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btSequentialImpulseConstraintSolver.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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.
*/

#ifndef SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
#define SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H

#include "btConstraintSolver.h"
class btIDebugDraw;
#include "btContactConstraint.h"
#include "btSolverBody.h"
#include "btSolverConstraint.h"



///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
00028 class btSequentialImpulseConstraintSolver : public btConstraintSolver
{
protected:

      btAlignedObjectArray<btSolverBody>  m_tmpSolverBodyPool;
      btConstraintArray             m_tmpSolverContactConstraintPool;
      btConstraintArray             m_tmpSolverNonContactConstraintPool;
      btConstraintArray             m_tmpSolverContactFrictionConstraintPool;
      btAlignedObjectArray<int>     m_orderTmpConstraintPool;
      btAlignedObjectArray<int>     m_orderFrictionConstraintPool;

      btSolverConstraint&     addFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation);
      
      ///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
00042       unsigned long     m_btSeed2;

      void  initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
      btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);

      void  convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);

      void  resolveSplitPenetrationImpulseCacheFriendly(
        btSolverBody& body1,
        btSolverBody& body2,
        const btSolverConstraint& contactConstraint,
        const btContactSolverInfo& solverInfo);

      //internal method
      int   getOrInitSolverBody(btCollisionObject& body);

      void  resolveSingleConstraintRowGeneric(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);

      void  resolveSingleConstraintRowGenericSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
      
      void  resolveSingleConstraintRowLowerLimit(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
      
      void  resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& body1,btSolverBody& body2,const btSolverConstraint& contactConstraint);
            
public:

      
      btSequentialImpulseConstraintSolver();
      virtual ~btSequentialImpulseConstraintSolver();

      virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
      
      btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
      btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);

      ///clear internal cached data and reset random seed
      virtual     void  reset();
      
      unsigned long btRand2();

      int btRandInt2 (int n);

      void  setRandSeed(unsigned long seed)
      {
            m_btSeed2 = seed;
      }
      unsigned long     getRandSeed() const
      {
            return m_btSeed2;
      }

};

#ifndef BT_PREFER_SIMD
typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered;
#endif


#endif //SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H


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