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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h | 94 |
1 files changed, 94 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h new file mode 100644 index 0000000000..26b482ddc1 --- /dev/null +++ b/thirdparty/bullet/BulletDynamics/MLCPSolvers/btMLCPSolver.h @@ -0,0 +1,94 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org + +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. +*/ +///original version written by Erwin Coumans, October 2013 + +#ifndef BT_MLCP_SOLVER_H +#define BT_MLCP_SOLVER_H + +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" +#include "LinearMath/btMatrixX.h" +#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h" + +class btMLCPSolver : public btSequentialImpulseConstraintSolver +{ + +protected: + + btMatrixXu m_A; + btVectorXu m_b; + btVectorXu m_x; + btVectorXu m_lo; + btVectorXu m_hi; + + ///when using 'split impulse' we solve two separate (M)LCPs + btVectorXu m_bSplit; + btVectorXu m_xSplit; + btVectorXu m_bSplit1; + btVectorXu m_xSplit2; + + btAlignedObjectArray<int> m_limitDependencies; + btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray; + btMLCPSolverInterface* m_solver; + int m_fallback; + + /// The following scratch variables are not stateful -- contents are cleared prior to each use. + /// They are only cached here to avoid extra memory allocations and deallocations and to ensure + /// that multiple instances of the solver can be run in parallel. + btMatrixXu m_scratchJ3; + btMatrixXu m_scratchJInvM3; + btAlignedObjectArray<int> m_scratchOfs; + btMatrixXu m_scratchMInv; + btMatrixXu m_scratchJ; + btMatrixXu m_scratchJTranspose; + btMatrixXu m_scratchTmp; + + 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); + + + virtual void createMLCP(const btContactSolverInfo& infoGlobal); + virtual void createMLCPFast(const btContactSolverInfo& infoGlobal); + + //return true is it solves the problem successfully + virtual bool solveMLCP(const btContactSolverInfo& infoGlobal); + +public: + + btMLCPSolver( btMLCPSolverInterface* solver); + virtual ~btMLCPSolver(); + + void setMLCPSolver(btMLCPSolverInterface* solver) + { + m_solver = solver; + } + + int getNumFallbacks() const + { + return m_fallback; + } + void setNumFallbacks(int num) + { + m_fallback = num; + } + + virtual btConstraintSolverType getSolverType() const + { + return BT_MLCP_SOLVER; + } + +}; + + +#endif //BT_MLCP_SOLVER_H |