95 lines
3.3 KiB
C++
95 lines
3.3 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
///original version written by Erwin Coumans, October 2013
|
|
|
|
#ifndef BT_MLCP_SOLVER_H
|
|
#define BT_MLCP_SOLVER_H
|
|
|
|
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
|
|
#include "LinearMath/btMatrixX.h"
|
|
#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"
|
|
|
|
class btMLCPSolver : public btSequentialImpulseConstraintSolver
|
|
{
|
|
|
|
protected:
|
|
|
|
btMatrixXu m_A;
|
|
btVectorXu m_b;
|
|
btVectorXu m_x;
|
|
btVectorXu m_lo;
|
|
btVectorXu m_hi;
|
|
|
|
///when using 'split impulse' we solve two separate (M)LCPs
|
|
btVectorXu m_bSplit;
|
|
btVectorXu m_xSplit;
|
|
btVectorXu m_bSplit1;
|
|
btVectorXu m_xSplit2;
|
|
|
|
btAlignedObjectArray<int> m_limitDependencies;
|
|
btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
|
|
btMLCPSolverInterface* m_solver;
|
|
int m_fallback;
|
|
|
|
/// The following scratch variables are not stateful -- contents are cleared prior to each use.
|
|
/// They are only cached here to avoid extra memory allocations and deallocations and to ensure
|
|
/// that multiple instances of the solver can be run in parallel.
|
|
btMatrixXu m_scratchJ3;
|
|
btMatrixXu m_scratchJInvM3;
|
|
btAlignedObjectArray<int> m_scratchOfs;
|
|
btMatrixXu m_scratchMInv;
|
|
btMatrixXu m_scratchJ;
|
|
btMatrixXu m_scratchJTranspose;
|
|
btMatrixXu m_scratchTmp;
|
|
|
|
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
|
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
|
|
|
|
|
|
virtual void createMLCP(const btContactSolverInfo& infoGlobal);
|
|
virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
|
|
|
|
//return true is it solves the problem successfully
|
|
virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
|
|
|
|
public:
|
|
|
|
btMLCPSolver( btMLCPSolverInterface* solver);
|
|
virtual ~btMLCPSolver();
|
|
|
|
void setMLCPSolver(btMLCPSolverInterface* solver)
|
|
{
|
|
m_solver = solver;
|
|
}
|
|
|
|
int getNumFallbacks() const
|
|
{
|
|
return m_fallback;
|
|
}
|
|
void setNumFallbacks(int num)
|
|
{
|
|
m_fallback = num;
|
|
}
|
|
|
|
virtual btConstraintSolverType getSolverType() const
|
|
{
|
|
return BT_MLCP_SOLVER;
|
|
}
|
|
|
|
};
|
|
|
|
|
|
#endif //BT_MLCP_SOLVER_H
|