btSequentialImpulseConstraintSolver.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H

class btIDebugDraw;
class btPersistentManifold;
class btDispatcher;
class btCollisionObject;
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"

ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:
        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;
        int m_fixedBodyId;
        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.);

        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, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
        btSolverConstraint&     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);

        
        void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp, 
                                                                const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);

        static void     applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);

        void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB, 
                                                                                 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);

        unsigned long   m_btSeed2;

        
        btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);

        virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);

        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);

        //internal method
        int             getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
        void    initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);

        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);
                
protected:
        
        
        virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
        virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
        virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);

        virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
        virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);


public:

        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,btDispatcher* dispatcher);
        

        
        virtual void    reset();
        
        unsigned long btRand2();

        int btRandInt2 (int n);

        void    setRandSeed(unsigned long seed)
        {
                m_btSeed2 = seed;
        }
        unsigned long   getRandSeed() const
        {
                return m_btSeed2;
        }

        
        virtual btConstraintSolverType  getSolverType() const
        {
                return BT_SEQUENTIAL_IMPULSE_SOLVER;
        }
};




#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H