134 lines
6.4 KiB
C++
134 lines
6.4 KiB
C++
#ifndef B3_PGS_JACOBI_SOLVER
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#define B3_PGS_JACOBI_SOLVER
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struct b3Contact4;
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struct b3ContactPoint;
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class b3Dispatcher;
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#include "b3TypedConstraint.h"
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#include "b3ContactSolverInfo.h"
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#include "b3SolverBody.h"
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#include "b3SolverConstraint.h"
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struct b3RigidBodyData;
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struct b3InertiaData;
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class b3PgsJacobiSolver
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{
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protected:
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b3AlignedObjectArray<b3SolverBody> m_tmpSolverBodyPool;
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b3ConstraintArray m_tmpSolverContactConstraintPool;
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b3ConstraintArray m_tmpSolverNonContactConstraintPool;
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b3ConstraintArray m_tmpSolverContactFrictionConstraintPool;
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b3ConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
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b3AlignedObjectArray<int> m_orderTmpConstraintPool;
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b3AlignedObjectArray<int> m_orderNonContactConstraintPool;
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b3AlignedObjectArray<int> m_orderFrictionConstraintPool;
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b3AlignedObjectArray<b3TypedConstraint::b3ConstraintInfo1> m_tmpConstraintSizesPool;
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b3AlignedObjectArray<int> m_bodyCount;
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b3AlignedObjectArray<int> m_bodyCountCheck;
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b3AlignedObjectArray<b3Vector3> m_deltaLinearVelocities;
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b3AlignedObjectArray<b3Vector3> m_deltaAngularVelocities;
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bool m_usePgs;
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void averageVelocities();
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int m_maxOverrideNumSolverIterations;
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int m_numSplitImpulseRecoveries;
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b3Scalar getContactProcessingThreshold(b3Contact4* contact)
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{
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return 0.02f;
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}
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void setupFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
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b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
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b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation,
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b3Scalar desiredVelocity = 0., b3Scalar cfmSlip = 0.);
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void setupRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB,
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b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2,
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b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation,
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b3Scalar desiredVelocity = 0., b3Scalar cfmSlip = 0.);
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b3SolverConstraint& addFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity = 0., b3Scalar cfmSlip = 0.);
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b3SolverConstraint& addRollingFrictionConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias, const b3Vector3& normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, b3ContactPoint& cp, const b3Vector3& rel_pos1, const b3Vector3& rel_pos2, b3RigidBodyData* colObj0, b3RigidBodyData* colObj1, b3Scalar relaxation, b3Scalar desiredVelocity = 0, b3Scalar cfmSlip = 0.f);
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void setupContactConstraint(b3RigidBodyData* bodies, b3InertiaData* inertias,
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b3SolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, b3ContactPoint& cp,
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const b3ContactSolverInfo& infoGlobal, b3Vector3& vel, b3Scalar& rel_vel, b3Scalar& relaxation,
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b3Vector3& rel_pos1, b3Vector3& rel_pos2);
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void setFrictionConstraintImpulse(b3RigidBodyData* bodies, b3InertiaData* inertias, b3SolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB,
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b3ContactPoint& cp, const b3ContactSolverInfo& infoGlobal);
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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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b3Scalar restitutionCurve(b3Scalar rel_vel, b3Scalar restitution);
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void convertContact(b3RigidBodyData* bodies, b3InertiaData* inertias, b3Contact4* manifold, const b3ContactSolverInfo& infoGlobal);
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void resolveSplitPenetrationSIMD(
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b3SolverBody& bodyA, b3SolverBody& bodyB,
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const b3SolverConstraint& contactConstraint);
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void resolveSplitPenetrationImpulseCacheFriendly(
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b3SolverBody& bodyA, b3SolverBody& bodyB,
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const b3SolverConstraint& contactConstraint);
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//internal method
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int getOrInitSolverBody(int bodyIndex, b3RigidBodyData* bodies, b3InertiaData* inertias);
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void initSolverBody(int bodyIndex, b3SolverBody* solverBody, b3RigidBodyData* collisionObject);
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void resolveSingleConstraintRowGeneric(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
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void resolveSingleConstraintRowGenericSIMD(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
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void resolveSingleConstraintRowLowerLimit(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
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void resolveSingleConstraintRowLowerLimitSIMD(b3SolverBody& bodyA, b3SolverBody& bodyB, const b3SolverConstraint& contactConstraint);
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protected:
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virtual b3Scalar solveGroupCacheFriendlySetup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
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virtual b3Scalar solveGroupCacheFriendlyIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
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virtual void solveGroupCacheFriendlySplitImpulseIterations(b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
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b3Scalar solveSingleIteration(int iteration, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
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virtual b3Scalar solveGroupCacheFriendlyFinish(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, const b3ContactSolverInfo& infoGlobal);
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public:
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B3_DECLARE_ALIGNED_ALLOCATOR();
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b3PgsJacobiSolver(bool usePgs);
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virtual ~b3PgsJacobiSolver();
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// void solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts);
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void solveContacts(int numBodies, b3RigidBodyData* bodies, b3InertiaData* inertias, int numContacts, b3Contact4* contacts, int numConstraints, b3TypedConstraint** constraints);
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b3Scalar solveGroup(b3RigidBodyData* bodies, b3InertiaData* inertias, int numBodies, b3Contact4* manifoldPtr, int numManifolds, b3TypedConstraint** constraints, int numConstraints, const b3ContactSolverInfo& infoGlobal);
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///clear internal cached data and reset random seed
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virtual void reset();
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unsigned long b3Rand2();
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int b3RandInt2(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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#endif //B3_PGS_JACOBI_SOLVER
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