Bullet Collision Detection & Physics Library
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btSequentialImpulseConstraintSolverMt Class Reference

btSequentialImpulseConstraintSolverMt More...

#include <btSequentialImpulseConstraintSolverMt.h>

Inheritance diagram for btSequentialImpulseConstraintSolverMt:
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Collaboration diagram for btSequentialImpulseConstraintSolverMt:
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Classes

struct  btContactManifoldCachedInfo
 
struct  JointParams
 

Public Member Functions

virtual void solveGroupCacheFriendlySplitImpulseIterations (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
 
virtual btScalar solveSingleIteration (int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
 
virtual btScalar solveGroupCacheFriendlySetup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
 
virtual btScalar solveGroupCacheFriendlyFinish (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
 
void internalInitMultipleJoints (btTypedConstraint **constraints, int iBegin, int iEnd)
 
void internalConvertMultipleJoints (const btAlignedObjectArray< JointParams > &jointParamsArray, btTypedConstraint **constraints, int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
 
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btSequentialImpulseConstraintSolverMt ()
 
virtual ~btSequentialImpulseConstraintSolverMt ()
 
btScalar resolveMultipleJointConstraints (const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd, int iteration)
 
btScalar resolveMultipleContactConstraints (const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
 
btScalar resolveMultipleContactSplitPenetrationImpulseConstraints (const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
 
btScalar resolveMultipleContactFrictionConstraints (const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
 
btScalar resolveMultipleContactRollingFrictionConstraints (const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
 
btScalar resolveMultipleContactConstraintsInterleaved (const btAlignedObjectArray< int > &contactIndices, int batchBegin, int batchEnd)
 
void internalCollectContactManifoldCachedInfo (btContactManifoldCachedInfo *cachedInfoArray, btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
 
void internalAllocContactConstraints (const btContactManifoldCachedInfo *cachedInfoArray, int numManifolds)
 
void internalSetupContactConstraints (int iContactConstraint, const btContactSolverInfo &infoGlobal)
 
void internalConvertBodies (btCollisionObject **bodies, int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
 
void internalWriteBackContacts (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
 
void internalWriteBackJoints (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
 
void internalWriteBackBodies (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
 
- Public Member Functions inherited from btSequentialImpulseConstraintSolver
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btSequentialImpulseConstraintSolver ()
 
virtual ~btSequentialImpulseConstraintSolver ()
 
virtual btScalar solveGroup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher)
 btSequentialImpulseConstraintSolver Sequentially applies impulses More...
 
virtual void reset ()
 clear internal cached data and reset random seed More...
 
unsigned long btRand2 ()
 
int btRandInt2 (int n)
 
void setRandSeed (unsigned long seed)
 
unsigned long getRandSeed () const
 
virtual btConstraintSolverType getSolverType () const
 
btSingleConstraintRowSolver getActiveConstraintRowSolverGeneric ()
 
void setConstraintRowSolverGeneric (btSingleConstraintRowSolver rowSolver)
 
btSingleConstraintRowSolver getActiveConstraintRowSolverLowerLimit ()
 
void setConstraintRowSolverLowerLimit (btSingleConstraintRowSolver rowSolver)
 
btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric ()
 Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4. More...
 
btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric ()
 
btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverGeneric ()
 
btSingleConstraintRowSolver getScalarConstraintRowSolverLowerLimit ()
 Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4. More...
 
btSingleConstraintRowSolver getSSE2ConstraintRowSolverLowerLimit ()
 
btSingleConstraintRowSolver getSSE4_1ConstraintRowSolverLowerLimit ()
 
- Public Member Functions inherited from btConstraintSolver
virtual ~btConstraintSolver ()
 
virtual void prepareSolve (int, int)
 
virtual btScalar solveGroup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, class btIDebugDraw *debugDrawer, btDispatcher *dispatcher)=0
 solve a group of constraints More...
 
virtual void allSolved (const btContactSolverInfo &, class btIDebugDraw *)
 
virtual void reset ()=0
 clear internal cached data and reset random seed More...
 
virtual btConstraintSolverType getSolverType () const =0
 

Static Public Attributes

static bool s_allowNestedParallelForLoops = false
 
static int s_minimumContactManifoldsForBatching = 250
 
static btBatchedConstraints::BatchingMethod s_contactBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D
 
static btBatchedConstraints::BatchingMethod s_jointBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D
 
static int s_minBatchSize = 50
 
static int s_maxBatchSize = 100
 

Protected Member Functions

virtual void randomizeConstraintOrdering (int iteration, int numIterations)
 
virtual btScalar resolveAllJointConstraints (int iteration)
 
virtual btScalar resolveAllContactConstraints ()
 
virtual btScalar resolveAllContactFrictionConstraints ()
 
virtual btScalar resolveAllContactConstraintsInterleaved ()
 
virtual btScalar resolveAllRollingFrictionConstraints ()
 
virtual void setupBatchedContactConstraints ()
 
virtual void setupBatchedJointConstraints ()
 
virtual void convertJoints (btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
 
virtual void convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
 
virtual void convertBodies (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
 
int getOrInitSolverBodyThreadsafe (btCollisionObject &body, btScalar timeStep)
 
void allocAllContactConstraints (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
 
void setupAllContactConstraints (const btContactSolverInfo &infoGlobal)
 
void randomizeBatchedConstraintOrdering (btBatchedConstraints *batchedConstraints)
 
- Protected Member Functions inherited from btSequentialImpulseConstraintSolver
void setupSolverFunctions (bool useSimd)
 
void setupFrictionConstraint (btSolverConstraint &solverConstraint, const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, 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.)
 
void setupTorsionalFrictionConstraint (btSolverConstraint &solverConstraint, const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, btScalar combinedTorsionalFriction, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.)
 
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.)
 
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)
 
void setupContactConstraint (btSolverConstraint &solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btScalar &relaxation, const btVector3 &rel_pos1, const btVector3 &rel_pos2)
 
void setFrictionConstraintImpulse (btSolverConstraint &solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal)
 
btScalar restitutionCurve (btScalar rel_vel, btScalar restitution, btScalar velocityThreshold)
 
virtual void convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
 
void convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
 
virtual void convertJoints (btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal)
 
void convertJoint (btSolverConstraint *currentConstraintRow, btTypedConstraint *constraint, const btTypedConstraint::btConstraintInfo1 &info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo &infoGlobal)
 
virtual void convertBodies (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
 
btScalar resolveSplitPenetrationSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
btScalar resolveSplitPenetrationImpulseCacheFriendly (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
int getOrInitSolverBody (btCollisionObject &body, btScalar timeStep)
 
void initSolverBody (btSolverBody *solverBody, btCollisionObject *collisionObject, btScalar timeStep)
 
btScalar resolveSingleConstraintRowGeneric (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
btScalar resolveSingleConstraintRowGenericSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
btScalar resolveSingleConstraintRowLowerLimit (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
btScalar resolveSingleConstraintRowLowerLimitSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
btScalar resolveSplitPenetrationImpulse (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
void writeBackContacts (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
 
void writeBackJoints (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
 
void writeBackBodies (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
 
virtual void solveGroupCacheFriendlySplitImpulseIterations (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
 
virtual btScalar solveGroupCacheFriendlyFinish (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
 
virtual btScalar solveSingleIteration (int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
 
virtual btScalar solveGroupCacheFriendlySetup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
 
virtual btScalar solveGroupCacheFriendlyIterations (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
 

Protected Attributes

btBatchedConstraints m_batchedContactConstraints
 
btBatchedConstraints m_batchedJointConstraints
 
int m_numFrictionDirections
 
bool m_useBatching
 
bool m_useObsoleteJointConstraints
 
btAlignedObjectArray< btContactManifoldCachedInfo > m_manifoldCachedInfoArray
 
btAlignedObjectArray< int > m_rollingFrictionIndexTable
 
btSpinMutex m_bodySolverArrayMutex
 
char m_antiFalseSharingPadding [CACHE_LINE_SIZE]
 
btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex
 
btAlignedObjectArray< char > m_scratchMemory
 
- Protected Attributes inherited from btSequentialImpulseConstraintSolver
btAlignedObjectArray< btSolverBody > m_tmpSolverBodyPool
 
btConstraintArray m_tmpSolverContactConstraintPool
 
btConstraintArray m_tmpSolverNonContactConstraintPool
 
btConstraintArray m_tmpSolverContactFrictionConstraintPool
 
btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool
 
btAlignedObjectArray< int > m_orderTmpConstraintPool
 
btAlignedObjectArray< int > m_orderNonContactConstraintPool
 
btAlignedObjectArray< int > m_orderFrictionConstraintPool
 
btAlignedObjectArray< btTypedConstraint::btConstraintInfo1 > m_tmpConstraintSizesPool
 
int m_maxOverrideNumSolverIterations
 
int m_fixedBodyId
 
btAlignedObjectArray< int > m_kinematicBodyUniqueIdToSolverBodyTable
 
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric
 
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit
 
btSingleConstraintRowSolver m_resolveSplitPenetrationImpulse
 
int m_cachedSolverMode
 
btScalar m_leastSquaresResidual
 
unsigned long m_btSeed2
 m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction More...
 

Static Protected Attributes

static const int CACHE_LINE_SIZE = 64
 

Additional Inherited Members

- Public Attributes inherited from btSequentialImpulseConstraintSolver
btSolverAnalyticsData m_analyticsData
 
- Static Protected Member Functions inherited from btSequentialImpulseConstraintSolver
static void applyAnisotropicFriction (btCollisionObject *colObj, btVector3 &frictionDirection, int frictionMode)
 

Detailed Description

btSequentialImpulseConstraintSolverMt

A multithreaded variant of the sequential impulse constraint solver. The constraints to be solved are grouped into batches and phases where each batch of constraints within a given phase can be solved in parallel with the rest. Ideally we want as few phases as possible, and each phase should have many batches, and all of the batches should have about the same number of constraints. This method works best on a large island of many constraints.

Supports all of the features of the normal sequential impulse solver such as:

When the SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS flag is enabled, unlike the normal SequentialImpulse solver, the rolling friction is interleaved as well. Interleaving the contact penetration constraints with friction reduces the number of parallel loops that need to be done, which reduces threading overhead so it can be a performance win, however, it does seem to produce a less stable simulation, at least on stacks of blocks.

When the SOLVER_RANDMIZE_ORDER flag is enabled, the ordering of phases, and the ordering of constraints within each batch is randomized, however it does not swap constraints between batches. This is to avoid regenerating the batches for each solver iteration which would be quite costly in performance.

Note that a non-zero leastSquaresResidualThreshold could possibly affect the determinism of the simulation if the task scheduler's parallelSum operation is non-deterministic. The parallelSum operation can be non-deterministic because floating point addition is not associative due to rounding errors. The task scheduler can and should ensure that the result of any parallelSum operation is deterministic.

Definition at line 56 of file btSequentialImpulseConstraintSolverMt.h.

Constructor & Destructor Documentation

◆ btSequentialImpulseConstraintSolverMt()

btSequentialImpulseConstraintSolverMt::btSequentialImpulseConstraintSolverMt ( )

Definition at line 32 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ ~btSequentialImpulseConstraintSolverMt()

btSequentialImpulseConstraintSolverMt::~btSequentialImpulseConstraintSolverMt ( )
virtual

Definition at line 39 of file btSequentialImpulseConstraintSolverMt.cpp.

Member Function Documentation

◆ allocAllContactConstraints()

void btSequentialImpulseConstraintSolverMt::allocAllContactConstraints ( btPersistentManifold **  manifoldPtr,
int  numManifolds,
const btContactSolverInfo &  infoGlobal 
)
protected

Definition at line 513 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btSequentialImpulseConstraintSolverMt::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ convertBodies()

void btSequentialImpulseConstraintSolverMt::convertBodies ( btCollisionObject **  bodies,
int  numBodies,
const btContactSolverInfo &  infoGlobal 
)
protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 802 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ convertContacts()

void btSequentialImpulseConstraintSolverMt::convertContacts ( btPersistentManifold **  manifoldPtr,
int  numManifolds,
const btContactSolverInfo &  infoGlobal 
)
protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 573 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ convertJoints()

void btSequentialImpulseConstraintSolverMt::convertJoints ( btTypedConstraint **  constraints,
int  numConstraints,
const btContactSolverInfo &  infoGlobal 
)
protectedvirtual

setup the btSolverConstraints

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 686 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ getOrInitSolverBodyThreadsafe()

int btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe ( btCollisionObject &  body,
btScalar  timeStep 
)
protected

Definition at line 297 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ internalAllocContactConstraints()

void btSequentialImpulseConstraintSolverMt::internalAllocContactConstraints ( const btContactManifoldCachedInfo *  cachedInfoArray,
int  numManifolds 
)

Definition at line 450 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ internalCollectContactManifoldCachedInfo()

void btSequentialImpulseConstraintSolverMt::internalCollectContactManifoldCachedInfo ( btContactManifoldCachedInfo *  cachedInfoArray,
btPersistentManifold **  manifoldPtr,
int  numManifolds,
const btContactSolverInfo &  infoGlobal 
)

Definition at line 389 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ internalConvertBodies()

void btSequentialImpulseConstraintSolverMt::internalConvertBodies ( btCollisionObject **  bodies,
int  iBegin,
int  iEnd,
const btContactSolverInfo &  infoGlobal 
)

Definition at line 747 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ internalConvertMultipleJoints()

void btSequentialImpulseConstraintSolverMt::internalConvertMultipleJoints ( const btAlignedObjectArray< JointParams > &  jointParamsArray,
btTypedConstraint **  constraints,
int  iBegin,
int  iEnd,
const btContactSolverInfo &  infoGlobal 
)

Definition at line 643 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ internalInitMultipleJoints()

void btSequentialImpulseConstraintSolverMt::internalInitMultipleJoints ( btTypedConstraint **  constraints,
int  iBegin,
int  iEnd 
)

Definition at line 598 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ internalSetupContactConstraints()

void btSequentialImpulseConstraintSolverMt::internalSetupContactConstraints ( int  iContactConstraint,
const btContactSolverInfo &  infoGlobal 
)

Bullet has several options to set the friction directions By default, each contact has only a single friction direction that is recomputed automatically very frame based on the relative linear velocity. If the relative velocity it zero, it will automatically compute a friction direction.

You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS. In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.

If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.

The user can manually override the friction directions for certain contacts using a contact callback, and set the cp.m_lateralFrictionInitialized to true In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) this will give a conveyor belt effect

Definition at line 65 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ internalWriteBackBodies()

void btSequentialImpulseConstraintSolverMt::internalWriteBackBodies ( int  iBegin,
int  iEnd,
const btContactSolverInfo &  infoGlobal 
)

Definition at line 1471 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ internalWriteBackContacts()

void btSequentialImpulseConstraintSolverMt::internalWriteBackContacts ( int  iBegin,
int  iEnd,
const btContactSolverInfo &  infoGlobal 
)

Definition at line 1447 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ internalWriteBackJoints()

void btSequentialImpulseConstraintSolverMt::internalWriteBackJoints ( int  iBegin,
int  iEnd,
const btContactSolverInfo &  infoGlobal 
)

Definition at line 1465 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ randomizeBatchedConstraintOrdering()

void btSequentialImpulseConstraintSolverMt::randomizeBatchedConstraintOrdering ( btBatchedConstraints *  batchedConstraints)
protected

Definition at line 1168 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ randomizeConstraintOrdering()

void btSequentialImpulseConstraintSolverMt::randomizeConstraintOrdering ( int  iteration,
int  numIterations 
)
protectedvirtual

Definition at line 1192 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveAllContactConstraints()

btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraints ( )
protectedvirtual

Definition at line 1268 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveAllContactConstraintsInterleaved()

btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactConstraintsInterleaved ( )
protectedvirtual

Definition at line 1346 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveAllContactFrictionConstraints()

btScalar btSequentialImpulseConstraintSolverMt::resolveAllContactFrictionConstraints ( )
protectedvirtual

Definition at line 1307 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveAllJointConstraints()

btScalar btSequentialImpulseConstraintSolverMt::resolveAllJointConstraints ( int  iteration)
protectedvirtual

Definition at line 1229 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveAllRollingFrictionConstraints()

btScalar btSequentialImpulseConstraintSolverMt::resolveAllRollingFrictionConstraints ( )
protectedvirtual

Definition at line 1385 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveMultipleContactConstraints()

btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraints ( const btAlignedObjectArray< int > &  consIndices,
int  batchBegin,
int  batchEnd 
)

Definition at line 1013 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveMultipleContactConstraintsInterleaved()

btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraintsInterleaved ( const btAlignedObjectArray< int > &  contactIndices,
int  batchBegin,
int  batchEnd 
)

Definition at line 1099 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveMultipleContactFrictionConstraints()

btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactFrictionConstraints ( const btAlignedObjectArray< int > &  consIndices,
int  batchBegin,
int  batchEnd 
)

Definition at line 1028 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveMultipleContactRollingFrictionConstraints()

btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactRollingFrictionConstraints ( const btAlignedObjectArray< int > &  consIndices,
int  batchBegin,
int  batchEnd 
)

Definition at line 1059 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveMultipleContactSplitPenetrationImpulseConstraints()

btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleContactSplitPenetrationImpulseConstraints ( const btAlignedObjectArray< int > &  consIndices,
int  batchBegin,
int  batchEnd 
)

Definition at line 858 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ resolveMultipleJointConstraints()

btScalar btSequentialImpulseConstraintSolverMt::resolveMultipleJointConstraints ( const btAlignedObjectArray< int > &  consIndices,
int  batchBegin,
int  batchEnd,
int  iteration 
)

Definition at line 995 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ setupAllContactConstraints()

void btSequentialImpulseConstraintSolverMt::setupAllContactConstraints ( const btContactSolverInfo &  infoGlobal)
protected

Definition at line 273 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ setupBatchedContactConstraints()

void btSequentialImpulseConstraintSolverMt::setupBatchedContactConstraints ( )
protectedvirtual

Definition at line 43 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ setupBatchedJointConstraints()

void btSequentialImpulseConstraintSolverMt::setupBatchedJointConstraints ( )
protectedvirtual

Definition at line 54 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ solveGroupCacheFriendlyFinish()

btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlyFinish ( btCollisionObject **  bodies,
int  numBodies,
const btContactSolverInfo &  infoGlobal 
)
virtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 1525 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ solveGroupCacheFriendlySetup()

btScalar btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySetup ( btCollisionObject **  bodies,
int  numBodies,
btPersistentManifold **  manifoldPtr,
int  numManifolds,
btTypedConstraint **  constraints,
int  numConstraints,
const btContactSolverInfo &  infoGlobal,
btIDebugDraw *  debugDrawer 
)
virtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 828 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ solveGroupCacheFriendlySplitImpulseIterations()

void btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySplitImpulseIterations ( btCollisionObject **  bodies,
int  numBodies,
btPersistentManifold **  manifoldPtr,
int  numManifolds,
btTypedConstraint **  constraints,
int  numConstraints,
const btContactSolverInfo &  infoGlobal,
btIDebugDraw *  debugDrawer 
)
virtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 896 of file btSequentialImpulseConstraintSolverMt.cpp.

◆ solveSingleIteration()

btScalar btSequentialImpulseConstraintSolverMt::solveSingleIteration ( int  iteration,
btCollisionObject **  bodies,
int  numBodies,
btPersistentManifold **  manifoldPtr,
int  numManifolds,
btTypedConstraint **  constraints,
int  numConstraints,
const btContactSolverInfo &  infoGlobal,
btIDebugDraw *  debugDrawer 
)
virtual

solve all joint constraints

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 933 of file btSequentialImpulseConstraintSolverMt.cpp.

Member Data Documentation

◆ CACHE_LINE_SIZE

const int btSequentialImpulseConstraintSolverMt::CACHE_LINE_SIZE = 64
staticprotected

Definition at line 96 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_antiFalseSharingPadding

char btSequentialImpulseConstraintSolverMt::m_antiFalseSharingPadding[CACHE_LINE_SIZE]
protected

Definition at line 106 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_batchedContactConstraints

btBatchedConstraints btSequentialImpulseConstraintSolverMt::m_batchedContactConstraints
protected

Definition at line 98 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_batchedJointConstraints

btBatchedConstraints btSequentialImpulseConstraintSolverMt::m_batchedJointConstraints
protected

Definition at line 99 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_bodySolverArrayMutex

btSpinMutex btSequentialImpulseConstraintSolverMt::m_bodySolverArrayMutex
protected

Definition at line 105 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_kinematicBodyUniqueIdToSolverBodyTableMutex

btSpinMutex btSequentialImpulseConstraintSolverMt::m_kinematicBodyUniqueIdToSolverBodyTableMutex
protected

Definition at line 107 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_manifoldCachedInfoArray

btAlignedObjectArray<btContactManifoldCachedInfo> btSequentialImpulseConstraintSolverMt::m_manifoldCachedInfoArray
protected

Definition at line 103 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_numFrictionDirections

int btSequentialImpulseConstraintSolverMt::m_numFrictionDirections
protected

Definition at line 100 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_rollingFrictionIndexTable

btAlignedObjectArray<int> btSequentialImpulseConstraintSolverMt::m_rollingFrictionIndexTable
protected

Definition at line 104 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_scratchMemory

btAlignedObjectArray<char> btSequentialImpulseConstraintSolverMt::m_scratchMemory
protected

Definition at line 108 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_useBatching

bool btSequentialImpulseConstraintSolverMt::m_useBatching
protected

Definition at line 101 of file btSequentialImpulseConstraintSolverMt.h.

◆ m_useObsoleteJointConstraints

bool btSequentialImpulseConstraintSolverMt::m_useObsoleteJointConstraints
protected

Definition at line 102 of file btSequentialImpulseConstraintSolverMt.h.

◆ s_allowNestedParallelForLoops

bool btSequentialImpulseConstraintSolverMt::s_allowNestedParallelForLoops = false
static

Definition at line 88 of file btSequentialImpulseConstraintSolverMt.h.

◆ s_contactBatchingMethod

btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_contactBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D
static

Definition at line 90 of file btSequentialImpulseConstraintSolverMt.h.

◆ s_jointBatchingMethod

btBatchedConstraints::BatchingMethod btSequentialImpulseConstraintSolverMt::s_jointBatchingMethod = btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D
static

Definition at line 91 of file btSequentialImpulseConstraintSolverMt.h.

◆ s_maxBatchSize

int btSequentialImpulseConstraintSolverMt::s_maxBatchSize = 100
static

Definition at line 93 of file btSequentialImpulseConstraintSolverMt.h.

◆ s_minBatchSize

int btSequentialImpulseConstraintSolverMt::s_minBatchSize = 50
static

Definition at line 92 of file btSequentialImpulseConstraintSolverMt.h.

◆ s_minimumContactManifoldsForBatching

int btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching = 250
static

Definition at line 89 of file btSequentialImpulseConstraintSolverMt.h.

The documentation for this class was generated from the following files:
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