
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:389
btSequentialImpulseConstraintSolver::m_orderFrictionConstraintPool
btAlignedObjectArray< int > m_orderFrictionConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:44
btSequentialImpulseConstraintSolver::m_orderNonContactConstraintPool
btAlignedObjectArray< int > m_orderNonContactConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:43
btSequentialImpulseConstraintSolver::m_btSeed2
unsigned long m_btSeed2
m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction ...
Definition: btSequentialImpulseConstraintSolver.h:75
btSolverBody.h
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btManifoldPoint.h
btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverGeneric
btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
Definition: btSequentialImpulseConstraintSolver.h:144
btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowLowerLimit
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit
Definition: btSequentialImpulseConstraintSolver.h:50
btSequentialImpulseConstraintSolver::m_tmpSolverNonContactConstraintPool
btConstraintArray m_tmpSolverNonContactConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:38
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btSequentialImpulseConstraintSolver::setConstraintRowSolverLowerLimit
void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
Definition: btSequentialImpulseConstraintSolver.h:156
btSequentialImpulseConstraintSolver::setRandSeed
void setRandSeed(unsigned long seed)
Definition: btSequentialImpulseConstraintSolver.h:129
btContactSolverInfo.h
btSingleConstraintRowSolver
btSimdScalar(* btSingleConstraintRowSolver)(btSolverBody &, btSolverBody &, const btSolverConstraint &)
Definition: btSequentialImpulseConstraintSolver.h:30
btConstraintSolver
Definition: btConstraintSolver.h:40