btSequentialImpulseConstraintSolver Class Reference

The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. More...

#include <btSequentialImpulseConstraintSolver.h>

Inheritance diagram for btSequentialImpulseConstraintSolver:

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Collaboration diagram for btSequentialImpulseConstraintSolver:

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List of all members.

Public Member Functions
	btSequentialImpulseConstraintSolver ()
virtual	~btSequentialImpulseConstraintSolver ()
virtual btScalar	solveGroup (btCollisionObject bodies, int numBodies, btPersistentManifold manifold, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw debugDrawer, btStackAlloc stackAlloc, btDispatcher dispatcher)
	btSequentialImpulseConstraintSolver Sequentially applies impulses
btScalar	solveGroupCacheFriendlySetup (btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer, btStackAlloc *stackAlloc)
btScalar	solveGroupCacheFriendlyIterations (btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer, btStackAlloc *stackAlloc)
virtual void	reset ()
	clear internal cached data and reset random seed
unsigned long	btRand2 ()
int	btRandInt2 (int n)
void	setRandSeed (unsigned long seed)
unsigned long	getRandSeed () const
Protected Member Functions
btSolverConstraint &	addFrictionConstraint (const btVector3 &normalAxis, btRigidBody solverBodyA, btRigidBody solverBodyB, int frictionIndex, btManifoldPoint &cp, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject colObj0, btCollisionObject colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.)
btScalar	restitutionCurve (btScalar rel_vel, btScalar restitution)
void	convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
void	resolveSplitPenetrationSIMD (btRigidBody &body1, btRigidBody &body2, const btSolverConstraint &contactConstraint)
void	resolveSplitPenetrationImpulseCacheFriendly (btRigidBody &body1, btRigidBody &body2, const btSolverConstraint &contactConstraint)
int	getOrInitSolverBody (btCollisionObject &body)
void	resolveSingleConstraintRowGeneric (btRigidBody &body1, btRigidBody &body2, const btSolverConstraint &contactConstraint)
void	resolveSingleConstraintRowGenericSIMD (btRigidBody &body1, btRigidBody &body2, const btSolverConstraint &contactConstraint)
void	resolveSingleConstraintRowLowerLimit (btRigidBody &body1, btRigidBody &body2, const btSolverConstraint &contactConstraint)
void	resolveSingleConstraintRowLowerLimitSIMD (btRigidBody &body1, btRigidBody &body2, const btSolverConstraint &contactConstraint)
Static Protected Member Functions
static btRigidBody &	getFixedBody ()
Protected Attributes
btConstraintArray	m_tmpSolverContactConstraintPool
btConstraintArray	m_tmpSolverNonContactConstraintPool
btConstraintArray	m_tmpSolverContactFrictionConstraintPool
btAlignedObjectArray< int >	m_orderTmpConstraintPool
btAlignedObjectArray< int >	m_orderFrictionConstraintPool
btAlignedObjectArray < btTypedConstraint::btConstraintInfo1 >	m_tmpConstraintSizesPool
unsigned long	m_btSeed2
	m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction

Detailed Description

The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.

Definition at line 28 of file btSequentialImpulseConstraintSolver.h.

Constructor & Destructor Documentation

btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver ( )

Definition at line 39 of file btSequentialImpulseConstraintSolver.cpp.

btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver ( ) [virtual]

Definition at line 45 of file btSequentialImpulseConstraintSolver.cpp.

Member Function Documentation

btSolverConstraint & btSequentialImpulseConstraintSolver::addFrictionConstraint	(	const btVector3 &	normalAxis,
		btRigidBody *	solverBodyA,
		btRigidBody *	solverBodyB,
		int	frictionIndex,
		btManifoldPoint &	cp,
		const btVector3 &	rel_pos1,
		const btVector3 &	rel_pos2,
		btCollisionObject *	colObj0,
		btCollisionObject *	colObj1,
		btScalar	relaxation,
		btScalar	desiredVelocity = `0.`,
		btScalar	cfmSlip = `0.`
	)			`[protected]`

Definition at line 333 of file btSequentialImpulseConstraintSolver.cpp.

unsigned long btSequentialImpulseConstraintSolver::btRand2 ( )

Definition at line 243 of file btSequentialImpulseConstraintSolver.cpp.

int btSequentialImpulseConstraintSolver::btRandInt2 ( int n )

Definition at line 252 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::convertContact	(	btPersistentManifold *	manifold,
		const btContactSolverInfo &	infoGlobal
	)			`[protected]`

avoid collision response between two static objects

warm starting (or zero if disabled)

Definition at line 451 of file btSequentialImpulseConstraintSolver.cpp.

static btRigidBody& btSequentialImpulseConstraintSolver::getFixedBody ( ) [inline, static, protected]

Definition at line 72 of file btSequentialImpulseConstraintSolver.h.

int btSequentialImpulseConstraintSolver::getOrInitSolverBody ( btCollisionObject & body ) [protected]

Definition at line 420 of file btSequentialImpulseConstraintSolver.cpp.

unsigned long btSequentialImpulseConstraintSolver::getRandSeed ( ) const [inline]

Definition at line 101 of file btSequentialImpulseConstraintSolver.h.

void btSequentialImpulseConstraintSolver::reset ( ) [virtual]

clear internal cached data and reset random seed

Implements btConstraintSolver.

Definition at line 1137 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric	(	btRigidBody &	body1,
		btRigidBody &	body2,
		const btSolverConstraint &	contactConstraint
	)			`[protected]`

Definition at line 94 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD	(	btRigidBody &	body1,
		btRigidBody &	body2,
		const btSolverConstraint &	contactConstraint
	)			`[protected]`

Definition at line 60 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit	(	btRigidBody &	body1,
		btRigidBody &	body2,
		const btSolverConstraint &	contactConstraint
	)			`[protected]`

Definition at line 154 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD	(	btRigidBody &	body1,
		btRigidBody &	body2,
		const btSolverConstraint &	contactConstraint
	)			`[protected]`

Definition at line 123 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly	(	btRigidBody &	body1,
		btRigidBody &	body2,
		const btSolverConstraint &	contactConstraint
	)			`[protected]`

Definition at line 177 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD	(	btRigidBody &	body1,
		btRigidBody &	body2,
		const btSolverConstraint &	contactConstraint
	)			`[protected]`

Definition at line 206 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::restitutionCurve	(	btScalar	rel_vel,
		btScalar	restitution
	)			`[protected]`

Definition at line 308 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setRandSeed ( unsigned long seed ) [inline]

Definition at line 97 of file btSequentialImpulseConstraintSolver.h.

btScalar btSequentialImpulseConstraintSolver::solveGroup	(	btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifold,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	info,
		btIDebugDraw *	debugDrawer,
		btStackAlloc *	stackAlloc,
		btDispatcher *	dispatcher
	)			`[virtual]`

btSequentialImpulseConstraintSolver Sequentially applies impulses

Implements btConstraintSolver.

Definition at line 1057 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations	(	btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer,
		btStackAlloc *	stackAlloc
	)

solve all joint constraints, using SIMD, if available

solve all contact constraints using SIMD, if available

solve all friction constraints, using SIMD, if available

solve all joint constraints

solve all contact constraints

solve all friction constraints

Definition at line 904 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup	(	btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer,
		btStackAlloc *	stackAlloc
	)