diff options
Diffstat (limited to 'src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h')
| -rw-r--r-- | src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h | 22 |
1 files changed, 22 insertions, 0 deletions
diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index aca1d0988..542ea23c9 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -91,10 +91,29 @@ struct btSISolverSingleIterationData } }; +struct btSolverAnalyticsData +{ + btSolverAnalyticsData() + { + m_numSolverCalls = 0; + m_numIterationsUsed = -1; + m_remainingLeastSquaresResidual = -1; + m_islandId = -2; + } + int m_islandId; + int m_numBodies; + int m_numContactManifolds; + int m_numSolverCalls; + int m_numIterationsUsed; + double m_remainingLeastSquaresResidual; +}; + ///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. ATTRIBUTE_ALIGNED16(class) btSequentialImpulseConstraintSolver : public btConstraintSolver { + + protected: btAlignedObjectArray<btSolverBody> m_tmpSolverBodyPool; btConstraintArray m_tmpSolverContactConstraintPool; @@ -283,6 +302,8 @@ public: m_resolveSingleConstraintRowLowerLimit = rowSolver; } + + ///Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4 static btSingleConstraintRowSolver getScalarConstraintRowSolverGeneric(); static btSingleConstraintRowSolver getSSE2ConstraintRowSolverGeneric(); @@ -296,6 +317,7 @@ public: static btSingleConstraintRowSolver getScalarSplitPenetrationImpulseGeneric(); static btSingleConstraintRowSolver getSSE2SplitPenetrationImpulseGeneric(); + btSolverAnalyticsData m_analyticsData; }; #endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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