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Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

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extern/bullet2/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h

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class btCollisionObject; class btCollisionObject;
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btSolverBody.h" #include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h" #include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h" #include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h" #include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
{ {
protected: protected:
btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool; btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
btConstraintArray m_tmpSolverContactConstraintPool; btConstraintArray m_tmpSolverContactConstraintPool;
btConstraintArray m_tmpSolverNonContactConstraintPool; btConstraintArray m_tmpSolverNonContactConstraintPool;
btConstraintArray m_tmpSolverContactFrictionConstraintPool; btConstraintArray m_tmpSolverContactFrictionConstraintPool;
btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool; btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
btAlignedObjectArray<int> m_orderTmpConstraintPool; btAlignedObjectArray<int> m_orderTmpConstraintPool;
btAlignedObjectArray<int> m_orderNonContactConstraintPool; btAlignedObjectArray<int> m_orderNonContactConstraintPool;
btAlignedObjectArray<int> m_orderFrictionConstraintPool; btAlignedObjectArray<int> m_orderFrictionConstraintPool;
btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool; btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
int m_maxOverrideNumSolverIterations; int m_maxOverrideNumSolverIterations;
int m_fixedBodyId; int m_fixedBodyId;
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
btScalar desiredVelocity=0., btScalar cfmSlip=0.); btScalar desiredVelocity=0., btScalar cfmSlip=0.);
void setupRollingFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, void setupRollingFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
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public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
btSequentialImpulseConstraintSolver(); btSequentialImpulseConstraintSolver();
virtual ~btSequentialImpulseConstraintSolver(); virtual ~btSequentialImpulseConstraintSolver();
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
///clear internal cached data and reset random seed ///clear internal cached data and reset random seed
virtual void reset(); virtual void reset();
unsigned long btRand2(); unsigned long btRand2();
int btRandInt2 (int n); int btRandInt2 (int n);
void setRandSeed(unsigned long seed) void setRandSeed(unsigned long seed)
{ {
m_btSeed2 = seed; m_btSeed2 = seed;
} }
unsigned long getRandSeed() const unsigned long getRandSeed() const
{ {
return m_btSeed2; return m_btSeed2;
} }
virtual btConstraintSolverType getSolverType() const virtual btConstraintSolverType getSolverType() const
{ {
return BT_SEQUENTIAL_IMPULSE_SOLVER; return BT_SEQUENTIAL_IMPULSE_SOLVER;
} }
btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
{
return m_resolveSingleConstraintRowGeneric;
}
void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
{
m_resolveSingleConstraintRowGeneric = rowSolver;
}
btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
{
return m_resolveSingleConstraintRowLowerLimit;
}
void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
{
m_resolveSingleConstraintRowLowerLimit = rowSolver;
}
///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4
btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4
btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
}; };
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H