281 lines
7.3 KiB
C++
281 lines
7.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. 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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_SOLVER_BODY_H
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#define B3_SOLVER_BODY_H
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3Matrix3x3.h"
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#include "Bullet3Common/b3AlignedAllocator.h"
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#include "Bullet3Common/b3TransformUtil.h"
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///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
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#ifdef B3_USE_SSE
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#define USE_SIMD 1
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#endif //
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#ifdef USE_SIMD
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struct b3SimdScalar
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{
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B3_FORCE_INLINE b3SimdScalar()
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{
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}
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B3_FORCE_INLINE b3SimdScalar(float fl)
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: m_vec128(_mm_set1_ps(fl))
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{
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}
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B3_FORCE_INLINE b3SimdScalar(__m128 v128)
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: m_vec128(v128)
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{
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}
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union {
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__m128 m_vec128;
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float m_floats[4];
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float x, y, z, w;
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int m_ints[4];
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b3Scalar m_unusedPadding;
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};
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B3_FORCE_INLINE __m128 get128()
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{
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return m_vec128;
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}
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B3_FORCE_INLINE const __m128 get128() const
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{
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return m_vec128;
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}
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B3_FORCE_INLINE void set128(__m128 v128)
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{
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m_vec128 = v128;
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}
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B3_FORCE_INLINE operator __m128()
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{
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return m_vec128;
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}
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B3_FORCE_INLINE operator const __m128() const
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{
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return m_vec128;
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}
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B3_FORCE_INLINE operator float() const
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{
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return m_floats[0];
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}
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};
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///@brief Return the elementwise product of two b3SimdScalar
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B3_FORCE_INLINE b3SimdScalar
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operator*(const b3SimdScalar& v1, const b3SimdScalar& v2)
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{
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return b3SimdScalar(_mm_mul_ps(v1.get128(), v2.get128()));
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}
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///@brief Return the elementwise product of two b3SimdScalar
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B3_FORCE_INLINE b3SimdScalar
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operator+(const b3SimdScalar& v1, const b3SimdScalar& v2)
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{
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return b3SimdScalar(_mm_add_ps(v1.get128(), v2.get128()));
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}
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#else
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#define b3SimdScalar b3Scalar
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#endif
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///The b3SolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
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B3_ATTRIBUTE_ALIGNED16(struct)
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b3SolverBody
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{
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B3_DECLARE_ALIGNED_ALLOCATOR();
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b3Transform m_worldTransform;
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b3Vector3 m_deltaLinearVelocity;
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b3Vector3 m_deltaAngularVelocity;
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b3Vector3 m_angularFactor;
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b3Vector3 m_linearFactor;
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b3Vector3 m_invMass;
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b3Vector3 m_pushVelocity;
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b3Vector3 m_turnVelocity;
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b3Vector3 m_linearVelocity;
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b3Vector3 m_angularVelocity;
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union {
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void* m_originalBody;
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int m_originalBodyIndex;
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};
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int padding[3];
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void setWorldTransform(const b3Transform& worldTransform)
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{
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m_worldTransform = worldTransform;
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}
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const b3Transform& getWorldTransform() const
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{
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return m_worldTransform;
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}
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B3_FORCE_INLINE void getVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
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{
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if (m_originalBody)
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velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
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else
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velocity.setValue(0, 0, 0);
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}
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B3_FORCE_INLINE void getAngularVelocity(b3Vector3 & angVel) const
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{
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if (m_originalBody)
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angVel = m_angularVelocity + m_deltaAngularVelocity;
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else
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angVel.setValue(0, 0, 0);
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}
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//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
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B3_FORCE_INLINE void applyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
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{
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if (m_originalBody)
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{
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m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
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m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
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}
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}
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B3_FORCE_INLINE void internalApplyPushImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, b3Scalar impulseMagnitude)
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{
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if (m_originalBody)
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{
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m_pushVelocity += linearComponent * impulseMagnitude * m_linearFactor;
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m_turnVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
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}
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}
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const b3Vector3& getDeltaLinearVelocity() const
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{
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return m_deltaLinearVelocity;
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}
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const b3Vector3& getDeltaAngularVelocity() const
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{
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return m_deltaAngularVelocity;
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}
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const b3Vector3& getPushVelocity() const
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{
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return m_pushVelocity;
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}
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const b3Vector3& getTurnVelocity() const
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{
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return m_turnVelocity;
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}
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////////////////////////////////////////////////
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///some internal methods, don't use them
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b3Vector3& internalGetDeltaLinearVelocity()
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{
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return m_deltaLinearVelocity;
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}
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b3Vector3& internalGetDeltaAngularVelocity()
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{
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return m_deltaAngularVelocity;
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}
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const b3Vector3& internalGetAngularFactor() const
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{
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return m_angularFactor;
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}
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const b3Vector3& internalGetInvMass() const
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{
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return m_invMass;
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}
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void internalSetInvMass(const b3Vector3& invMass)
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{
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m_invMass = invMass;
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}
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b3Vector3& internalGetPushVelocity()
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{
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return m_pushVelocity;
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}
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b3Vector3& internalGetTurnVelocity()
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{
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return m_turnVelocity;
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}
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B3_FORCE_INLINE void internalGetVelocityInLocalPointObsolete(const b3Vector3& rel_pos, b3Vector3& velocity) const
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{
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velocity = m_linearVelocity + m_deltaLinearVelocity + (m_angularVelocity + m_deltaAngularVelocity).cross(rel_pos);
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}
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B3_FORCE_INLINE void internalGetAngularVelocity(b3Vector3 & angVel) const
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{
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angVel = m_angularVelocity + m_deltaAngularVelocity;
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}
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//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
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B3_FORCE_INLINE void internalApplyImpulse(const b3Vector3& linearComponent, const b3Vector3& angularComponent, const b3Scalar impulseMagnitude)
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{
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//if (m_originalBody)
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{
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m_deltaLinearVelocity += linearComponent * impulseMagnitude * m_linearFactor;
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m_deltaAngularVelocity += angularComponent * (impulseMagnitude * m_angularFactor);
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}
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}
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void writebackVelocity()
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{
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//if (m_originalBody>=0)
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{
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m_linearVelocity += m_deltaLinearVelocity;
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m_angularVelocity += m_deltaAngularVelocity;
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//m_originalBody->setCompanionId(-1);
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}
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}
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void writebackVelocityAndTransform(b3Scalar timeStep, b3Scalar splitImpulseTurnErp)
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{
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(void)timeStep;
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if (m_originalBody)
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{
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m_linearVelocity += m_deltaLinearVelocity;
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m_angularVelocity += m_deltaAngularVelocity;
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//correct the position/orientation based on push/turn recovery
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b3Transform newTransform;
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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)
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{
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// b3Quaternion orn = m_worldTransform.getRotation();
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b3TransformUtil::integrateTransform(m_worldTransform, m_pushVelocity, m_turnVelocity * splitImpulseTurnErp, timeStep, newTransform);
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m_worldTransform = newTransform;
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}
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//m_worldTransform.setRotation(orn);
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//m_originalBody->setCompanionId(-1);
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}
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}
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};
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#endif //B3_SOLVER_BODY_H
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