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

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btSolverBody.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_SOLVER_BODY_H
17#define BT_SOLVER_BODY_H
18
19class btRigidBody;
20#include "LinearMath/btVector3.h"
21#include "LinearMath/btMatrix3x3.h"
22
23#include "LinearMath/btAlignedAllocator.h"
24#include "LinearMath/btTransformUtil.h"
25
27#ifdef BT_USE_SSE
28#define USE_SIMD 1
29#endif //
30
31#ifdef USE_SIMD
32
33struct btSimdScalar
34{
35 SIMD_FORCE_INLINE btSimdScalar()
36 {
37 }
38
39 SIMD_FORCE_INLINE btSimdScalar(float fl)
40 : m_vec128(_mm_set1_ps(fl))
41 {
42 }
43
44 SIMD_FORCE_INLINE btSimdScalar(__m128 v128)
45 : m_vec128(v128)
46 {
47 }
48 union {
49 __m128 m_vec128;
50 float m_floats[4];
51 int m_ints[4];
52 btScalar m_unusedPadding;
53 };
54 SIMD_FORCE_INLINE __m128 get128()
55 {
56 return m_vec128;
57 }
58
59 SIMD_FORCE_INLINE const __m128 get128() const
60 {
61 return m_vec128;
62 }
63
64 SIMD_FORCE_INLINE void set128(__m128 v128)
65 {
66 m_vec128 = v128;
67 }
68
69 SIMD_FORCE_INLINE operator __m128()
70 {
71 return m_vec128;
72 }
73 SIMD_FORCE_INLINE operator const __m128() const
74 {
75 return m_vec128;
76 }
77
78 SIMD_FORCE_INLINE operator float() const
79 {
80 return m_floats[0];
81 }
82};
83
85 SIMD_FORCE_INLINE btSimdScalar
86 operator*(const btSimdScalar& v1, const btSimdScalar& v2)
87{
88 return btSimdScalar(_mm_mul_ps(v1.get128(), v2.get128()));
89}
90
92 SIMD_FORCE_INLINE btSimdScalar
93 operator+(const btSimdScalar& v1, const btSimdScalar& v2)
94{
95 return btSimdScalar(_mm_add_ps(v1.get128(), v2.get128()));
96}
97
98#else
99#define btSimdScalar btScalar
100#endif
101
103 ATTRIBUTE_ALIGNED16(struct)
104 btSolverBody
105{
106 BT_DECLARE_ALIGNED_ALLOCATOR();
107 btTransform m_worldTransform;
108 btVector3 m_deltaLinearVelocity;
109 btVector3 m_deltaAngularVelocity;
110 btVector3 m_angularFactor;
111 btVector3 m_linearFactor;
112 btVector3 m_invMass;
113 btVector3 m_pushVelocity;
114 btVector3 m_turnVelocity;
115 btVector3 m_linearVelocity;
116 btVector3 m_angularVelocity;
117 btVector3 m_externalForceImpulse;
118 btVector3 m_externalTorqueImpulse;
119
120 btRigidBody* m_originalBody;
121 void setWorldTransform(const btTransform& worldTransform)
122 {
123 m_worldTransform = worldTransform;
124 }
125
126 const btTransform& getWorldTransform() const
127 {
128 return m_worldTransform;
129 }
130
131 SIMD_FORCE_INLINE void getVelocityInLocalPointNoDelta(const btVector3& rel_pos, btVector3& velocity) const
132 {
133 if (m_originalBody)
134 velocity = m_linearVelocity + m_externalForceImpulse + (m_angularVelocity + m_externalTorqueImpulse).cross(rel_pos);
135 else
136 velocity.setValue(0, 0, 0);
137 }
138
139 SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity) const
140 {
141 if (m_originalBody)
142 velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
143 else
144 velocity.setValue(0, 0, 0);
145 }
146
147 SIMD_FORCE_INLINE void getAngularVelocity(btVector3 & angVel) const
148 {
149 if (m_originalBody)
150 angVel = m_angularVelocity + m_deltaAngularVelocity;
151 else
152 angVel.setValue(0, 0, 0);
153 }
154
155 //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
156 SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent, const btScalar impulseMagnitude)
157 {
158 if (m_originalBody)
159 {
160 m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
161 m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
162 }
163 }
164
165 SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent, btScalar impulseMagnitude)
166 {
167 if (m_originalBody)
168 {
169 m_pushVelocity += linearComponent * impulseMagnitude * m_linearFactor;
170 m_turnVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
171 }
172 }
173
174 const btVector3& getDeltaLinearVelocity() const
175 {
176 return m_deltaLinearVelocity;
177 }
178
179 const btVector3& getDeltaAngularVelocity() const
180 {
181 return m_deltaAngularVelocity;
182 }
183
184 const btVector3& getPushVelocity() const
185 {
186 return m_pushVelocity;
187 }
188
189 const btVector3& getTurnVelocity() const
190 {
191 return m_turnVelocity;
192 }
193
196
197 btVector3& internalGetDeltaLinearVelocity()
198 {
199 return m_deltaLinearVelocity;
200 }
201
202 btVector3& internalGetDeltaAngularVelocity()
203 {
204 return m_deltaAngularVelocity;
205 }
206
207 const btVector3& internalGetAngularFactor() const
208 {
209 return m_angularFactor;
210 }
211
212 const btVector3& internalGetInvMass() const
213 {
214 return m_invMass;
215 }
216
217 void internalSetInvMass(const btVector3& invMass)
218 {
219 m_invMass = invMass;
220 }
221
222 btVector3& internalGetPushVelocity()
223 {
224 return m_pushVelocity;
225 }
226
227 btVector3& internalGetTurnVelocity()
228 {
229 return m_turnVelocity;
230 }
231
232 SIMD_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity) const
233 {
234 velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
235 }
236
237 SIMD_FORCE_INLINE void internalGetAngularVelocity(btVector3 & angVel) const
238 {
239 angVel = m_angularVelocity + m_deltaAngularVelocity;
240 }
241
242 //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
243 SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent, const btScalar impulseMagnitude)
244 {
245 if (m_originalBody)
246 {
247 m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
248 m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
249 }
250 }
251
252 void writebackVelocity()
253 {
254 if (m_originalBody)
255 {
256 m_linearVelocity += m_deltaLinearVelocity;
257 m_angularVelocity += m_deltaAngularVelocity;
258
259 //m_originalBody->setCompanionId(-1);
260 }
261 }
262
263 void writebackVelocityAndTransform(btScalar timeStep, btScalar splitImpulseTurnErp)
264 {
265 (void)timeStep;
266 if (m_originalBody)
267 {
268 m_linearVelocity += m_deltaLinearVelocity;
269 m_angularVelocity += m_deltaAngularVelocity;
270
271 //correct the position/orientation based on push/turn recovery
272 btTransform newTransform;
273 if (m_pushVelocity[0] != 0.f || m_pushVelocity[1] != 0 || m_pushVelocity[2] != 0 || m_turnVelocity[0] != 0.f || m_turnVelocity[1] != 0 || m_turnVelocity[2] != 0)
274 {
275 // btQuaternion orn = m_worldTransform.getRotation();
276 btTransformUtil::integrateTransform(m_worldTransform, m_pushVelocity, m_turnVelocity * splitImpulseTurnErp, timeStep, newTransform);
277 m_worldTransform = newTransform;
278 }
279 //m_worldTransform.setRotation(orn);
280 //m_originalBody->setCompanionId(-1);
281 }
282 }
283};
284
285#endif //BT_SOLVER_BODY_H
btAlignedAllocator.h
btMatrix3x3.h
operator*
btMatrix3x3 operator*(const btMatrix3x3 &m, const btScalar &k)
Definition btMatrix3x3.h:930
operator+
btMatrix3x3 operator+(const btMatrix3x3 &m1, const btMatrix3x3 &m2)
Definition btMatrix3x3.h:952
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition btScalar.h:98
btSimdScalar
#define btSimdScalar
Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later,...
Definition btSolverBody.h:99
btTransformUtil.h
btVector3.h
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
btTransformUtil::integrateTransform
static void integrateTransform(const btTransform &curTrans, const btVector3 &linvel, const btVector3 &angvel, btScalar timeStep, btTransform &predictedTransform)
Definition btTransformUtil.h:32
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition btVector3.h:640
btSolverBody
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
Definition btSolverBody.h:105
btSolverBody::getAngularVelocity
void getAngularVelocity(btVector3 &angVel) const
Definition btSolverBody.h:147
btSolverBody::getPushVelocity
const btVector3 & getPushVelocity() const
Definition btSolverBody.h:184
btSolverBody::getTurnVelocity
const btVector3 & getTurnVelocity() const
Definition btSolverBody.h:189
btSolverBody::getDeltaLinearVelocity
const btVector3 & getDeltaLinearVelocity() const
Definition btSolverBody.h:174
btSolverBody::m_linearFactor
btVector3 m_linearFactor
Definition btSolverBody.h:111
btSolverBody::m_invMass
btVector3 m_invMass
Definition btSolverBody.h:112
btSolverBody::m_pushVelocity
btVector3 m_pushVelocity
Definition btSolverBody.h:113
btSolverBody::internalGetDeltaAngularVelocity
btVector3 & internalGetDeltaAngularVelocity()
Definition btSolverBody.h:202
btSolverBody::setWorldTransform
void setWorldTransform(const btTransform &worldTransform)
Definition btSolverBody.h:121
btSolverBody::m_angularVelocity
btVector3 m_angularVelocity
Definition btSolverBody.h:116
btSolverBody::m_deltaLinearVelocity
btVector3 m_deltaLinearVelocity
Definition btSolverBody.h:108
btSolverBody::m_originalBody
btRigidBody * m_originalBody
Definition btSolverBody.h:120
btSolverBody::internalApplyPushImpulse
void internalApplyPushImpulse(const btVector3 &linearComponent, const btVector3 &angularComponent, btScalar impulseMagnitude)
Definition btSolverBody.h:165
btSolverBody::internalGetTurnVelocity
btVector3 & internalGetTurnVelocity()
Definition btSolverBody.h:227
btSolverBody::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btSolverBody::m_deltaAngularVelocity
btVector3 m_deltaAngularVelocity
Definition btSolverBody.h:109
btSolverBody::m_linearVelocity
btVector3 m_linearVelocity
Definition btSolverBody.h:115
btSolverBody::getVelocityInLocalPointNoDelta
void getVelocityInLocalPointNoDelta(const btVector3 &rel_pos, btVector3 &velocity) const
Definition btSolverBody.h:131
btSolverBody::getDeltaAngularVelocity
const btVector3 & getDeltaAngularVelocity() const
Definition btSolverBody.h:179
btSolverBody::m_worldTransform
btTransform m_worldTransform
Definition btSolverBody.h:107
btSolverBody::internalGetPushVelocity
btVector3 & internalGetPushVelocity()
Definition btSolverBody.h:222
btSolverBody::internalGetAngularFactor
const btVector3 & internalGetAngularFactor() const
Definition btSolverBody.h:207
btSolverBody::writebackVelocityAndTransform
void writebackVelocityAndTransform(btScalar timeStep, btScalar splitImpulseTurnErp)
Definition btSolverBody.h:263
btSolverBody::internalGetDeltaLinearVelocity
btVector3 & internalGetDeltaLinearVelocity()
some internal methods, don't use them
Definition btSolverBody.h:197
btSolverBody::writebackVelocity
void writebackVelocity()
Definition btSolverBody.h:252
btSolverBody::internalSetInvMass
void internalSetInvMass(const btVector3 &invMass)
Definition btSolverBody.h:217
btSolverBody::m_angularFactor
btVector3 m_angularFactor
Definition btSolverBody.h:110
btSolverBody::internalApplyImpulse
void internalApplyImpulse(const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
Definition btSolverBody.h:243
btSolverBody::internalGetAngularVelocity
void internalGetAngularVelocity(btVector3 &angVel) const
Definition btSolverBody.h:237
btSolverBody::m_externalTorqueImpulse
btVector3 m_externalTorqueImpulse
Definition btSolverBody.h:118
btSolverBody::internalGetVelocityInLocalPointObsolete
void internalGetVelocityInLocalPointObsolete(const btVector3 &rel_pos, btVector3 &velocity) const
Definition btSolverBody.h:232
btSolverBody::getWorldTransform
const btTransform & getWorldTransform() const
Definition btSolverBody.h:126
btSolverBody::applyImpulse
void applyImpulse(const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
Definition btSolverBody.h:156
btSolverBody::getVelocityInLocalPointObsolete
void getVelocityInLocalPointObsolete(const btVector3 &rel_pos, btVector3 &velocity) const
Definition btSolverBody.h:139
btSolverBody::internalGetInvMass
const btVector3 & internalGetInvMass() const
Definition btSolverBody.h:212
btSolverBody::m_turnVelocity
btVector3 m_turnVelocity
Definition btSolverBody.h:114
btSolverBody::m_externalForceImpulse
btVector3 m_externalForceImpulse
Definition btSolverBody.h:117