Public Member Functions | Protected Member Functions | Protected Attributes

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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List of all members.

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 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, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.)
void setupRollingFrictionConstraint (btSolverConstraint &solverConstraint, const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.)
btSolverConstraintaddFrictionConstraint (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.)
btSolverConstraintaddRollingFrictionConstraint (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)
void setupContactConstraint (btSolverConstraint &solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btVector3 &vel, btScalar &rel_vel, btScalar &relaxation, btVector3 &rel_pos1, btVector3 &rel_pos2)
void setFrictionConstraintImpulse (btSolverConstraint &solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal)
btScalar restitutionCurve (btScalar rel_vel, btScalar restitution)
void convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
void resolveSplitPenetrationSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
void resolveSplitPenetrationImpulseCacheFriendly (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
int getOrInitSolverBody (btCollisionObject &body)
void initSolverBody (btSolverBody *solverBody, btCollisionObject *collisionObject)
void resolveSingleConstraintRowGeneric (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
void resolveSingleConstraintRowGenericSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
void resolveSingleConstraintRowLowerLimit (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
void resolveSingleConstraintRowLowerLimitSIMD (btSolverBody &bodyA, btSolverBody &bodyB, 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, const btContactSolverInfo &infoGlobal)
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)

Protected Attributes

btAlignedObjectArray
< btSolverBody > 
m_tmpSolverBodyPool
btConstraintArray m_tmpSolverContactConstraintPool
btConstraintArray m_tmpSolverNonContactConstraintPool
btConstraintArray m_tmpSolverContactFrictionConstraintPool
btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool
btAlignedObjectArray< int > m_orderTmpConstraintPool
btAlignedObjectArray< int > m_orderNonContactConstraintPool
btAlignedObjectArray< int > m_orderFrictionConstraintPool
btAlignedObjectArray
< btTypedConstraint::btConstraintInfo1
m_tmpConstraintSizesPool
int m_maxOverrideNumSolverIterations
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 32 of file btSequentialImpulseConstraintSolver.h.


Constructor & Destructor Documentation

btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver (  ) 

Definition at line 38 of file btSequentialImpulseConstraintSolver.cpp.

btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver (  )  [virtual]

Definition at line 44 of file btSequentialImpulseConstraintSolver.cpp.


Member Function Documentation

btSolverConstraint & btSequentialImpulseConstraintSolver::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. 
) [protected]

Definition at line 420 of file btSequentialImpulseConstraintSolver.cpp.

btSolverConstraint & btSequentialImpulseConstraintSolver::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 
) [protected]

Definition at line 506 of file btSequentialImpulseConstraintSolver.cpp.

btSequentialImpulseConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR (  ) 
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

Bullet has several options to set the friction directions By default, each contact has only a single friction direction that is recomputed automatically very frame based on the relative linear velocity. If the relative velocity it zero, it will automatically compute a friction direction.

You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS. In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.

If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.

The user can manually override the friction directions for certain contacts using a contact callback, and set the cp.m_lateralFrictionInitialized to true In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) this will give a conveyor belt effect

Definition at line 745 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 516 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 130 of file btSequentialImpulseConstraintSolver.h.

void btSequentialImpulseConstraintSolver::initSolverBody ( btSolverBody *  solverBody,
btCollisionObject collisionObject 
) [protected]

Definition at line 281 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::reset (  )  [virtual]

clear internal cached data and reset random seed

Implements btConstraintSolver.

Definition at line 1645 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric ( btSolverBody &  bodyA,
btSolverBody &  bodyB,
const btSolverConstraint contactConstraint 
) [protected]

Definition at line 93 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD ( btSolverBody &  bodyA,
btSolverBody &  bodyB,
const btSolverConstraint contactConstraint 
) [protected]

Definition at line 59 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit ( btSolverBody &  bodyA,
btSolverBody &  bodyB,
const btSolverConstraint contactConstraint 
) [protected]

Definition at line 154 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD ( btSolverBody &  bodyA,
btSolverBody &  bodyB,
const btSolverConstraint contactConstraint 
) [protected]

Definition at line 123 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly ( btSolverBody &  bodyA,
btSolverBody &  bodyB,
const btSolverConstraint contactConstraint 
) [protected]

Definition at line 177 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD ( btSolverBody &  bodyA,
btSolverBody &  bodyB,
const btSolverConstraint contactConstraint 
) [protected]

Definition at line 206 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 319 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse ( btSolverConstraint solverConstraint,
int  solverBodyIdA,
int  solverBodyIdB,
btManifoldPoint cp,
const btContactSolverInfo infoGlobal 
) [protected]

Definition at line 699 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 126 of file btSequentialImpulseConstraintSolver.h.

void btSequentialImpulseConstraintSolver::setupContactConstraint ( btSolverConstraint solverConstraint,
int  solverBodyIdA,
int  solverBodyIdB,
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 548 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setupFrictionConstraint ( btSolverConstraint solverConstraint,
const btVector3 normalAxis,
int  solverBodyIdA,
int  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 348 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setupRollingFrictionConstraint ( btSolverConstraint solverConstraint,
const btVector3 normalAxis,
int  solverBodyIdA,
int  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 430 of file btSequentialImpulseConstraintSolver.cpp.

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.

Reimplemented in btParallelConstraintSolver.

Definition at line 1630 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish ( btCollisionObject **  bodies,
int  numBodies,
const btContactSolverInfo infoGlobal 
) [protected, virtual]

Definition at line 1550 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 
) [protected, virtual]

this is a special step to resolve penetrations (just for contacts)

Definition at line 1530 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 
) [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

Definition at line 907 of file btSequentialImpulseConstraintSolver.cpp.

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 1490 of file btSequentialImpulseConstraintSolver.cpp.

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 1254 of file btSequentialImpulseConstraintSolver.cpp.


Member Data Documentation

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

Definition at line 69 of file btSequentialImpulseConstraintSolver.h.

Definition at line 45 of file btSequentialImpulseConstraintSolver.h.

Definition at line 43 of file btSequentialImpulseConstraintSolver.h.

Definition at line 42 of file btSequentialImpulseConstraintSolver.h.

Definition at line 41 of file btSequentialImpulseConstraintSolver.h.

Definition at line 44 of file btSequentialImpulseConstraintSolver.h.

Definition at line 35 of file btSequentialImpulseConstraintSolver.h.

Definition at line 36 of file btSequentialImpulseConstraintSolver.h.

Definition at line 38 of file btSequentialImpulseConstraintSolver.h.

Definition at line 39 of file btSequentialImpulseConstraintSolver.h.

Definition at line 37 of file btSequentialImpulseConstraintSolver.h.


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