2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
11 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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16 #ifndef BT_BATCHED_CONSTRAINTS_H
17 #define BT_BATCHED_CONSTRAINTS_H
19 #include "LinearMath/btThreads.h"
20 #include "LinearMath/btAlignedObjectArray.h"
21 #include "BulletDynamics/ConstraintSolver/btSolverBody.h"
22 #include "BulletDynamics/ConstraintSolver/btSolverConstraint.h"
26 struct btBatchedConstraints
30 BATCHING_METHOD_SPATIAL_GRID_2D,
31 BATCHING_METHOD_SPATIAL_GRID_3D,
39 Range() : begin(0), end(0) {}
40 Range(int _beg, int _end) : begin(_beg), end(_end) {}
43 btAlignedObjectArray<int> m_constraintIndices;
44 btAlignedObjectArray<Range> m_batches; // each batch is a range of indices in the m_constraintIndices array
45 btAlignedObjectArray<Range> m_phases; // each phase is range of indices in the m_batches array
46 btAlignedObjectArray<char> m_phaseGrainSize; // max grain size for each phase
47 btAlignedObjectArray<int> m_phaseOrder; // phases can be done in any order, so we can randomize the order here
48 btIDebugDraw* m_debugDrawer;
50 static bool s_debugDrawBatches;
52 btBatchedConstraints() { m_debugDrawer = NULL; }
53 void setup(btConstraintArray* constraints,
54 const btAlignedObjectArray<btSolverBody>& bodies,
55 BatchingMethod batchingMethod,
58 btAlignedObjectArray<char>* scratchMemory);
59 bool validate(btConstraintArray* constraints, const btAlignedObjectArray<btSolverBody>& bodies) const;
62 #endif // BT_BATCHED_CONSTRAINTS_H