Changeset 2882 for code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h (modified) (1 diff)

code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

@@ -24 +24 @@
 
 
-///The btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
-///The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
-///Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
-///Applies impulses for combined restitution and penetration recovery and to simulate friction
+
+///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
 class btSequentialImpulseConstraintSolver : public btConstraintSolver
 {
+protected:
 
         btAlignedObjectArray<btSolverBody>      m_tmpSolverBodyPool;
-        btAlignedObjectArray<btSolverConstraint>        m_tmpSolverConstraintPool;
-        btAlignedObjectArray<btSolverConstraint>        m_tmpSolverFrictionConstraintPool;
+        btConstraintArray                       m_tmpSolverContactConstraintPool;
+        btConstraintArray                       m_tmpSolverNonContactConstraintPool;
+        btConstraintArray                       m_tmpSolverContactFrictionConstraintPool;
         btAlignedObjectArray<int>       m_orderTmpConstraintPool;
         btAlignedObjectArray<int>       m_orderFrictionConstraintPool;
 
-
-protected:
-        btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
-        btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
-        void  prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
         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);
-
-        ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
-        ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
-
         
         ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
         unsigned long   m_btSeed2;
 
+        void    initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
+        btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
+
+        void    convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
+
+        void    resolveSplitPenetrationImpulseCacheFriendly(
+        btSolverBody& body1,
+        btSolverBody& body2,
+        const btSolverConstraint& contactConstraint,
+        const btContactSolverInfo& solverInfo);
+
+        //internal method
+        int     getOrInitSolverBody(btCollisionObject& body);
+
+        void    resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+
+        void    resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+        
+        void    resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+        
+        void    resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
+                
 public:
 
         
         btSequentialImpulseConstraintSolver();
+        virtual ~btSequentialImpulseConstraintSolver();
 
-        ///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
-        ///See btRigidBody::m_contactSolverType and btRigidBody::m_frictionSolverType
-        void    setContactSolverFunc(ContactSolverFunc func,int type0,int type1)
-        {
-                m_contactDispatch[type0][type1] = func;
-        }
+        virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
         
-        ///Advanced: Override the default friction solving function for contacts, for certain types of rigidbody
-        ///See btRigidBody::m_contactSolverType and btRigidBody::m_frictionSolverType
-        void    SetFrictionSolverFunc(ContactSolverFunc func,int type0,int type1)
-        {
-                m_frictionDispatch[type0][type1] = func;
-        }
-
-        virtual ~btSequentialImpulseConstraintSolver();
-        
-        virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
-
-        virtual btScalar solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
+        btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
         btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-        btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
-
 
         ///clear internal cached data and reset random seed
         virtual void    reset();
-
-        btScalar solveCombinedContactFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
-
-
         
         unsigned long btRand2();