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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h')
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1 files changed, 0 insertions, 215 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h deleted file mode 100644 index f3ef02fccc..0000000000 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ /dev/null @@ -1,215 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H -#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H - -class btIDebugDraw; -class btPersistentManifold; -class btDispatcher; -class btCollisionObject; -#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" -#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" -#include "BulletDynamics/ConstraintSolver/btSolverBody.h" -#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h" -#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" -#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" - -typedef btScalar (*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); - -struct btSolverAnalyticsData -{ - btSolverAnalyticsData() - { - m_numSolverCalls = 0; - m_numIterationsUsed = -1; - m_remainingLeastSquaresResidual = -1; - m_islandId = -2; - } - int m_islandId; - int m_numBodies; - int m_numContactManifolds; - int m_numSolverCalls; - int m_numIterationsUsed; - double m_remainingLeastSquaresResidual; -}; - -///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. -ATTRIBUTE_ALIGNED16(class) -btSequentialImpulseConstraintSolver : public btConstraintSolver -{ - - -protected: - btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool; - btConstraintArray m_tmpSolverContactConstraintPool; - btConstraintArray m_tmpSolverNonContactConstraintPool; - btConstraintArray m_tmpSolverContactFrictionConstraintPool; - btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool; - - btAlignedObjectArray<int> m_orderTmpConstraintPool; - btAlignedObjectArray<int> m_orderNonContactConstraintPool; - btAlignedObjectArray<int> m_orderFrictionConstraintPool; - btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool; - int m_maxOverrideNumSolverIterations; - int m_fixedBodyId; - // When running solvers on multiple threads, a race condition exists for Kinematic objects that - // participate in more than one solver. - // The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body - // for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island - // (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once. - // To avoid this race condition, this solver does not write the companionId, instead it stores the solver body - // index in this solver-local table, indexed by the uniqueId of the body. - btAlignedObjectArray<int> m_kinematicBodyUniqueIdToSolverBodyTable; // only used for multithreading - - btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric; - btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit; - btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse; - int m_cachedSolverMode; // used to check if SOLVER_SIMD flag has been changed - void setupSolverFunctions(bool useSimd); - - btScalar m_leastSquaresResidual; - - void setupFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, - 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.); - - void setupTorsionalFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, btScalar combinedTorsionalFriction, 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, 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.); - 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); - - void setupContactConstraint(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, - const btContactSolverInfo& infoGlobal, btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2); - - static void applyAnisotropicFriction(btCollisionObject * colObj, btVector3 & frictionDirection, int frictionMode); - - void setFrictionConstraintImpulse(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB, - btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); - - ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction - unsigned long m_btSeed2; - - btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold); - - virtual void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); - - void convertContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal); - - virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal); - void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal); - - virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); - - btScalar resolveSplitPenetrationSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint) - { - return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint); - } - - btScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint) - { - return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint); - } - - //internal method - int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep); - void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep); - - btScalar resolveSingleConstraintRowGeneric(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint); - btScalar resolveSingleConstraintRowGenericSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint); - btScalar resolveSingleConstraintRowLowerLimit(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint); - btScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint); - btScalar resolveSplitPenetrationImpulse(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint) - { - return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint); - } - -protected: - void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal); - virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal); - virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - - virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer); - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btSequentialImpulseConstraintSolver(); - virtual ~btSequentialImpulseConstraintSolver(); - - virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher); - - ///clear internal cached data and reset random seed - virtual void reset(); - - unsigned long btRand2(); - - int btRandInt2(int n); - - void setRandSeed(unsigned long seed) - { - m_btSeed2 = seed; - } - unsigned long getRandSeed() const - { - return m_btSeed2; - } - - virtual btConstraintSolverType getSolverType() const - { - return BT_SEQUENTIAL_IMPULSE_SOLVER; - } - - btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric() - { - return m_resolveSingleConstraintRowGeneric; - } - void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver) - { - m_resolveSingleConstraintRowGeneric = rowSolver; - } - btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit() - { - return m_resolveSingleConstraintRowLowerLimit; - } - void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver) - { - m_resolveSingleConstraintRowLowerLimit = rowSolver; - } - - - - ///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4 - btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); - btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); - btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); - - ///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4 - btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); - btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); - btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); - btSolverAnalyticsData m_analyticsData; -}; - -#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H |