16 #ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
17 #define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
virtual void setupBatchedContactConstraints()
void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo *cachedInfoArray, btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
virtual btScalar resolveAllRollingFrictionConstraints()
BT_DECLARE_ALIGNED_ALLOCATOR()
void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
btBatchedConstraints m_batchedContactConstraints
btAlignedObjectArray< int > m_rollingFrictionIndexTable
void internalAllocContactConstraints(const btContactManifoldCachedInfo *cachedInfoArray, int numManifolds)
void internalConvertMultipleJoints(const btAlignedObjectArray< JointParams > &jointParamsArray, btTypedConstraint **constraints, int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
btAlignedObjectArray< btContactManifoldCachedInfo > m_manifoldCachedInfoArray
btSequentialImpulseConstraintSolverMt()
virtual btScalar resolveAllJointConstraints(int iteration)
int m_numFrictionDirections
void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
virtual void randomizeConstraintOrdering(int iteration, int numIterations)
btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex
btBatchedConstraints m_batchedJointConstraints
static btBatchedConstraints::BatchingMethod s_contactBatchingMethod
static const int CACHE_LINE_SIZE
int getOrInitSolverBodyThreadsafe(btCollisionObject &body, btScalar timeStep)
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint ** constraints
btScalar resolveMultipleContactRollingFrictionConstraints(const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
btScalar resolveMultipleContactConstraintsInterleaved(const btAlignedObjectArray< int > &contactIndices, int batchBegin, int batchEnd)
btSequentialImpulseConstraintSolverMt int btPersistentManifold ** manifoldPtr
char m_antiFalseSharingPadding[CACHE_LINE_SIZE]
virtual btScalar resolveAllContactFrictionConstraints()
void internalInitMultipleJoints(btTypedConstraint **constraints, int iBegin, int iEnd)
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo btIDebugDraw *debugDrawer BT_OVERRIDE
btSpinMutex m_bodySolverArrayMutex
void randomizeBatchedConstraintOrdering(btBatchedConstraints *batchedConstraints)
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int numConstraints
virtual void setupBatchedJointConstraints()
virtual void convertBodies(btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
virtual void convertJoints(btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
btAlignedObjectArray< char > m_scratchMemory
btSequentialImpulseConstraintSolverMt int numBodies
void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo &infoGlobal)
virtual void convertContacts(btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
btScalar resolveMultipleContactSplitPenetrationImpulseConstraints(const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
static bool s_allowNestedParallelForLoops
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo & infoGlobal
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
virtual btScalar resolveAllContactConstraints()
virtual ~btSequentialImpulseConstraintSolverMt()
virtual btScalar solveSingleIteration(int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
btScalar resolveMultipleJointConstraints(const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd, int iteration)
btSequentialImpulseConstraintSolverMt int btPersistentManifold int numManifolds
void allocAllContactConstraints(btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
void setupAllContactConstraints(const btContactSolverInfo &infoGlobal)
static int s_minBatchSize
virtual btScalar resolveAllContactConstraintsInterleaved()
btScalar resolveMultipleContactFrictionConstraints(const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
btScalar resolveMultipleContactConstraints(const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
static int s_maxBatchSize
bool m_useObsoleteJointConstraints
void internalConvertBodies(btCollisionObject **bodies, int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
static int s_minimumContactManifoldsForBatching
static btBatchedConstraints::BatchingMethod s_jointBatchingMethod
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
btSequentialImpulseConstraintSolver()
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)