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Big work-in-progress refactoring of the constraint solver:

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1) Add fast branchless SIMD support for constraint solver (Windows only until we get other contributions).
See resolveSingleConstraintRowGenericSIMD in Bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
resolveSingleConstraintRowGenericSIMD can be used for all constraints, including contact, point 2 point, hinge, generic etc.

2) During this refactoring, all constraints support the obsolete 'solveConstraintObsolete' while we add 'getInfo1' and 'getInfo2' support.
This interface is almost identical interface to Open Dynamics Engine, to make it easier to port Dantzig LCP solver.

3) Some minor refactoring to reduce huge constructor overhead in math classes.
This commit is contained in:
erwin.coumans
2008-12-01 06:41:25 +00:00
parent 7e93be739b
commit e80feca36b
25 changed files with 2099 additions and 1315 deletions
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19
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -110,7 +110,7 @@ public:
int testLimitValue(btScalar test_value);
//! apply the correction impulses for two bodies
btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btSolverBody& bodyA,btRigidBody * body1,btSolverBody& bodyB);
};
@@ -168,8 +168,8 @@ public:
btScalar solveLinearAxis(
btScalar timeStep,
btScalar jacDiagABInv,
btRigidBody& body1,const btVector3 &pointInA,
btRigidBody& body2,const btVector3 &pointInB,
btRigidBody& body1,btSolverBody& bodyA,const btVector3 &pointInA,
btRigidBody& body2,btSolverBody& bodyB,const btVector3 &pointInB,
int limit_index,
const btVector3 & axis_normal_on_a,
const btVector3 & anchorPos);
@@ -262,6 +262,9 @@ protected:
}
int setAngularLimits(btConstraintInfo2 *info, int row_offset);
int setLinearLimits(btConstraintInfo2 *info);
void buildLinearJacobian(
btJacobianEntry & jacLinear,const btVector3 & normalWorld,
@@ -276,6 +279,10 @@ protected:
public:
///for backwards compatibility during the transition to 'getInfo/getInfo2'
bool m_useSolveConstraintObsolete;
btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
btGeneric6DofConstraint();
@@ -330,7 +337,11 @@ public:
//! performs Jacobian calculation, and also calculates angle differences and axis
virtual void buildJacobian();
virtual void solveConstraint(btScalar timeStep);
virtual void getInfo1 (btConstraintInfo1* info);
virtual void getInfo2 (btConstraintInfo2* info);
virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep);
void updateRHS(btScalar timeStep);