95 lines
3.3 KiB
C
95 lines
3.3 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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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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///original version written by Erwin Coumans, October 2013
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#ifndef BT_MLCP_SOLVER_H
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#define BT_MLCP_SOLVER_H
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#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
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#include "LinearMath/btMatrixX.h"
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#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"
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class btMLCPSolver : public btSequentialImpulseConstraintSolver
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{
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protected:
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btMatrixXu m_A;
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btVectorXu m_b;
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btVectorXu m_x;
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btVectorXu m_lo;
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btVectorXu m_hi;
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///when using 'split impulse' we solve two separate (M)LCPs
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btVectorXu m_bSplit;
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btVectorXu m_xSplit;
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btVectorXu m_bSplit1;
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btVectorXu m_xSplit2;
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btAlignedObjectArray<int> m_limitDependencies;
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btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
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btMLCPSolverInterface* m_solver;
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int m_fallback;
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/// The following scratch variables are not stateful -- contents are cleared prior to each use.
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/// They are only cached here to avoid extra memory allocations and deallocations and to ensure
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/// that multiple instances of the solver can be run in parallel.
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btMatrixXu m_scratchJ3;
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btMatrixXu m_scratchJInvM3;
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btAlignedObjectArray<int> m_scratchOfs;
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btMatrixXu m_scratchMInv;
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btMatrixXu m_scratchJ;
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btMatrixXu m_scratchJTranspose;
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btMatrixXu m_scratchTmp;
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virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
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virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
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virtual void createMLCP(const btContactSolverInfo& infoGlobal);
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virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
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//return true is it solves the problem successfully
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virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
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public:
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btMLCPSolver( btMLCPSolverInterface* solver);
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virtual ~btMLCPSolver();
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void setMLCPSolver(btMLCPSolverInterface* solver)
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{
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m_solver = solver;
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}
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int getNumFallbacks() const
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{
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return m_fallback;
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}
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void setNumFallbacks(int num)
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{
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m_fallback = num;
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}
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virtual btConstraintSolverType getSolverType() const
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{
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return BT_MLCP_SOLVER;
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}
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};
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#endif //BT_MLCP_SOLVER_H
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