Bullet Collision Detection & Physics Library
Functions | Variables
btSequentialImpulseConstraintSolver.cpp File Reference
#include "btSequentialImpulseConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btCpuFeatureUtility.h"
#include "LinearMath/btMinMax.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
#include <new>
#include "LinearMath/btStackAlloc.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btAlignedObjectArray.h"
#include <string.h>
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include <stdio.h>
Include dependency graph for btSequentialImpulseConstraintSolver.cpp:

Go to the source code of this file.

Functions

static btScalar gResolveSingleConstraintRowGeneric_scalar_reference (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &c)
 This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver Below are optional SSE2 and SSE4/FMA3 versions. More...
 
static btScalar gResolveSingleConstraintRowLowerLimit_scalar_reference (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &c)
 
static btScalar gResolveSplitPenetrationImpulse_scalar_reference (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &c)
 
static btScalar gResolveSplitPenetrationImpulse_sse2 (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &c)
 

Variables

int gNumSplitImpulseRecoveries = 0
 

Function Documentation

static btScalar gResolveSingleConstraintRowGeneric_scalar_reference ( btSolverBody bodyA,
btSolverBody bodyB,
const btSolverConstraint c 
)
static

This is the scalar reference implementation of solving a single constraint row, the innerloop of the Projected Gauss Seidel/Sequential Impulse constraint solver Below are optional SSE2 and SSE4/FMA3 versions.

We assume most hardware has SSE2. For SSE4/FMA3 we perform a CPU feature check.

Definition at line 46 of file btSequentialImpulseConstraintSolver.cpp.

static btScalar gResolveSingleConstraintRowLowerLimit_scalar_reference ( btSolverBody bodyA,
btSolverBody bodyB,
const btSolverConstraint c 
)
static

Definition at line 79 of file btSequentialImpulseConstraintSolver.cpp.

static btScalar gResolveSplitPenetrationImpulse_scalar_reference ( btSolverBody bodyA,
btSolverBody bodyB,
const btSolverConstraint c 
)
static

Definition at line 296 of file btSequentialImpulseConstraintSolver.cpp.

static btScalar gResolveSplitPenetrationImpulse_sse2 ( btSolverBody bodyA,
btSolverBody bodyB,
const btSolverConstraint c 
)
static

Definition at line 328 of file btSequentialImpulseConstraintSolver.cpp.

Variable Documentation

int gNumSplitImpulseRecoveries = 0

Definition at line 39 of file btSequentialImpulseConstraintSolver.cpp.