Bullet Collision Detection & Physics Library
btSequentialImpulseConstraintSolver.cpp File Reference
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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.
 
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

◆ gResolveSingleConstraintRowGeneric_scalar_reference()

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 47 of file btSequentialImpulseConstraintSolver.cpp.

◆ gResolveSingleConstraintRowLowerLimit_scalar_reference()

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

Definition at line 79 of file btSequentialImpulseConstraintSolver.cpp.

◆ gResolveSplitPenetrationImpulse_scalar_reference()

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

Definition at line 284 of file btSequentialImpulseConstraintSolver.cpp.

◆ gResolveSplitPenetrationImpulse_sse2()

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

Definition at line 316 of file btSequentialImpulseConstraintSolver.cpp.

Variable Documentation

◆ gNumSplitImpulseRecoveries

int gNumSplitImpulseRecoveries = 0

Definition at line 40 of file btSequentialImpulseConstraintSolver.cpp.