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Diffstat (limited to 'thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h | 149 |
1 files changed, 0 insertions, 149 deletions
diff --git a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h b/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h deleted file mode 100644 index d2ca307fab..0000000000 --- a/thirdparty/bullet/src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.h +++ /dev/null @@ -1,149 +0,0 @@ -#ifndef B3_PGS_JACOBI_SOLVER -#define B3_PGS_JACOBI_SOLVER - - -struct b3Contact4; -struct b3ContactPoint; - - -class b3Dispatcher; - -#include "b3TypedConstraint.h" -#include "b3ContactSolverInfo.h" -#include "b3SolverBody.h" -#include "b3SolverConstraint.h" - -struct b3RigidBodyData; -struct b3InertiaData; - -class b3PgsJacobiSolver -{ - -protected: - b3AlignedObjectArray<b3SolverBody> m_tmpSolverBodyPool; - b3ConstraintArray m_tmpSolverContactConstraintPool; - b3ConstraintArray m_tmpSolverNonContactConstraintPool; - b3ConstraintArray m_tmpSolverContactFrictionConstraintPool; - b3ConstraintArray m_tmpSolverContactRollingFrictionConstraintPool; - - b3AlignedObjectArray<int> m_orderTmpConstraintPool; - b3AlignedObjectArray<int> m_orderNonContactConstraintPool; - b3AlignedObjectArray<int> m_orderFrictionConstraintPool; - b3AlignedObjectArray<b3TypedConstraint::b3ConstraintInfo1> m_tmpConstraintSizesPool; - - b3AlignedObjectArray<int> m_bodyCount; - b3AlignedObjectArray<int> m_bodyCountCheck; - - b3AlignedObjectArray<b3Vector3> m_deltaLinearVelocities; - b3AlignedObjectArray<b3Vector3> m_deltaAngularVelocities; - - bool m_usePgs; - void averageVelocities(); - - int m_maxOverrideNumSolverIterations; - - int m_numSplitImpulseRecoveries; - - b3Scalar getContactProcessingThreshold(b3Contact4* contact) - { - return 0.02f; - } - void setupFrictionConstraint( b3RigidBodyData* bodies,b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB, - b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2, - b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, - b3Scalar desiredVelocity=0., b3Scalar cfmSlip=0.); - - void setupRollingFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB, - b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2, - b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, - b3Scalar desiredVelocity=0., b3Scalar cfmSlip=0.); - - b3SolverConstraint& addFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity=0., b3Scalar cfmSlip=0.); - b3SolverConstraint& addRollingFrictionConstraint(b3RigidBodyData* bodies,b3InertiaData* inertias,const b3Vector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,b3ContactPoint& cp,const b3Vector3& rel_pos1,const b3Vector3& rel_pos2,b3RigidBodyData* colObj0,b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity=0, b3Scalar cfmSlip=0.f); - - - void setupContactConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, - b3SolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, b3ContactPoint& cp, - const b3ContactSolverInfo& infoGlobal, b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation, - b3Vector3& rel_pos1, b3Vector3& rel_pos2); - - void setFrictionConstraintImpulse( b3RigidBodyData* bodies, b3InertiaData* inertias,b3SolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, - b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal); - - ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction - unsigned long m_btSeed2; - - - b3Scalar restitutionCurve(b3Scalar rel_vel, b3Scalar restitution); - - void convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias,b3Contact4* manifold,const b3ContactSolverInfo& infoGlobal); - - - void resolveSplitPenetrationSIMD( - b3SolverBody& bodyA,b3SolverBody& bodyB, - const b3SolverConstraint& contactConstraint); - - void resolveSplitPenetrationImpulseCacheFriendly( - b3SolverBody& bodyA,b3SolverBody& bodyB, - const b3SolverConstraint& contactConstraint); - - //internal method - int getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies,b3InertiaData* inertias); - void initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* collisionObject); - - void resolveSingleConstraintRowGeneric(b3SolverBody& bodyA,b3SolverBody& bodyB,const b3SolverConstraint& contactConstraint); - - void resolveSingleConstraintRowGenericSIMD(b3SolverBody& bodyA,b3SolverBody& bodyB,const b3SolverConstraint& contactConstraint); - - void resolveSingleConstraintRowLowerLimit(b3SolverBody& bodyA,b3SolverBody& bodyB,const b3SolverConstraint& contactConstraint); - - void resolveSingleConstraintRowLowerLimitSIMD(b3SolverBody& bodyA,b3SolverBody& bodyB,const b3SolverConstraint& contactConstraint); - -protected: - - virtual b3Scalar solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); - - - virtual b3Scalar solveGroupCacheFriendlyIterations(b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); - virtual void solveGroupCacheFriendlySplitImpulseIterations(b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); - b3Scalar solveSingleIteration(int iteration, b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); - - - virtual b3Scalar solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies, b3InertiaData* inertias,int numBodies,const b3ContactSolverInfo& infoGlobal); - - -public: - - B3_DECLARE_ALIGNED_ALLOCATOR(); - - b3PgsJacobiSolver(bool usePgs); - virtual ~b3PgsJacobiSolver(); - -// void solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts); - void solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints); - - b3Scalar solveGroup(b3RigidBodyData* bodies,b3InertiaData* inertias,int numBodies,b3Contact4* manifoldPtr, int numManifolds,b3TypedConstraint** constraints,int numConstraints,const b3ContactSolverInfo& infoGlobal); - - ///clear internal cached data and reset random seed - virtual void reset(); - - unsigned long b3Rand2(); - - int b3RandInt2 (int n); - - void setRandSeed(unsigned long seed) - { - m_btSeed2 = seed; - } - unsigned long getRandSeed() const - { - return m_btSeed2; - } - - - - -}; - -#endif //B3_PGS_JACOBI_SOLVER - |