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  // When running solvers on multiple threads, a race condition exists for Kinematic objects that
49  // participate in more than one solver.
50  // The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body
51  // for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island
52  // (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once.
53  // To avoid this race condition, this solver does not write the companionId, instead it stores the solver body
54  // index in this solver-local table, indexed by the uniqueId of the body.
56 
59 
61 
62  void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
63  btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
64  btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
65  btScalar desiredVelocity=0., btScalar cfmSlip=0.);
66 
67  void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
68  btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,
69  btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
70  btScalar desiredVelocity=0., btScalar cfmSlip=0.);
71 
72  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.);
73  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);
74 
75 
76  void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
77  const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
78 
79  static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
80 
81  void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
82  btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
83 
85  unsigned long m_btSeed2;
86 
87 
88  btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
89 
90  virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
91 
92  void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
93 
94 
95  btSimdScalar resolveSplitPenetrationSIMD(
96  btSolverBody& bodyA,btSolverBody& bodyB,
97  const btSolverConstraint& contactConstraint);
98 
99  btScalar resolveSplitPenetrationImpulseCacheFriendly(
100  btSolverBody& bodyA,btSolverBody& bodyB,
101  const btSolverConstraint& contactConstraint);
102 
103  //internal method
104  int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
105  void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
106 
107  btSimdScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
108  btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
109  btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
110  btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
111 
112 protected:
113 
114 
115  virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
116  virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
117  virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
118 
119  virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
120  virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
121 
122 
123 public:
124 
126 
129 
130  virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
131 
133  virtual void reset();
134 
135  unsigned long btRand2();
136 
137  int btRandInt2 (int n);
138 
139  void setRandSeed(unsigned long seed)
140  {
141  m_btSeed2 = seed;
142  }
143  unsigned long getRandSeed() const
144  {
145  return m_btSeed2;
146  }
147 
148 
150  {
152  }
153 
155  {
156  return m_resolveSingleConstraintRowGeneric;
157  }
159  {
160  m_resolveSingleConstraintRowGeneric = rowSolver;
161  }
163  {
164  return m_resolveSingleConstraintRowLowerLimit;
165  }
167  {
168  m_resolveSingleConstraintRowLowerLimit = rowSolver;
169  }
170 
172  btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
173  btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
174  btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
175 
177  btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
178  btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
179  btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
180 };
181 
182 
183 
184 
185 #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
186 
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:29
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:65
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:389
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:75
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:279
void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
btAlignedObjectArray< int > m_kinematicBodyUniqueIdToSolverBodyTable
btSimdScalar(* btSingleConstraintRowSolver)(btSolverBody &, btSolverBody &, const btSolverConstraint &)