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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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20
src/BulletMultiThreaded/SpuSolverTask/SpuParallellSolverTask.h
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@@ -140,22 +140,22 @@ ATTRIBUTE_ALIGNED16(struct) SpuSolverConstraint
} m_flags;
// Linear parts, used by all constraints
btQuadWordStorage m_relPos1;
btQuadWordStorage m_relPos2;
btQuadWordStorage m_jacdiagABInv; //Jacobian inverse multiplied by gamma (damping) for each axis
btQuadWordStorage m_linearBias; //depth*tau/(dt*gamma) along each axis
btVector3 m_relPos1;
btVector3 m_relPos2;
btVector3 m_jacdiagABInv; //Jacobian inverse multiplied by gamma (damping) for each axis
btVector3 m_linearBias; //depth*tau/(dt*gamma) along each axis
// Joint-specific parts
union
{
struct
{
btQuadWordStorage m_frameAinW[3];
btQuadWordStorage m_frameBinW[3];
btVector3 m_frameAinW[3];
btVector3 m_frameBinW[3];
// For angular
btQuadWordStorage m_angJacdiagABInv; //1/j
btQuadWordStorage m_angularBias; //error/dt, in x/y. limit error*bias factor / (dt * relaxation factor) in z
btVector3 m_angJacdiagABInv; //1/j
btVector3 m_angularBias; //error/dt, in x/y. limit error*bias factor / (dt * relaxation factor) in z
// For limit
float m_limitAccumulatedImpulse;
@@ -168,8 +168,8 @@ ATTRIBUTE_ALIGNED16(struct) SpuSolverConstraint
struct
{
btQuadWordStorage m_swingAxis;
btQuadWordStorage m_twistAxis;
btVector3 m_swingAxis;
btVector3 m_twistAxis;
float m_swingError;
float m_swingJacInv;