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:

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
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
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.)
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	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	setFrictionConstraintImpulse (btSolverConstraint &solverConstraint, btRigidBody *rb0, btRigidBody *rb1, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal)
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)
virtual void	solveGroupCacheFriendlySplitImpulseIterations (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer, btStackAlloc *stackAlloc)
virtual btScalar	solveGroupCacheFriendlyFinish (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)
virtual btScalar	solveGroupCacheFriendlySetup (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)
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 416 of file btSequentialImpulseConstraintSolver.cpp.

References btAlignedObjectArray< T >::expandNonInitializing(), m_tmpSolverContactFrictionConstraintPool, and setupFrictionConstraint().

Referenced by convertContact().

unsigned long btSequentialImpulseConstraintSolver::btRand2

(

)

Definition at line 243 of file btSequentialImpulseConstraintSolver.cpp.

References L, and m_btSeed2.

Referenced by btRandInt2().

int btSequentialImpulseConstraintSolver::btRandInt2

(

int

n

)

Definition at line 252 of file btSequentialImpulseConstraintSolver.cpp.

References btRand2().

Referenced by solveSingleIteration().

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

avoid collision response between two static objects

Definition at line 647 of file btSequentialImpulseConstraintSolver.cpp.

References addFrictionConstraint(), applyAnisotropicFriction(), btPlaneSpace1(), btSqrt(), btAlignedObjectArray< T >::expandNonInitializing(), btManifoldPoint::getDistance(), getFixedBody(), btRigidBody::getInvMass(), btManifoldPoint::m_contactCFM1, btManifoldPoint::m_contactCFM2, btManifoldPoint::m_contactMotion1, btManifoldPoint::m_contactMotion2, btManifoldPoint::m_lateralFrictionDir1, btManifoldPoint::m_lateralFrictionDir2, btManifoldPoint::m_lateralFrictionInitialized, btManifoldPoint::m_normalWorldOnB, btContactSolverInfoData::m_solverMode, m_tmpSolverContactConstraintPool, m_tmpSolverContactFrictionConstraintPool, setFrictionConstraintImpulse(), setupContactConstraint(), SIMD_EPSILON, btAlignedObjectArray< T >::size(), SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, SOLVER_ENABLE_FRICTION_DIRECTION_CACHING, and SOLVER_USE_2_FRICTION_DIRECTIONS.

Referenced by solveGroupCacheFriendlySetup().

btRigidBody & btSequentialImpulseConstraintSolver::getFixedBody

(

)

[static, protected]

Definition at line 1211 of file btSequentialImpulseConstraintSolver.cpp.

References btRigidBody::setMassProps().

Referenced by convertContact(), and setupFrictionConstraint().

int btSequentialImpulseConstraintSolver::getOrInitSolverBody

(

btCollisionObject &

body

)

[protected]

Definition at line 425 of file btSequentialImpulseConstraintSolver.cpp.

References btRigidBody::getInvMass().

unsigned long btSequentialImpulseConstraintSolver::getRandSeed

(

)

const [inline]

Definition at line 115 of file btSequentialImpulseConstraintSolver.h.

References m_btSeed2.

void btSequentialImpulseConstraintSolver::reset

(

)

[virtual]

clear internal cached data and reset random seed

Implements btConstraintSolver.

Definition at line 1206 of file btSequentialImpulseConstraintSolver.cpp.

References m_btSeed2.

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

Definition at line 94 of file btSequentialImpulseConstraintSolver.cpp.

References btRigidBody::internalApplyImpulse(), btRigidBody::internalGetDeltaAngularVelocity(), btRigidBody::internalGetDeltaLinearVelocity(), btRigidBody::internalGetInvMass(), and sum().

Referenced by resolveSingleConstraintRowGenericSIMD(), and solveSingleIteration().

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

Definition at line 60 of file btSequentialImpulseConstraintSolver.cpp.

References btSimdScalar, btRigidBody::internalGetDeltaAngularVelocity(), btRigidBody::internalGetDeltaLinearVelocity(), btRigidBody::internalGetInvMass(), resolveSingleConstraintRowGeneric(), and sum().

Referenced by solveSingleIteration().

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

Definition at line 154 of file btSequentialImpulseConstraintSolver.cpp.

References btRigidBody::internalApplyImpulse(), btRigidBody::internalGetDeltaAngularVelocity(), btRigidBody::internalGetDeltaLinearVelocity(), btRigidBody::internalGetInvMass(), and sum().

Referenced by resolveSingleConstraintRowLowerLimitSIMD(), and solveSingleIteration().

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

Definition at line 123 of file btSequentialImpulseConstraintSolver.cpp.

References btSimdScalar, btRigidBody::internalGetDeltaAngularVelocity(), btRigidBody::internalGetDeltaLinearVelocity(), btRigidBody::internalGetInvMass(), resolveSingleConstraintRowLowerLimit(), and sum().

Referenced by solveSingleIteration().

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

Definition at line 177 of file btSequentialImpulseConstraintSolver.cpp.

References gNumSplitImpulseRecoveries, btRigidBody::internalApplyPushImpulse(), btRigidBody::internalGetInvMass(), btRigidBody::internalGetPushVelocity(), btRigidBody::internalGetTurnVelocity(), and sum().

Referenced by resolveSplitPenetrationSIMD(), and solveGroupCacheFriendlySplitImpulseIterations().

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

Definition at line 206 of file btSequentialImpulseConstraintSolver.cpp.

References btSimdScalar, gNumSplitImpulseRecoveries, btRigidBody::internalGetInvMass(), btRigidBody::internalGetPushVelocity(), btRigidBody::internalGetTurnVelocity(), resolveSplitPenetrationImpulseCacheFriendly(), and sum().

Referenced by solveGroupCacheFriendlySplitImpulseIterations().

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

Definition at line 308 of file btSequentialImpulseConstraintSolver.cpp.

Referenced by setupContactConstraint().

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

Definition at line 596 of file btSequentialImpulseConstraintSolver.cpp.

References btRigidBody::getInvMass(), btRigidBody::getLinearFactor(), btRigidBody::internalApplyImpulse(), btManifoldPoint::m_appliedImpulseLateral1, btManifoldPoint::m_appliedImpulseLateral2, btContactSolverInfoData::m_solverMode, m_tmpSolverContactFrictionConstraintPool, btContactSolverInfoData::m_warmstartingFactor, SOLVER_USE_2_FRICTION_DIRECTIONS, SOLVER_USE_FRICTION_WARMSTARTING, and SOLVER_USE_WARMSTARTING.

Referenced by convertContact().

void btSequentialImpulseConstraintSolver::setRandSeed

(

unsigned long

seed

)

[inline]

Definition at line 111 of file btSequentialImpulseConstraintSolver.h.

References m_btSeed2.

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]

warm starting (or zero if disabled)

Definition at line 455 of file btSequentialImpulseConstraintSolver.cpp.

References btRigidBody::computeImpulseDenominator(), cross(), btRigidBody::getAngularFactor(), btRigidBody::getAngularVelocity(), btManifoldPoint::getDistance(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), btRigidBody::getLinearFactor(), btRigidBody::getLinearVelocity(), btManifoldPoint::getPositionWorldOnA(), btManifoldPoint::getPositionWorldOnB(), btRigidBody::getVelocityInLocalPoint(), btRigidBody::internalApplyImpulse(), btManifoldPoint::m_appliedImpulse, btManifoldPoint::m_combinedFriction, btManifoldPoint::m_combinedRestitution, btContactSolverInfoData::m_erp, btManifoldPoint::m_lifeTime, btContactSolverInfoData::m_linearSlop, btManifoldPoint::m_normalWorldOnB, btContactSolverInfoData::m_restingContactRestitutionThreshold, btContactSolverInfoData::m_solverMode, btContactSolverInfoData::m_splitImpulse, btContactSolverInfoData::m_splitImpulsePenetrationThreshold, btContactSolverInfoData::m_timeStep, btContactSolverInfoData::m_warmstartingFactor, restitutionCurve(), and SOLVER_USE_WARMSTARTING.

Referenced by convertContact().

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]

Definition at line 332 of file btSequentialImpulseConstraintSolver.cpp.

References btSimdScalar, cross(), btRigidBody::getAngularFactor(), btRigidBody::getAngularVelocity(), getFixedBody(), btRigidBody::getInvInertiaDiagLocal(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), btRigidBody::getLinearVelocity(), and btManifoldPoint::m_combinedFriction.

Referenced by addFrictionConstraint().

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 1189 of file btSequentialImpulseConstraintSolver.cpp.

References BT_PROFILE, btAssert, solveGroupCacheFriendlyFinish(), solveGroupCacheFriendlyIterations(), and solveGroupCacheFriendlySetup().

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

Definition at line 1128 of file btSequentialImpulseConstraintSolver.cpp.

References btAssert, i, btTypedConstraint::internalGetAppliedImpulse(), btTypedConstraint::internalSetAppliedImpulse(), btRigidBody::internalWritebackVelocity(), btManifoldPoint::m_appliedImpulse, btManifoldPoint::m_appliedImpulseLateral1, btManifoldPoint::m_appliedImpulseLateral2, btContactSolverInfoData::m_solverMode, btContactSolverInfoData::m_splitImpulse, btContactSolverInfoData::m_timeStep, m_tmpSolverContactConstraintPool, m_tmpSolverContactFrictionConstraintPool, m_tmpSolverNonContactConstraintPool, btAlignedObjectArray< T >::resize(), btAlignedObjectArray< T >::size(), SOLVER_USE_FRICTION_WARMSTARTING, and sum().

Referenced by solveGroup().

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

Definition at line 1110 of file btSequentialImpulseConstraintSolver.cpp.

References BT_PROFILE, btContactSolverInfoData::m_numIterations, solveGroupCacheFriendlySplitImpulseIterations(), and solveSingleIteration().

Referenced by solveGroup().

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

setup the btSolverConstraints

the size of btSolverConstraint needs be a multiple of btScalar

finalize the constraint setup

fix rhs todo: add force/torque accelerators

Todo:

: use stack allocator for such temporarily memory, same for solver bodies/constraints

Definition at line 744 of file btSequentialImpulseConstraintSolver.cpp.

References BT_PROFILE, btAssert, btTypedConstraint::buildJacobian(), btTypedConstraint::btConstraintInfo2::cfm, convertContact(), btTypedConstraint::btConstraintInfo2::erp, FLT_MAX, btTypedConstraint::btConstraintInfo2::fps, btRigidBody::getAngularFactor(), btRigidBody::getAngularVelocity(), btTypedConstraint::getInfo1(), btTypedConstraint::getInfo2(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), btRigidBody::getLinearVelocity(), btTypedConstraint::getRigidBodyA(), btTypedConstraint::getRigidBodyB(), i, btRigidBody::internalGetDeltaAngularVelocity(), btRigidBody::internalGetDeltaLinearVelocity(), btRigidBody::internalGetPushVelocity(), btRigidBody::internalGetTurnVelocity(), btTypedConstraint::btConstraintInfo2::m_constraintError, btContactSolverInfoData::m_damping, btTypedConstraint::btConstraintInfo2::m_damping, btContactSolverInfoData::m_erp, btContactSolverInfoData::m_globalCfm, btTypedConstraint::btConstraintInfo2::m_J1angularAxis, btTypedConstraint::btConstraintInfo2::m_J1linearAxis, btTypedConstraint::btConstraintInfo2::m_J2angularAxis, btTypedConstraint::btConstraintInfo2::m_J2linearAxis, btTypedConstraint::btConstraintInfo2::m_lowerLimit, btTypedConstraint::btConstraintInfo1::m_numConstraintRows, btTypedConstraint::btConstraintInfo2::m_numIterations, btContactSolverInfoData::m_numIterations, m_orderFrictionConstraintPool, m_orderTmpConstraintPool, btContactSolverInfoData::m_splitImpulse, btContactSolverInfoData::m_timeStep, m_tmpConstraintSizesPool, m_tmpSolverContactConstraintPool, m_tmpSolverContactFrictionConstraintPool, m_tmpSolverNonContactConstraintPool, btTypedConstraint::btConstraintInfo2::m_upperLimit, btAlignedObjectArray< T >::resize(), btTypedConstraint::btConstraintInfo2::rowskip, btAlignedObjectArray< T >::size(), and sum().

Referenced by solveGroup().

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

Definition at line 1070 of file btSequentialImpulseConstraintSolver.cpp.

References btContactSolverInfoData::m_numIterations, m_orderTmpConstraintPool, btContactSolverInfoData::m_solverMode, btContactSolverInfoData::m_splitImpulse, m_tmpSolverContactConstraintPool, resolveSplitPenetrationImpulseCacheFriendly(), resolveSplitPenetrationSIMD(), btAlignedObjectArray< T >::size(), and SOLVER_SIMD.

Referenced by solveGroupCacheFriendlyIterations().

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]

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 965 of file btSequentialImpulseConstraintSolver.cpp.

References btRandInt2(), m_orderFrictionConstraintPool, m_orderTmpConstraintPool, btContactSolverInfoData::m_solverMode, btContactSolverInfoData::m_timeStep, m_tmpSolverContactConstraintPool, m_tmpSolverContactFrictionConstraintPool, m_tmpSolverNonContactConstraintPool, resolveSingleConstraintRowGeneric(), resolveSingleConstraintRowGenericSIMD(), resolveSingleConstraintRowLowerLimit(), resolveSingleConstraintRowLowerLimitSIMD(), btAlignedObjectArray< T >::size(), btTypedConstraint::solveConstraintObsolete(), SOLVER_RANDMIZE_ORDER, and SOLVER_SIMD.

Referenced by solveGroupCacheFriendlyIterations().

---

Member Data Documentation

unsigned long btSequentialImpulseConstraintSolver::m_btSeed2 [protected]

m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction

Definition at line 54 of file btSequentialImpulseConstraintSolver.h.

Referenced by btRand2(), getRandSeed(), reset(), and setRandSeed().

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderFrictionConstraintPool [protected]

Definition at line 36 of file btSequentialImpulseConstraintSolver.h.

Referenced by solveGroupCacheFriendlySetup(), and solveSingleIteration().

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderTmpConstraintPool [protected]

Definition at line 35 of file btSequentialImpulseConstraintSolver.h.

Referenced by solveGroupCacheFriendlySetup(), solveGroupCacheFriendlySplitImpulseIterations(), and solveSingleIteration().

btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> btSequentialImpulseConstraintSolver::m_tmpConstraintSizesPool [protected]

Definition at line 37 of file btSequentialImpulseConstraintSolver.h.

Referenced by solveGroupCacheFriendlySetup().

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactConstraintPool [protected]

Definition at line 32 of file btSequentialImpulseConstraintSolver.h.

Referenced by convertContact(), solveGroupCacheFriendlyFinish(), solveGroupCacheFriendlySetup(), solveGroupCacheFriendlySplitImpulseIterations(), and solveSingleIteration().

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactFrictionConstraintPool [protected]

Definition at line 34 of file btSequentialImpulseConstraintSolver.h.

Referenced by addFrictionConstraint(), convertContact(), setFrictionConstraintImpulse(), solveGroupCacheFriendlyFinish(), solveGroupCacheFriendlySetup(), and solveSingleIteration().

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverNonContactConstraintPool [protected]

Definition at line 33 of file btSequentialImpulseConstraintSolver.h.

Referenced by solveGroupCacheFriendlyFinish(), solveGroupCacheFriendlySetup(), and solveSingleIteration().

---

The documentation for this class was generated from the following files:

• btSequentialImpulseConstraintSolver.h
• btSequentialImpulseConstraintSolver.cpp