Bullet Collision Detection & Physics Library
btMultiBodyInplaceSolverIslandCallback.h
Go to the documentation of this file.
1 /*
2  Bullet Continuous Collision Detection and Physics Library
3  Copyright (c) 2019 Google Inc. http://bulletphysics.org
4  This software is provided 'as-is', without any express or implied warranty.
5  In no event will the authors be held liable for any damages arising from the use of this software.
6  Permission is granted to anyone to use this software for any purpose,
7  including commercial applications, and to alter it and redistribute it freely,
8  subject to the following restrictions:
9  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.
10  2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
11  3. This notice may not be removed or altered from any source distribution.
12  */
13 
14 #ifndef BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H
15 #define BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H
16 
21 
23 {
24  int islandId;
25 
26  const btCollisionObject& rcolObj0 = lhs->getRigidBodyA();
27  const btCollisionObject& rcolObj1 = lhs->getRigidBodyB();
28  islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag();
29  return islandId;
30 }
32 {
33 public:
34  bool operator()(const btTypedConstraint* lhs, const btTypedConstraint* rhs) const
35  {
36  int rIslandId0, lIslandId0;
37  rIslandId0 = btGetConstraintIslandId2(rhs);
38  lIslandId0 = btGetConstraintIslandId2(lhs);
39  return lIslandId0 < rIslandId0;
40  }
41 };
42 
44 {
45  int islandId;
46 
47  int islandTagA = lhs->getIslandIdA();
48  int islandTagB = lhs->getIslandIdB();
49  islandId = islandTagA >= 0 ? islandTagA : islandTagB;
50  return islandId;
51 }
52 
54 {
55 public:
56  bool operator()(const btMultiBodyConstraint* lhs, const btMultiBodyConstraint* rhs) const
57  {
58  int rIslandId0, lIslandId0;
59  rIslandId0 = btGetMultiBodyConstraintIslandId(rhs);
60  lIslandId0 = btGetMultiBodyConstraintIslandId(lhs);
61  return lIslandId0 < rIslandId0;
62  }
63 };
64 
66 {
67 
72 
77 
83 
85 
87  btDispatcher* dispatcher)
88  : m_solverInfo(NULL),
89  m_solver(solver),
92  m_debugDrawer(NULL),
93  m_dispatcher(dispatcher)
94  {
95  }
96 
98  {
99  btAssert(0);
100  (void)other;
101  return *this;
102  }
103 
104  SIMD_FORCE_INLINE virtual void setup(btContactSolverInfo* solverInfo, btTypedConstraint** sortedConstraints, int numConstraints, btMultiBodyConstraint** sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw* debugDrawer)
105  {
107  btAssert(solverInfo);
108  m_solverInfo = solverInfo;
109 
110  m_multiBodySortedConstraints = sortedMultiBodyConstraints;
111  m_numMultiBodyConstraints = numMultiBodyConstraints;
112  m_sortedConstraints = sortedConstraints;
113  m_numConstraints = numConstraints;
114 
115  m_debugDrawer = debugDrawer;
116  m_bodies.resize(0);
117  m_manifolds.resize(0);
120  }
121 
123  {
124  m_solver = solver;
125  }
126 
127  virtual void processIsland(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifolds, int numManifolds, int islandId)
128  {
129  if (islandId < 0)
130  {
134  {
135  m_solver->m_analyticsData.m_islandId = islandId;
137  }
138  }
139  else
140  {
141  //also add all non-contact constraints/joints for this island
142  btTypedConstraint** startConstraint = 0;
143  btMultiBodyConstraint** startMultiBodyConstraint = 0;
144 
145  int numCurConstraints = 0;
146  int numCurMultiBodyConstraints = 0;
147 
148  int i;
149 
150  //find the first constraint for this island
151 
152  for (i = 0; i < m_numConstraints; i++)
153  {
154  if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
155  {
156  startConstraint = &m_sortedConstraints[i];
157  break;
158  }
159  }
160  //count the number of constraints in this island
161  for (; i < m_numConstraints; i++)
162  {
163  if (btGetConstraintIslandId2(m_sortedConstraints[i]) == islandId)
164  {
165  numCurConstraints++;
166  }
167  }
168 
169  for (i = 0; i < m_numMultiBodyConstraints; i++)
170  {
172  {
173  startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
174  break;
175  }
176  }
177  //count the number of multi body constraints in this island
178  for (; i < m_numMultiBodyConstraints; i++)
179  {
181  {
182  numCurMultiBodyConstraints++;
183  }
184  }
185 
186  //if (m_solverInfo->m_minimumSolverBatchSize<=1)
187  //{
188  // m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher);
189  //} else
190  {
191  for (i = 0; i < numBodies; i++)
192  {
193  bool isSoftBodyType = (bodies[i]->getInternalType() & btCollisionObject::CO_SOFT_BODY);
194  if (!isSoftBodyType)
195  {
196  m_bodies.push_back(bodies[i]);
197  }
198  else
199  {
200  m_softBodies.push_back(bodies[i]);
201  }
202  }
203  for (i = 0; i < numManifolds; i++)
204  m_manifolds.push_back(manifolds[i]);
205  for (i = 0; i < numCurConstraints; i++)
206  m_constraints.push_back(startConstraint[i]);
207 
208  for (i = 0; i < numCurMultiBodyConstraints; i++)
209  m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
210 
212  {
213  processConstraints(islandId);
214  }
215  else
216  {
217  //printf("deferred\n");
218  }
219  }
220  }
221  }
222 
223  virtual void processConstraints(int islandId=-1)
224  {
225  btCollisionObject** bodies = m_bodies.size() ? &m_bodies[0] : 0;
226  btPersistentManifold** manifold = m_manifolds.size() ? &m_manifolds[0] : 0;
227  btTypedConstraint** constraints = m_constraints.size() ? &m_constraints[0] : 0;
228  btMultiBodyConstraint** multiBodyConstraints = m_multiBodyConstraints.size() ? &m_multiBodyConstraints[0] : 0;
229 
230  //printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
231 
232  m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
234  {
235  m_solver->m_analyticsData.m_islandId = islandId;
237  }
238  m_bodies.resize(0);
239  m_softBodies.resize(0);
240  m_manifolds.resize(0);
243  }
244 };
245 
246 
247 #endif /*BT_MULTIBODY_INPLACE_SOLVER_ISLAND_CALLBACK_H */
int btGetConstraintIslandId2(const btTypedConstraint *lhs)
int btGetMultiBodyConstraintIslandId(const btMultiBodyConstraint *lhs)
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
#define btAssert(x)
Definition: btScalar.h:153
int size() const
return the number of elements in the array
void resize(int newsize, const T &fillData=T())
void clear()
clear the array, deallocated memory. Generally it is better to use array.resize(0),...
void push_back(const T &_Val)
btCollisionObject can be used to manage collision detection objects.
int getInternalType() const
reserved for Bullet internal usage
int getIslandTag() const
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:77
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
virtual void solveMultiBodyGroup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, btMultiBodyConstraint **multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher)
virtual int getIslandIdA() const =0
virtual int getIslandIdB() const =0
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
bool operator()(const btTypedConstraint *lhs, const btTypedConstraint *rhs) const
bool operator()(const btMultiBodyConstraint *lhs, const btMultiBodyConstraint *rhs) const
TypedConstraint is the baseclass for Bullet constraints and vehicles.
const btRigidBody & getRigidBodyA() const
const btRigidBody & getRigidBodyB() const
btAlignedObjectArray< btTypedConstraint * > m_constraints
virtual void setup(btContactSolverInfo *solverInfo, btTypedConstraint **sortedConstraints, int numConstraints, btMultiBodyConstraint **sortedMultiBodyConstraints, int numMultiBodyConstraints, btIDebugDraw *debugDrawer)
btAlignedObjectArray< btMultiBodyConstraint * > m_multiBodyConstraints
virtual void processIsland(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifolds, int numManifolds, int islandId)
MultiBodyInplaceSolverIslandCallback & operator=(const MultiBodyInplaceSolverIslandCallback &other)
void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver *solver)
btAlignedObjectArray< btPersistentManifold * > m_manifolds
btAlignedObjectArray< btCollisionObject * > m_bodies
btAlignedObjectArray< btSolverAnalyticsData > m_islandAnalyticsData
btAlignedObjectArray< btCollisionObject * > m_softBodies
MultiBodyInplaceSolverIslandCallback(btMultiBodyConstraintSolver *solver, btDispatcher *dispatcher)