197 lines
11 KiB
C++
197 lines
11 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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class btIDebugDraw;
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class btPersistentManifold;
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class btDispatcher;
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class btCollisionObject;
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
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#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
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#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
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#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
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#include "BulletDynamics/ConstraintSolver/btConstraintSolver.h"
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typedef btSimdScalar(*btSingleConstraintRowSolver)(btSolverBody&, btSolverBody&, const btSolverConstraint&);
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///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
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ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver
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{
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protected:
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btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool;
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btConstraintArray m_tmpSolverContactConstraintPool;
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btConstraintArray m_tmpSolverNonContactConstraintPool;
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btConstraintArray m_tmpSolverContactFrictionConstraintPool;
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btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool;
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btAlignedObjectArray<int> m_orderTmpConstraintPool;
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btAlignedObjectArray<int> m_orderNonContactConstraintPool;
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btAlignedObjectArray<int> m_orderFrictionConstraintPool;
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btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
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int m_maxOverrideNumSolverIterations;
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int m_fixedBodyId;
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// When running solvers on multiple threads, a race condition exists for Kinematic objects that
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// participate in more than one solver.
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// The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body
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// for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island
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// (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once.
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// To avoid this race condition, this solver does not write the companionId, instead it stores the solver body
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// index in this solver-local table, indexed by the uniqueId of the body.
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btAlignedObjectArray<int> m_kinematicBodyUniqueIdToSolverBodyTable; // only used for multithreading
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btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric;
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btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit;
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btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse;
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int m_cachedSolverMode; // used to check if SOLVER_SIMD flag has been changed
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void setupSolverFunctions( bool useSimd );
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btScalar m_leastSquaresResidual;
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void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
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btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
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btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
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const btContactSolverInfo& infoGlobal,
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btScalar desiredVelocity=0., btScalar cfmSlip=0.);
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void setupTorsionalFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,
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btManifoldPoint& cp,btScalar combinedTorsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,
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btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
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btScalar desiredVelocity=0., btScalar cfmSlip=0.);
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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, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
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btSolverConstraint& addTorsionalFrictionConstraint(const btVector3& normalAxis,int solverBodyIdA,int solverBodyIdB,int frictionIndex,btManifoldPoint& cp,btScalar torsionalFriction, const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f);
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void setupContactConstraint(btSolverConstraint& solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint& cp,
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const btContactSolverInfo& infoGlobal,btScalar& relaxation, const btVector3& rel_pos1, const btVector3& rel_pos2);
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static void applyAnisotropicFriction(btCollisionObject* colObj,btVector3& frictionDirection, int frictionMode);
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void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, int solverBodyIdA,int solverBodyIdB,
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btManifoldPoint& cp, const btContactSolverInfo& 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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btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
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virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
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void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
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btSimdScalar resolveSplitPenetrationSIMD(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
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{
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return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
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}
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btSimdScalar resolveSplitPenetrationImpulseCacheFriendly(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
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{
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return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
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}
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//internal method
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int getOrInitSolverBody(btCollisionObject& body,btScalar timeStep);
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void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject, btScalar timeStep);
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btSimdScalar resolveSingleConstraintRowGeneric(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
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btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
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btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
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btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody& bodyA,btSolverBody& bodyB,const btSolverConstraint& contactConstraint);
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btSimdScalar resolveSplitPenetrationImpulse(btSolverBody& bodyA,btSolverBody& bodyB, const btSolverConstraint& contactConstraint)
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{
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return m_resolveSplitPenetrationImpulse( bodyA, bodyB, contactConstraint );
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}
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protected:
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virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
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virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
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virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
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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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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btSequentialImpulseConstraintSolver();
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virtual ~btSequentialImpulseConstraintSolver();
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virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
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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 btRand2();
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int btRandInt2 (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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virtual btConstraintSolverType getSolverType() const
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{
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return BT_SEQUENTIAL_IMPULSE_SOLVER;
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}
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btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric()
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{
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return m_resolveSingleConstraintRowGeneric;
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}
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void setConstraintRowSolverGeneric(btSingleConstraintRowSolver rowSolver)
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{
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m_resolveSingleConstraintRowGeneric = rowSolver;
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}
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btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit()
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{
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return m_resolveSingleConstraintRowLowerLimit;
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}
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void setConstraintRowSolverLowerLimit(btSingleConstraintRowSolver rowSolver)
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{
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m_resolveSingleConstraintRowLowerLimit = rowSolver;
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}
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///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4
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btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric();
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btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric();
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btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric();
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///Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4
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btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit();
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btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit();
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btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit();
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};
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#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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