Bullet Collision Detection & Physics Library: btBatchedConstraints.h Source File

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btBatchedConstraints.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_BATCHED_CONSTRAINTS_H
17#define BT_BATCHED_CONSTRAINTS_H
18
19#include "LinearMath/btThreads.h"
20#include "LinearMath/btAlignedObjectArray.h"
21#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
22#include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
23
24class btIDebugDraw;
25
26 struct btBatchedConstraints
27{
28 enum BatchingMethod
29 {
30 BATCHING_METHOD_SPATIAL_GRID_2D,
31 BATCHING_METHOD_SPATIAL_GRID_3D,
32 BATCHING_METHOD_COUNT
33 };
34 struct Range
35 {
36 int begin;
37 int end;
38
39 Range() : begin(0), end(0) {}
40 Range(int _beg, int _end) : begin(_beg), end(_end) {}
41 };
42
43 btAlignedObjectArray<int> m_constraintIndices;
44 btAlignedObjectArray<Range> m_batches; // each batch is a range of indices in the m_constraintIndices array
45 btAlignedObjectArray<Range> m_phases; // each phase is range of indices in the m_batches array
46 btAlignedObjectArray<char> m_phaseGrainSize; // max grain size for each phase
47 btAlignedObjectArray<int> m_phaseOrder; // phases can be done in any order, so we can randomize the order here
48 btIDebugDraw* m_debugDrawer;
49
50 static bool s_debugDrawBatches;
51
52 btBatchedConstraints() { m_debugDrawer = NULL; }
53 void setup(btConstraintArray* constraints,
54 const btAlignedObjectArray<btSolverBody>& bodies,
55 BatchingMethod batchingMethod,
56 int minBatchSize,
57 int maxBatchSize,
58 btAlignedObjectArray<char>* scratchMemory);
59 bool validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const;
60};
61
62#endif // BT_BATCHED_CONSTRAINTS_H
btAlignedObjectArray.h
btSolverBody.h
btSolverConstraint.h
btThreads.h
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition btIDebugDraw.h:27
btBatchedConstraints::Range
Definition btBatchedConstraints.h:35
btBatchedConstraints::Range::Range
Range(int _beg, int _end)
Definition btBatchedConstraints.h:40
btBatchedConstraints::Range::begin
int begin
Definition btBatchedConstraints.h:36
btBatchedConstraints::Range::end
int end
Definition btBatchedConstraints.h:37
btBatchedConstraints::Range::Range
Range()
Definition btBatchedConstraints.h:39
btBatchedConstraints
Definition btBatchedConstraints.h:27
btBatchedConstraints::validate
bool validate(btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies) const
Definition btBatchedConstraints.cpp:46
btBatchedConstraints::s_debugDrawBatches
static bool s_debugDrawBatches
Definition btBatchedConstraints.h:50
btBatchedConstraints::m_batches
btAlignedObjectArray< Range > m_batches
Definition btBatchedConstraints.h:44
btBatchedConstraints::btBatchedConstraints
btBatchedConstraints()
Definition btBatchedConstraints.h:52
btBatchedConstraints::m_constraintIndices
btAlignedObjectArray< int > m_constraintIndices
Definition btBatchedConstraints.h:43
btBatchedConstraints::setup
void setup(btConstraintArray *constraints, const btAlignedObjectArray< btSolverBody > &bodies, BatchingMethod batchingMethod, int minBatchSize, int maxBatchSize, btAlignedObjectArray< char > *scratchMemory)
Definition btBatchedConstraints.cpp:1063
btBatchedConstraints::m_phaseGrainSize
btAlignedObjectArray< char > m_phaseGrainSize
Definition btBatchedConstraints.h:46
btBatchedConstraints::m_phaseOrder
btAlignedObjectArray< int > m_phaseOrder
Definition btBatchedConstraints.h:47
btBatchedConstraints::m_phases
btAlignedObjectArray< Range > m_phases
Definition btBatchedConstraints.h:45
btBatchedConstraints::m_debugDrawer
btIDebugDraw * m_debugDrawer
Definition btBatchedConstraints.h:48
btBatchedConstraints::BatchingMethod
BatchingMethod
Definition btBatchedConstraints.h:29
btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_3D
@ BATCHING_METHOD_SPATIAL_GRID_3D
Definition btBatchedConstraints.h:31
btBatchedConstraints::BATCHING_METHOD_COUNT
@ BATCHING_METHOD_COUNT
Definition btBatchedConstraints.h:32
btBatchedConstraints::BATCHING_METHOD_SPATIAL_GRID_2D
@ BATCHING_METHOD_SPATIAL_GRID_2D
Definition btBatchedConstraints.h:30