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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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26
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
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@@ -23,6 +23,7 @@ class btIDebugDraw;
#include "btSolverConstraint.h"
///The btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
///The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
///Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
@@ -31,12 +32,12 @@ class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
btAlignedObjectArray<btSolverConstraint> m_tmpSolverConstraintPool;
btAlignedObjectArray<btSolverConstraint> m_tmpSolverFrictionConstraintPool;
btConstraintArray m_tmpSolverContactConstraintPool;
btConstraintArray m_tmpSolverNonContactConstraintPool;
btConstraintArray m_tmpSolverContactFrictionConstraintPool;
btAlignedObjectArray<int> m_orderTmpConstraintPool;
btAlignedObjectArray<int> m_orderFrictionConstraintPool;
protected:
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);
@@ -52,18 +53,17 @@ protected:
const btSolverConstraint& contactConstraint,
const btContactSolverInfo& solverInfo);
void resolveSingleConstraintRow(
btSolverBody& body1,
btSolverBody& body2,
const btSolverConstraint& contactConstraint);
//internal method
int getOrInitSolverBody(btCollisionObject& body);
void resolveSingleFrictionCacheFriendly(
btSolverBody& body1,
btSolverBody& body2,
const btSolverConstraint& contactConstraint,
const btContactSolverInfo& solverInfo,
btScalar appliedNormalImpulse);
void resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
void resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
public: