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;
21 class btDispatcher;
22 class btCollisionObject;
29 
31 
35 {
36 protected:
42 
49  // When running solvers on multiple threads, a race condition exists for Kinematic objects that
50  // participate in more than one solver.
51  // The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body
52  // for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island
53  // (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once.
54  // To avoid this race condition, this solver does not write the companionId, instead it stores the solver body
55  // index in this solver-local table, indexed by the uniqueId of the body.
57 
61  int m_cachedSolverMode; // used to check if SOLVER_SIMD flag has been changed
62  void setupSolverFunctions(bool useSimd);
63 
65 
66  void setupFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
67  btManifoldPoint& cp, const btVector3& rel_pos1, const btVector3& rel_pos2,
68  btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
69  const btContactSolverInfo& infoGlobal,
70  btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
71 
72  void setupTorsionalFrictionConstraint(btSolverConstraint & solverConstraint, const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
73  btManifoldPoint& cp, btScalar combinedTorsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2,
74  btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation,
75  btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
76 
77  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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0., btScalar cfmSlip = 0.);
78  btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint& cp, btScalar torsionalFriction, const btVector3& rel_pos1, const btVector3& rel_pos2, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity = 0, btScalar cfmSlip = 0.f);
79 
80  void setupContactConstraint(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
81  const btContactSolverInfo& infoGlobal, btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
82 
83  static void applyAnisotropicFriction(btCollisionObject * colObj, btVector3 & frictionDirection, int frictionMode);
84 
85  void setFrictionConstraintImpulse(btSolverConstraint & solverConstraint, int solverBodyIdA, int solverBodyIdB,
86  btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
87 
89  unsigned long m_btSeed2;
90 
91  btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
92 
93  virtual void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
94 
95  void convertContact(btPersistentManifold * manifold, const btContactSolverInfo& infoGlobal);
96 
97  virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal);
98  void convertJoint(btSolverConstraint * currentConstraintRow, btTypedConstraint * constraint, const btTypedConstraint::btConstraintInfo1& info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo& infoGlobal);
99 
100  virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
101 
103  {
104  return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
105  }
106 
108  {
109  return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
110  }
111 
112  //internal method
113  int getOrInitSolverBody(btCollisionObject & body, btScalar timeStep);
114  void initSolverBody(btSolverBody * solverBody, btCollisionObject * collisionObject, btScalar timeStep);
115 
116  btScalar resolveSingleConstraintRowGeneric(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
117  btScalar resolveSingleConstraintRowGenericSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
118  btScalar resolveSingleConstraintRowLowerLimit(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
119  btScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint& contactConstraint);
121  {
122  return m_resolveSplitPenetrationImpulse(bodyA, bodyB, contactConstraint);
123  }
124 
125 protected:
126  void writeBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
127  void writeBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
128  void writeBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
129  virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
130  virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
131  virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
132 
133  virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
134  virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
135 
136 public:
138 
141 
142  virtual btScalar solveGroup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifold, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btDispatcher* dispatcher);
143 
145  virtual void reset();
146 
147  unsigned long btRand2();
148 
149  int btRandInt2(int n);
150 
151  void setRandSeed(unsigned long seed)
152  {
153  m_btSeed2 = seed;
154  }
155  unsigned long getRandSeed() const
156  {
157  return m_btSeed2;
158  }
159 
161  {
163  }
164 
166  {
167  return m_resolveSingleConstraintRowGeneric;
168  }
170  {
171  m_resolveSingleConstraintRowGeneric = rowSolver;
172  }
174  {
175  return m_resolveSingleConstraintRowLowerLimit;
176  }
178  {
179  m_resolveSingleConstraintRowLowerLimit = rowSolver;
180  }
181 
183  btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
184  btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
185  btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
186 
188  btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
189  btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
190  btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
191 };
192 
193 #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
btSequentialImpulseConstraintSolver::m_tmpSolverContactFrictionConstraintPool
btConstraintArray m_tmpSolverContactFrictionConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:40
btSolverBody
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
Definition: btSolverBody.h:103
btManifoldPoint.h
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:74
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulse
btScalar resolveSplitPenetrationImpulse(btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
Definition: btSequentialImpulseConstraintSolver.h:120
btSolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition: btSolverConstraint.h:29
btSequentialImpulseConstraintSolver::setConstraintRowSolverGeneric
void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
Definition: btSequentialImpulseConstraintSolver.h:169
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:76
btSequentialImpulseConstraintSolver::m_orderFrictionConstraintPool
btAlignedObjectArray< int > m_orderFrictionConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:45
BT_SEQUENTIAL_IMPULSE_SOLVER
Definition: btConstraintSolver.h:34
btSingleConstraintRowSolver
btScalar(* btSingleConstraintRowSolver)(btSolverBody &, btSolverBody &, const btSolverConstraint &)
Definition: btSequentialImpulseConstraintSolver.h:30
btSequentialImpulseConstraintSolver::m_btSeed2
unsigned long m_btSeed2
m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
Definition: btSequentialImpulseConstraintSolver.h:89
btSequentialImpulseConstraintSolver::m_tmpSolverContactRollingFrictionConstraintPool
btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:41
btSequentialImpulseConstraintSolver::m_kinematicBodyUniqueIdToSolverBodyTable
btAlignedObjectArray< int > m_kinematicBodyUniqueIdToSolverBodyTable
Definition: btSequentialImpulseConstraintSolver.h:56
btSequentialImpulseConstraintSolver::setConstraintRowSolverLowerLimit
void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
Definition: btSequentialImpulseConstraintSolver.h:177
btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowGeneric
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric
Definition: btSequentialImpulseConstraintSolver.h:58
btSolverBody.h
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btManifoldPoint
ManifoldContactPoint collects and maintains persistent contactpoints.
Definition: btManifoldPoint.h:51
btTypedConstraint.h
btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly
btScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
Definition: btSequentialImpulseConstraintSolver.h:107
btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowLowerLimit
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit
Definition: btSequentialImpulseConstraintSolver.h:59
btSequentialImpulseConstraintSolver::m_orderTmpConstraintPool
btAlignedObjectArray< int > m_orderTmpConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:43
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btTypedConstraint::btConstraintInfo1
Definition: btTypedConstraint.h:113
btSequentialImpulseConstraintSolver::m_maxOverrideNumSolverIterations
int m_maxOverrideNumSolverIterations
Definition: btSequentialImpulseConstraintSolver.h:47
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btSequentialImpulseConstraintSolver::m_fixedBodyId
int m_fixedBodyId
Definition: btSequentialImpulseConstraintSolver.h:48
btConstraintSolver.h
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btAlignedObjectArray< btSolverBody >
btSequentialImpulseConstraintSolver::m_tmpSolverContactConstraintPool
btConstraintArray m_tmpSolverContactConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:38
btSequentialImpulseConstraintSolver::getRandSeed
unsigned long getRandSeed() const
Definition: btSequentialImpulseConstraintSolver.h:155
btSequentialImpulseConstraintSolver::getSolverType
virtual btConstraintSolverType getSolverType() const
Definition: btSequentialImpulseConstraintSolver.h:160
btContactSolverInfo.h
btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverGeneric
btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
Definition: btSequentialImpulseConstraintSolver.h:165
btSequentialImpulseConstraintSolver::m_tmpConstraintSizesPool
btAlignedObjectArray< btTypedConstraint::btConstraintInfo1 > m_tmpConstraintSizesPool
Definition: btSequentialImpulseConstraintSolver.h:46
btSequentialImpulseConstraintSolver::m_orderNonContactConstraintPool
btAlignedObjectArray< int > m_orderNonContactConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:44
btSequentialImpulseConstraintSolver::m_cachedSolverMode
int m_cachedSolverMode
Definition: btSequentialImpulseConstraintSolver.h:61
btSequentialImpulseConstraintSolver::m_tmpSolverBodyPool
btAlignedObjectArray< btSolverBody > m_tmpSolverBodyPool
Definition: btSequentialImpulseConstraintSolver.h:37
btSequentialImpulseConstraintSolver
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
Definition: btSequentialImpulseConstraintSolver.h:33
btSequentialImpulseConstraintSolver::m_resolveSplitPenetrationImpulse
btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse
Definition: btSequentialImpulseConstraintSolver.h:60
btConstraintSolverType
btConstraintSolverType
btConstraintSolver provides solver interface
Definition: btConstraintSolver.h:32
btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverLowerLimit
btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
Definition: btSequentialImpulseConstraintSolver.h:173
btSequentialImpulseConstraintSolver::m_tmpSolverNonContactConstraintPool
btConstraintArray m_tmpSolverNonContactConstraintPool
Definition: btSequentialImpulseConstraintSolver.h:39
btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD
btScalar resolveSplitPenetrationSIMD(btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
Definition: btSequentialImpulseConstraintSolver.h:102
btSequentialImpulseConstraintSolver::setRandSeed
void setRandSeed(unsigned long seed)
Definition: btSequentialImpulseConstraintSolver.h:151
btSolverConstraint.h
btSequentialImpulseConstraintSolver::m_leastSquaresResidual
btScalar m_leastSquaresResidual
Definition: btSequentialImpulseConstraintSolver.h:64
btConstraintSolver
Definition: btConstraintSolver.h:40