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"
 
typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
 
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;
    // When running solvers on multiple threads, a race condition exists for Kinematic objects that
    // participate in more than one solver.
    // The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body
    // for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island
    // (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once.
    // To avoid this race condition, this solver does not write the companionId, instead it stores the solver body
    // index in this solver-local table, indexed by the uniqueId of the body.
    btAlignedObjectArray<int>   m_kinematicBodyUniqueIdToSolverBodyTable;  // only used for multithreading
 
        btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
        btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
    btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
    int m_cachedSolverMode;  // used to check if SOLVER_SIMD flag has been changed
    void setupSolverFunctions( bool useSimd );
 
        btScalar        m_leastSquaresResidual;
 
        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, 
                                                                        const btContactSolverInfo& infoGlobal,
                                                                        btScalar desiredVelocity=0., btScalar cfmSlip=0.);
 
        void setupTorsionalFrictionConstraint(  btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int  solverBodyIdB,
                                                                        btManifoldPoint& cp,btScalar combinedTorsionalFriction, 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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
        btSolverConstraint&     addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, 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, btScalar velocityThreshold);
 
        virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
 
        void    convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
 
 
        btSimdScalar    resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
    {
        return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
    }
 
        btSimdScalar    resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
    {
        return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
    }
 
        //internal method
        int             getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
        void    initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
 
        btSimdScalar    resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
        btSimdScalar    resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
        btSimdScalar    resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
        btSimdScalar    resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
        btSimdScalar    resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
    {
        return m_resolveSplitPenetrationImpulse( bodyA, bodyB, 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;
        }
 
        btSingleConstraintRowSolver     getActiveConstraintRowSolverGeneric()
        {
                return m_resolveSingleConstraintRowGeneric;
        }
        void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
        {
                m_resolveSingleConstraintRowGeneric = rowSolver;
        }
        btSingleConstraintRowSolver     getActiveConstraintRowSolverLowerLimit()
        {
                return m_resolveSingleConstraintRowLowerLimit;
        }
        void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
        {
                m_resolveSingleConstraintRowLowerLimit = rowSolver;
        }
 
        btSingleConstraintRowSolver     getScalarConstraintRowSolverGeneric();
        btSingleConstraintRowSolver     getSSE2ConstraintRowSolverGeneric();
        btSingleConstraintRowSolver     getSSE4_1ConstraintRowSolverGeneric();
 
        btSingleConstraintRowSolver     getScalarConstraintRowSolverLowerLimit();
        btSingleConstraintRowSolver     getSSE2ConstraintRowSolverLowerLimit();
        btSingleConstraintRowSolver     getSSE4_1ConstraintRowSolverLowerLimit();
};
 
 
 
 
#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H