The btParallelConstraintSolver performs computations on constraint rows in parallel Using the cross-platform threading it supports Windows, Linux, Mac OSX and PlayStation 3 Cell SPUs. More...

#include <btParallelConstraintSolver.h>

Inheritance diagram for btParallelConstraintSolver:

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Collaboration diagram for btParallelConstraintSolver:

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Public Member Functions
	btParallelConstraintSolver (class btThreadSupportInterface *solverThreadSupport)

virtual	~btParallelConstraintSolver ()

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...

Public Member Functions inherited from btSequentialImpulseConstraintSolver
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btSequentialImpulseConstraintSolver ()

virtual	~btSequentialImpulseConstraintSolver ()

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

Public Member Functions inherited from btConstraintSolver
virtual	~btConstraintSolver ()

virtual void	prepareSolve (int, int)

virtual void	allSolved (const btContactSolverInfo &, class btIDebugDraw *)

Protected Attributes
struct btParallelSolverMemoryCache *	m_memoryCache

class btThreadSupportInterface *	m_solverThreadSupport

struct btConstraintSolverIO *	m_solverIO

class btBarrier *	m_barrier

class btCriticalSection *	m_criticalSection

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

unsigned long	m_btSeed2
	m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction More...

Additional Inherited Members
Protected Member Functions inherited from btSequentialImpulseConstraintSolver
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, btScalar desiredVelocity=0., btScalar cfmSlip=0.)

void	setupRollingFrictionConstraint (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, 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, btScalar desiredVelocity=0., btScalar cfmSlip=0.)

btSolverConstraint &	addRollingFrictionConstraint (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, 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)

virtual void	convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)

void	convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)

void	resolveSplitPenetrationSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

void	resolveSplitPenetrationImpulseCacheFriendly (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

int	getOrInitSolverBody (btCollisionObject &body, btScalar timeStep)

void	initSolverBody (btSolverBody solverBody, btCollisionObject collisionObject, btScalar timeStep)

void	resolveSingleConstraintRowGeneric (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

void	resolveSingleConstraintRowGenericSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

void	resolveSingleConstraintRowLowerLimit (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

void	resolveSingleConstraintRowLowerLimitSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

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)

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

Detailed Description

The btParallelConstraintSolver performs computations on constraint rows in parallel Using the cross-platform threading it supports Windows, Linux, Mac OSX and PlayStation 3 Cell SPUs.

Definition at line 263 of file btParallelConstraintSolver.h.

Constructor & Destructor Documentation

btParallelConstraintSolver::btParallelConstraintSolver ( class btThreadSupportInterface * solverThreadSupport )

Definition at line 1144 of file btParallelConstraintSolver.cpp.

btParallelConstraintSolver::~btParallelConstraintSolver ( )

virtual

Definition at line 1156 of file btParallelConstraintSolver.cpp.

Member Function Documentation

btScalar btParallelConstraintSolver::solveGroup	(	btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifold,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	info,
		btIDebugDraw *	debugDrawer,
		btDispatcher *	dispatcher
	)