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 btStackAlloc;
22 class btDispatcher;
23 class btCollisionObject;
24 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
25 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
26 #include "BulletDynamics/ConstraintSolver/btSolverBody.h"
27 #include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
28 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
29 #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
30 
32 ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
33 {
34 protected:
35  btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
36  btConstraintArray m_tmpSolverContactConstraintPool;
37  btConstraintArray m_tmpSolverNonContactConstraintPool;
38  btConstraintArray m_tmpSolverContactFrictionConstraintPool;
39  btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
40 
41  btAlignedObjectArray<int> m_orderTmpConstraintPool;
42  btAlignedObjectArray<int> m_orderNonContactConstraintPool;
43  btAlignedObjectArray<int> m_orderFrictionConstraintPool;
44  btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
45  int m_maxOverrideNumSolverIterations;
46 
47  void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
48  btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
49  btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
50  btScalar desiredVelocity=0., btScalar cfmSlip=0.);
51 
52  void setupRollingFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
53  btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
54  btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
55  btScalar desiredVelocity=0., btScalar cfmSlip=0.);
56 
57  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, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
58  btSolverConstraint& addRollingFrictionConstraint(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, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
59 
60 
61  void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
62  const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
63  btVector3& rel_pos1, btVector3& rel_pos2);
64 
65  void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
66  btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
67 
69  unsigned long m_btSeed2;
70 
71 
72  btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
73 
74  void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
75 
76 
77  void resolveSplitPenetrationSIMD(
78  btSolverBody& bodyA,btSolverBody& bodyB,
79  const btSolverConstraint& contactConstraint);
80 
81  void resolveSplitPenetrationImpulseCacheFriendly(
82  btSolverBody& bodyA,btSolverBody& bodyB,
83  const btSolverConstraint& contactConstraint);
84 
85  //internal method
86  int getOrInitSolverBody(btCollisionObject& body);
87  void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
88 
89  void resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
90 
91  void resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
92 
93  void resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
94 
95  void resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
96 
97 protected:
98 
99 
100  virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
101  virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
102  btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
103 
104  virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
105  virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
106 
107 
108 public:
109 
110  BT_DECLARE_ALIGNED_ALLOCATOR();
111 
112  btSequentialImpulseConstraintSolver();
113  virtual ~btSequentialImpulseConstraintSolver();
114 
115  virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
116 
117 
118 
120  virtual void reset();
121 
122  unsigned long btRand2();
123 
124  int btRandInt2 (int n);
125 
126  void setRandSeed(unsigned long seed)
127  {
128  m_btSeed2 = seed;
129  }
130  unsigned long getRandSeed() const
131  {
132  return m_btSeed2;
133  }
134 
135 };
136 
137 
138 
139 
140 #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
141 
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