btSequentialImpulseConstraintSolver.cpp File Reference

#include "btSequentialImpulseConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btCpuFeatureUtility.h"
#include "LinearMath/btMinMax.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include <new>
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btAlignedObjectArray.h"
#include <string.h>
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include <stdio.h>

Go to the source code of this file.

Functions
static btScalar	gResolveSingleConstraintRowGeneric_scalar_reference (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &c)
static btScalar	gResolveSingleConstraintRowLowerLimit_scalar_reference (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &c)
static btScalar	gResolveSplitPenetrationImpulse_scalar_reference (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &c)
static btScalar	gResolveSplitPenetrationImpulse_sse2 (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &c)

Variables
int	gNumSplitImpulseRecoveries = 0

Function Documentation

gResolveSingleConstraintRowGeneric_scalar_reference()

static btScalar gResolveSingleConstraintRowGeneric_scalar_reference ( btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint & c )

static

This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver Below are optional SSE2 and SSE4/FMA3 versions. We assume most hardware has SSE2. For SSE4/FMA3 we perform a CPU feature check.

Definition at line 47 of file btSequentialImpulseConstraintSolver.cpp.

References sum().

Referenced by getScalarConstraintRowSolverGeneric(), and setupSolverFunctions().

gResolveSingleConstraintRowLowerLimit_scalar_reference()

static btScalar gResolveSingleConstraintRowLowerLimit_scalar_reference ( btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint & c )

static

Definition at line 79 of file btSequentialImpulseConstraintSolver.cpp.

References sum().

Referenced by getScalarConstraintRowSolverLowerLimit(), and setupSolverFunctions().

gResolveSplitPenetrationImpulse_scalar_reference()

static btScalar gResolveSplitPenetrationImpulse_scalar_reference ( btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint & c )

static

Definition at line 284 of file btSequentialImpulseConstraintSolver.cpp.

References gNumSplitImpulseRecoveries, and sum().

Referenced by gResolveSplitPenetrationImpulse_sse2(), and setupSolverFunctions().

gResolveSplitPenetrationImpulse_sse2()

static btScalar gResolveSplitPenetrationImpulse_sse2 ( btSolverBody & bodyA, btSolverBody & bodyB, const btSolverConstraint & c )

static

Definition at line 316 of file btSequentialImpulseConstraintSolver.cpp.

References btSimdScalar, gNumSplitImpulseRecoveries, gResolveSplitPenetrationImpulse_scalar_reference(), and sum().

Referenced by setupSolverFunctions().

Variable Documentation

gNumSplitImpulseRecoveries

int gNumSplitImpulseRecoveries = 0

Definition at line 40 of file btSequentialImpulseConstraintSolver.cpp.

Referenced by gResolveSplitPenetrationImpulse_scalar_reference(), and gResolveSplitPenetrationImpulse_sse2().