#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>

Include dependency graph for btSequentialImpulseConstraintSolver.cpp:

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

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.