115 lines
4.6 KiB
C++
115 lines
4.6 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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#include "btConstraintSolver.h"
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class btIDebugDraw;
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#include "btContactConstraint.h"
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/// btSequentialImpulseConstraintSolver uses a Propagation Method and Sequentially applies impulses
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/// The approach is the 3D version of Erin Catto's GDC 2006 tutorial. See http://www.gphysics.com
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/// Although Sequential Impulse is more intuitive, it is mathematically equivalent to Projected Successive Overrelaxation (iterative LCP)
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/// Applies impulses for combined restitution and penetration recovery and to simulate friction
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class btSequentialImpulseConstraintSolver : public btConstraintSolver
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{
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protected:
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btScalar solve(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
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btScalar solveFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
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void prepareConstraints(btPersistentManifold* manifoldPtr, const btContactSolverInfo& info,btIDebugDraw* debugDrawer);
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ContactSolverFunc m_contactDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
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ContactSolverFunc m_frictionDispatch[MAX_CONTACT_SOLVER_TYPES][MAX_CONTACT_SOLVER_TYPES];
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//choose between several modes, different friction model etc.
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int m_solverMode;
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///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
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unsigned long m_btSeed2;
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public:
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enum eSolverMode
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{
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SOLVER_RANDMIZE_ORDER = 1,
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SOLVER_FRICTION_SEPARATE = 2,
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SOLVER_USE_WARMSTARTING = 4,
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SOLVER_CACHE_FRIENDLY = 8
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};
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btSequentialImpulseConstraintSolver();
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///Advanced: Override the default contact solving function for contacts, for certain types of rigidbody
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///See btRigidBody::m_contactSolverType and btRigidBody::m_frictionSolverType
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void setContactSolverFunc(ContactSolverFunc func,int type0,int type1)
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{
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m_contactDispatch[type0][type1] = func;
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}
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///Advanced: Override the default friction solving function for contacts, for certain types of rigidbody
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///See btRigidBody::m_contactSolverType and btRigidBody::m_frictionSolverType
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void SetFrictionSolverFunc(ContactSolverFunc func,int type0,int type1)
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{
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m_frictionDispatch[type0][type1] = func;
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}
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virtual ~btSequentialImpulseConstraintSolver() {}
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virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc);
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virtual btScalar solveGroupCacheFriendly(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
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///clear internal cached data and reset random seed
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virtual void reset();
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btScalar solveCombinedContactFriction(btRigidBody* body0,btRigidBody* body1, btManifoldPoint& cp, const btContactSolverInfo& info,int iter,btIDebugDraw* debugDrawer);
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void setSolverMode(int mode)
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{
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m_solverMode = mode;
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}
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int getSolverMode() const
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{
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return m_solverMode;
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}
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unsigned long btRand2();
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int btRandInt2 (int n);
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void setRandSeed(unsigned long seed)
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{
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m_btSeed2 = seed;
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}
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unsigned long getRandSeed() const
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{
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return m_btSeed2;
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}
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};
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#ifndef BT_PREFER_SIMD
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typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered;
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#endif
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#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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