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 btDispatcher;
22 class btCollisionObject;
23 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
24 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
25 #include "BulletDynamics/ConstraintSolver/btSolverBody.h"
26 #include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
27 #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
28 #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
29 
31 ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
32 {
33 protected:
34  btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
35  btConstraintArray m_tmpSolverContactConstraintPool;
36  btConstraintArray m_tmpSolverNonContactConstraintPool;
37  btConstraintArray m_tmpSolverContactFrictionConstraintPool;
38  btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
39 
40  btAlignedObjectArray<int> m_orderTmpConstraintPool;
41  btAlignedObjectArray<int> m_orderNonContactConstraintPool;
42  btAlignedObjectArray<int> m_orderFrictionConstraintPool;
43  btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
44  int m_maxOverrideNumSolverIterations;
45  int m_fixedBodyId;
46  void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
47  btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
48  btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
49  btScalar desiredVelocity=0., btScalar cfmSlip=0.);
50 
51  void setupRollingFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
52  btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
53  btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
54  btScalar desiredVelocity=0., btScalar cfmSlip=0.);
55 
56  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.);
57  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);
58 
59 
60  void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
61  const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
62 
63  static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
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  virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
75 
76  void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
77 
78 
79  void resolveSplitPenetrationSIMD(
80  btSolverBody& bodyA,btSolverBody& bodyB,
81  const btSolverConstraint& contactConstraint);
82 
83  void resolveSplitPenetrationImpulseCacheFriendly(
84  btSolverBody& bodyA,btSolverBody& bodyB,
85  const btSolverConstraint& contactConstraint);
86 
87  //internal method
88  int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
89  void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
90 
91  void resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
92 
93  void resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
94 
95  void resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
96 
97  void resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
98 
99 protected:
100 
101 
102  virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
103  virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
104  virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
105 
106  virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
107  virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
108 
109 
110 public:
111 
112  BT_DECLARE_ALIGNED_ALLOCATOR();
113 
114  btSequentialImpulseConstraintSolver();
115  virtual ~btSequentialImpulseConstraintSolver();
116 
117  virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
118 
119 
120 
122  virtual void reset();
123 
124  unsigned long btRand2();
125 
126  int btRandInt2 (int n);
127 
128  void setRandSeed(unsigned long seed)
129  {
130  m_btSeed2 = seed;
131  }
132  unsigned long getRandSeed() const
133  {
134  return m_btSeed2;
135  }
136 
137 
138  virtual btConstraintSolverType getSolverType() const
139  {
140  return BT_SEQUENTIAL_IMPULSE_SOLVER;
141  }
142 };
143 
144 
145 
146 
147 #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
148 
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