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:

[legend]

List of all members.

Public Member Functions
unsigned long	btRand2 ()
int	btRandInt2 (int n)
	btSequentialImpulseConstraintSolver ()
unsigned long	getRandSeed () const
virtual void	reset ()
	clear internal cached data and reset random seed
void	setRandSeed (unsigned long seed)
virtual btScalar	solveGroup (btCollisionObject bodies, int numBodies, btPersistentManifold manifold, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw debugDrawer, btStackAlloc stackAlloc, btDispatcher dispatcher)
	solve a group of constraints
virtual	~btSequentialImpulseConstraintSolver ()
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.)
void	convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
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)
void	resolveSplitPenetrationImpulseCacheFriendly (btRigidBody &body1, btRigidBody &body2, const btSolverConstraint &contactConstraint)
void	resolveSplitPenetrationSIMD (btRigidBody &body1, btRigidBody &body2, const btSolverConstraint &contactConstraint)
btScalar	restitutionCurve (btScalar rel_vel, btScalar restitution)
void	setFrictionConstraintImpulse (btSolverConstraint &solverConstraint, btRigidBody rb0, btRigidBody rb1, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal)
void	setupContactConstraint (btSolverConstraint &solverConstraint, btCollisionObject colObj0, btCollisionObject colObj1, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btVector3 &vel, btScalar &rel_vel, btScalar &relaxation, btVector3 &rel_pos1, btVector3 &rel_pos2)
void	setupFrictionConstraint (btSolverConstraint &solverConstraint, const btVector3 &normalAxis, btRigidBody solverBodyA, btRigidBody solverBodyIdB, btManifoldPoint &cp, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject colObj0, btCollisionObject colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.)
virtual btScalar	solveGroupCacheFriendlyFinish (btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer, btStackAlloc *stackAlloc)
virtual btScalar	solveGroupCacheFriendlyIterations (btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer, btStackAlloc *stackAlloc)
virtual btScalar	solveGroupCacheFriendlySetup (btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer, btStackAlloc *stackAlloc)
virtual void	solveGroupCacheFriendlySplitImpulseIterations (btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer, btStackAlloc *stackAlloc)
btScalar	solveSingleIteration (int iteration, btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer, btStackAlloc *stackAlloc)
Static Protected Member Functions
static btRigidBody &	getFixedBody ()
Protected Attributes
unsigned long	m_btSeed2
	m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
btAlignedObjectArray< int >	m_orderFrictionConstraintPool
btAlignedObjectArray< int >	m_orderTmpConstraintPool
btAlignedObjectArray < btTypedConstraint::btConstraintInfo1 >	m_tmpConstraintSizesPool
btConstraintArray	m_tmpSolverContactConstraintPool
btConstraintArray	m_tmpSolverContactFrictionConstraintPool
btConstraintArray	m_tmpSolverNonContactConstraintPool

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 ( )

virtual btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver ( ) [virtual]

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]`

unsigned long btSequentialImpulseConstraintSolver::btRand2 ( )

int btSequentialImpulseConstraintSolver::btRandInt2 ( int n )

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

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

Definition at line 79 of file btSequentialImpulseConstraintSolver.h.

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

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

Definition at line 114 of file btSequentialImpulseConstraintSolver.h.

virtual void btSequentialImpulseConstraintSolver::reset ( ) [virtual]

clear internal cached data and reset random seed

Implements btConstraintSolver.

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

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

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

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

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

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

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

void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse	(	btSolverConstraint &	solverConstraint,
		btRigidBody *	rb0,
		btRigidBody *	rb1,
		btManifoldPoint &	cp,
		const btContactSolverInfo &	infoGlobal
	)			`[protected]`

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

Definition at line 110 of file btSequentialImpulseConstraintSolver.h.

void btSequentialImpulseConstraintSolver::setupContactConstraint	(	btSolverConstraint &	solverConstraint,
		btCollisionObject *	colObj0,
		btCollisionObject *	colObj1,
		btManifoldPoint &	cp,
		const btContactSolverInfo &	infoGlobal,
		btVector3 &	vel,
		btScalar &	rel_vel,
		btScalar &	relaxation,
		btVector3 &	rel_pos1,
		btVector3 &	rel_pos2
	)			`[protected]`

void btSequentialImpulseConstraintSolver::setupFrictionConstraint	(	btSolverConstraint &	solverConstraint,
		const btVector3 &	normalAxis,
		btRigidBody *	solverBodyA,
		btRigidBody *	solverBodyIdB,
		btManifoldPoint &	cp,
		const btVector3 &	rel_pos1,
		const btVector3 &	rel_pos2,
		btCollisionObject *	colObj0,
		btCollisionObject *	colObj1,
		btScalar	relaxation,
		btScalar	desiredVelocity = `0.`,
		btScalar	cfmSlip = `0.`
	)			`[protected]`

virtual 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]`

solve a group of constraints

Implements btConstraintSolver.

virtual btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish	(	btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer,
		btStackAlloc *	stackAlloc
	)			`[protected, virtual]`

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

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

virtual void btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations	(	btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer,
		btStackAlloc *	stackAlloc
	)			`[protected, virtual]`

btScalar btSequentialImpulseConstraintSolver::solveSingleIteration	(	int	iteration,
		btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer,
		btStackAlloc *	stackAlloc
	)			`[protected]`