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 // 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.
55 btAlignedObjectArray<int> m_kinematicBodyUniqueIdToSolverBodyTable; // only used for multithreading
56
57 btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
58 btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
59 btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
60 int m_cachedSolverMode; // used to check if SOLVER_SIMD flag has been changed
61 void setupSolverFunctions( bool useSimd );
62
63 btScalar m_leastSquaresResidual;
64
65 void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
66 btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
67 btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
68 const btContactSolverInfo& infoGlobal,
69 btScalar desiredVelocity=0., btScalar cfmSlip=0.);
70
71 void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
72 btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,
73 btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
74 btScalar desiredVelocity=0., btScalar cfmSlip=0.);
75
76 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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
77 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);
78
79
80 void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
81 const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
82
83 static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
84
85 void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
86 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
87
89 unsigned long m_btSeed2;
90
91
92 btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
93
94 virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
95
96 void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
97
98
99 btSimdScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
100 {
101 return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
102 }
103
104 btSimdScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
105 {
106 return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
107 }
108
109 //internal method
110 int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
111 void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
112
113 btSimdScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
114 btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
115 btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
116 btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
117 btSimdScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
118 {
119 return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
120 }
121
122 protected:
123
124
125 virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
126 virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
127 virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
128
129 virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
130 virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
131
132
133 public:
134
135 BT_DECLARE_ALIGNED_ALLOCATOR();
136
137 btSequentialImpulseConstraintSolver();
138 virtual ~btSequentialImpulseConstraintSolver();
139
140 virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
141
143 virtual void reset();
144
145 unsigned long btRand2();
146
147 int btRandInt2 (int n);
148
149 void setRandSeed(unsigned long seed)
150 {
151 m_btSeed2 = seed;
152 }
153 unsigned long getRandSeed() const
154 {
155 return m_btSeed2;
156 }
157
158
159 virtual btConstraintSolverType getSolverType() const
160 {
161 return BT_SEQUENTIAL_IMPULSE_SOLVER;
162 }
163
164 btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
165 {
166 return m_resolveSingleConstraintRowGeneric;
167 }
168 void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
169 {
170 m_resolveSingleConstraintRowGeneric = rowSolver;
171 }
172 btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
173 {
174 return m_resolveSingleConstraintRowLowerLimit;
175 }
176 void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
177 {
178 m_resolveSingleConstraintRowLowerLimit = rowSolver;
179 }
180
182 btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
183 btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
184 btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
185
187 btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
188 btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
189 btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
190 };
191
192
193
194
195 #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
196
btSequentialImpulseConstraintSolver::m_cachedSolverMode
int m_cachedSolverMode
Definition: btSequentialImpulseConstraintSolver.h:60
btSequentialImpulseConstraintSolver::m_fixedBodyId
int m_fixedBodyId
Definition: btSequentialImpulseConstraintSolver.h:47
btSequentialImpulseConstraintSolver::getRandSeed
unsigned long getRandSeed() const
Definition: btSequentialImpulseConstraintSolver.h:153
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
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:168
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:57
BT_SEQUENTIAL_IMPULSE_SOLVER
Definition: btConstraintSolver.h:35
btManifoldPoint
ManifoldContactPoint collects and maintains persistent contactpoints.
Definition: btManifoldPoint.h:49
btSequentialImpulseConstraintSolver::m_orderTmpConstraintPool
btAlignedObjectArray< int > m_orderTmpConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:42
btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverLowerLimit
btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
Definition: btSequentialImpulseConstraintSolver.h:172
btSequentialImpulseConstraintSolver::getSolverType
virtual btConstraintSolverType getSolverType() const
Definition: btSequentialImpulseConstraintSolver.h:159
btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD
btSimdScalar resolveSplitPenetrationSIMD(btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
Definition: btSequentialImpulseConstraintSolver.h:99
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:82
btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulse
btSimdScalar resolveSplitPenetrationImpulse(btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
Definition: btSequentialImpulseConstraintSolver.h:117
btContactSolverInfo
Definition: btContactSolverInfo.h:69
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:403
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:89
btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly
btSimdScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
Definition: btSequentialImpulseConstraintSolver.h:104
btSolverBody.h
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:75
btManifoldPoint.h
btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverGeneric
btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
Definition: btSequentialImpulseConstraintSolver.h:164
btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowLowerLimit
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit
Definition: btSequentialImpulseConstraintSolver.h:58
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:292
btSequentialImpulseConstraintSolver::setConstraintRowSolverLowerLimit
void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
Definition: btSequentialImpulseConstraintSolver.h:176
btSequentialImpulseConstraintSolver::m_kinematicBodyUniqueIdToSolverBodyTable
btAlignedObjectArray< int > m_kinematicBodyUniqueIdToSolverBodyTable
Definition: btSequentialImpulseConstraintSolver.h:55
btSequentialImpulseConstraintSolver::setRandSeed
void setRandSeed(unsigned long seed)
Definition: btSequentialImpulseConstraintSolver.h:149
btContactSolverInfo.h
btSingleConstraintRowSolver
btSimdScalar(* btSingleConstraintRowSolver)(btSolverBody &, btSolverBody &, const btSolverConstraint &)
Definition: btSequentialImpulseConstraintSolver.h:30
btConstraintSolver
Definition: btConstraintSolver.h:40
btSequentialImpulseConstraintSolver::m_resolveSplitPenetrationImpulse
btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse
Definition: btSequentialImpulseConstraintSolver.h:59
btSequentialImpulseConstraintSolver::m_leastSquaresResidual
btScalar m_leastSquaresResidual
Definition: btSequentialImpulseConstraintSolver.h:63