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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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36
src/BulletDynamics/ConstraintSolver/btSolverConstraint.h
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@@ -21,28 +21,26 @@ class btRigidBody;
#include "LinearMath/btMatrix3x3.h"
#include "btJacobianEntry.h"
#include <emmintrin.h>
//#define NO_FRICTION_TANGENTIALS 1
#include "btSolverBody.h"
///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
{
BT_DECLARE_ALIGNED_ALLOCATOR();
#ifdef _USE_JACOBIAN
btJacobianEntry m_jac;
#endif
btVector3 m_relpos1CrossNormal;
btVector3 m_contactNormal;
btVector3 m_relpos1CrossNormal;
btVector3 m_contactNormal;
btVector3 m_relpos2CrossNormal;
btVector3 m_angularComponentA;
btVector3 m_relpos2CrossNormal;
btVector3 m_angularComponentA;
btVector3 m_angularComponentB;
mutable btScalar m_appliedPushImpulse;
mutable btScalar m_appliedImpulse;
mutable btSimdScalar m_appliedPushImpulse;
mutable btSimdScalar m_appliedImpulse;
int m_solverBodyIdA;
int m_solverBodyIdB;
@@ -51,16 +49,14 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
btScalar m_restitution;
btScalar m_jacDiagABInv;
btScalar m_penetration;
int m_constraintType;
int m_frictionIndex;
void* m_originalContactPoint;
btScalar m_rhs;
btScalar m_cfm;
btScalar m_lowerLimit;
btScalar m_upperLimit;
btScalar m_rhs;
btScalar m_cfm;
btScalar m_lowerLimit;
btScalar m_upperLimit;
enum btSolverConstraintType
{
@@ -69,9 +65,7 @@ ATTRIBUTE_ALIGNED16 (struct) btSolverConstraint
};
};
typedef btAlignedObjectArray<btSolverConstraint> btConstraintArray;
#endif //BT_SOLVER_CONSTRAINT_H