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 30 typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&); 31 32 ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. 33 ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver 34 { 35 protected: 36 btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool; 37 btConstraintArray m_tmpSolverContactConstraintPool; 38 btConstraintArray m_tmpSolverNonContactConstraintPool; 39 btConstraintArray m_tmpSolverContactFrictionConstraintPool; 40 btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool; 41 42 btAlignedObjectArray<int> m_orderTmpConstraintPool; 43 btAlignedObjectArray<int> m_orderNonContactConstraintPool; 44 btAlignedObjectArray<int> m_orderFrictionConstraintPool; 45 btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool; 46 int m_maxOverrideNumSolverIterations; 47 int m_fixedBodyId; 48 49 btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric; 50 btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit; 51 52 void setupFrictionConstraint( 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 void setupRollingFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB, 58 btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2, 59 btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, 60 btScalar desiredVelocity=0., btScalar cfmSlip=0.); 61 62 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.); 63 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); 64 65 66 void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, 67 const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2); 68 69 static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode); 70 71 void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, 72 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal); 73 74 ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction 75 unsigned long m_btSeed2; 76 77 78 btScalar restitutionCurve(btScalar rel_vel, btScalar restitution); 79 80 virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal); 81 82 void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); 83 84 85 void resolveSplitPenetrationSIMD( 86 btSolverBody& bodyA,btSolverBody& bodyB, 87 const btSolverConstraint& contactConstraint); 88 89 void resolveSplitPenetrationImpulseCacheFriendly( 90 btSolverBody& bodyA,btSolverBody& bodyB, 91 const btSolverConstraint& contactConstraint); 92 93 //internal method 94 int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep); 95 void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep); 96 97 btSimdScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); 98 btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); 99 btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); 100 btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint); 101 102 protected: 103 104 105 virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); 106 virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal); 107 virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); 108 109 virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); 110 virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); 111 112 113 public: 114 115 BT_DECLARE_ALIGNED_ALLOCATOR(); 116 117 btSequentialImpulseConstraintSolver(); 118 virtual ~btSequentialImpulseConstraintSolver(); 119 120 virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); 121 122 ///clear internal cached data and reset random seed 123 virtual void reset(); 124 125 unsigned long btRand2(); 126 127 int btRandInt2 (int n); 128 129 void setRandSeed(unsigned long seed) 130 { 131 m_btSeed2 = seed; 132 } 133 unsigned long getRandSeed() const 134 { 135 return m_btSeed2; 136 } 137 138 139 virtual btConstraintSolverType getSolverType() const 140 { 141 return BT_SEQUENTIAL_IMPULSE_SOLVER; 142 } 143 144 btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric() 145 { 146 return m_resolveSingleConstraintRowGeneric; 147 } 148 void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver) 149 { 150 m_resolveSingleConstraintRowGeneric = rowSolver; 151 } 152 btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit() 153 { 154 return m_resolveSingleConstraintRowLowerLimit; 155 } 156 void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver) 157 { 158 m_resolveSingleConstraintRowLowerLimit = rowSolver; 159 } 160 161 ///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4 162 btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); 163 btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); 164 btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric(); 165 166 ///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4 167 btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit(); 168 btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit(); 169 btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit(); 170 }; 171 172 173 174 175 #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H 176 177
