original version written by Erwin Coumans, October 2013 More...

#include <btMLCPSolver.h>

Inheritance diagram for btMLCPSolver:

Collaboration diagram for btMLCPSolver:

Public Member Functions
	btMLCPSolver (btMLCPSolverInterface *solver)
	original version written by Erwin Coumans, October 2013 More...

virtual	~btMLCPSolver ()

void	setMLCPSolver (btMLCPSolverInterface *solver)

int	getNumFallbacks () const

void	setNumFallbacks (int num)

virtual btConstraintSolverType	getSolverType () const

Public Member Functions inherited from btSequentialImpulseConstraintSolver
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btSequentialImpulseConstraintSolver ()

virtual	~btSequentialImpulseConstraintSolver ()

virtual btScalar	solveGroup (btCollisionObject bodies, int numBodies, btPersistentManifold manifold, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw debugDrawer, btDispatcher *dispatcher)
	btSequentialImpulseConstraintSolver Sequentially applies impulses More...

virtual void	reset ()
	clear internal cached data and reset random seed More...

unsigned long	btRand2 ()

int	btRandInt2 (int n)

void	setRandSeed (unsigned long seed)

unsigned long	getRandSeed () const

Public Member Functions inherited from btConstraintSolver
virtual	~btConstraintSolver ()

virtual void	prepareSolve (int, int)

virtual void	allSolved (const btContactSolverInfo &, class btIDebugDraw *)

Protected Member Functions
virtual btScalar	solveGroupCacheFriendlySetup (btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer)

virtual btScalar	solveGroupCacheFriendlyIterations (btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer)

virtual void	createMLCP (const btContactSolverInfo &infoGlobal)

virtual void	createMLCPFast (const btContactSolverInfo &infoGlobal)

virtual bool	solveMLCP (const btContactSolverInfo &infoGlobal)

Protected Member Functions inherited from btSequentialImpulseConstraintSolver
void	setupFrictionConstraint (btSolverConstraint &solverConstraint, const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject colObj0, btCollisionObject colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.)

void	setupRollingFrictionConstraint (btSolverConstraint &solverConstraint, const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject colObj0, btCollisionObject colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.)

btSolverConstraint &	addFrictionConstraint (const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint &cp, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject colObj0, btCollisionObject colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.)

btSolverConstraint &	addRollingFrictionConstraint (const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint &cp, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject colObj0, btCollisionObject colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f)

void	setupContactConstraint (btSolverConstraint &solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btScalar &relaxation, const btVector3 &rel_pos1, const btVector3 &rel_pos2)

void	setFrictionConstraintImpulse (btSolverConstraint &solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal)

btScalar	restitutionCurve (btScalar rel_vel, btScalar restitution)

virtual void	convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)

void	convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)

void	resolveSplitPenetrationSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

void	resolveSplitPenetrationImpulseCacheFriendly (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

int	getOrInitSolverBody (btCollisionObject &body, btScalar timeStep)

void	initSolverBody (btSolverBody solverBody, btCollisionObject collisionObject, btScalar timeStep)

void	resolveSingleConstraintRowGeneric (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

void	resolveSingleConstraintRowGenericSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

void	resolveSingleConstraintRowLowerLimit (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

void	resolveSingleConstraintRowLowerLimitSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

virtual void	solveGroupCacheFriendlySplitImpulseIterations (btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer)

virtual btScalar	solveGroupCacheFriendlyFinish (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)

virtual btScalar	solveSingleIteration (int iteration, btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer)

Protected Attributes
btMatrixXu	m_A

btVectorXu	m_b

btVectorXu	m_x

btVectorXu	m_lo

btVectorXu	m_hi

btVectorXu	m_bSplit
	when using 'split impulse' we solve two separate (M)LCPs More...

btVectorXu	m_xSplit

btVectorXu	m_bSplit1

btVectorXu	m_xSplit2

btAlignedObjectArray< int >	m_limitDependencies

btConstraintArray	m_allConstraintArray

btMLCPSolverInterface *	m_solver

int	m_fallback

Protected Attributes inherited from btSequentialImpulseConstraintSolver
btAlignedObjectArray < btSolverBody >	m_tmpSolverBodyPool

btConstraintArray	m_tmpSolverContactConstraintPool

btConstraintArray	m_tmpSolverNonContactConstraintPool

btConstraintArray	m_tmpSolverContactFrictionConstraintPool

btConstraintArray	m_tmpSolverContactRollingFrictionConstraintPool

btAlignedObjectArray< int >	m_orderTmpConstraintPool

btAlignedObjectArray< int >	m_orderNonContactConstraintPool

btAlignedObjectArray< int >	m_orderFrictionConstraintPool

btAlignedObjectArray < btTypedConstraint::btConstraintInfo1 >	m_tmpConstraintSizesPool

int	m_maxOverrideNumSolverIterations

int	m_fixedBodyId

unsigned long	m_btSeed2
	m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction More...

Additional Inherited Members
Static Protected Member Functions inherited from btSequentialImpulseConstraintSolver
static void	applyAnisotropicFriction (btCollisionObject *colObj, btVector3 &frictionDirection, int frictionMode)

Detailed Description

original version written by Erwin Coumans, October 2013

Definition at line 24 of file btMLCPSolver.h.

Constructor & Destructor Documentation

btMLCPSolver::btMLCPSolver ( btMLCPSolverInterface * solver )

original version written by Erwin Coumans, October 2013

Definition at line 22 of file btMLCPSolver.cpp.

btMLCPSolver::~btMLCPSolver ( )

virtual

Definition at line 28 of file btMLCPSolver.cpp.

Member Function Documentation

void btMLCPSolver::createMLCP ( const btContactSolverInfo & infoGlobal )

protectedvirtual

todo: use proper cfm values from the constraints (getInfo2)

Definition at line 467 of file btMLCPSolver.cpp.

void btMLCPSolver::createMLCPFast ( const btContactSolverInfo & infoGlobal )

protectedvirtual

todo: use proper cfm values from the constraints (getInfo2)

fill the upper triangle of the matrix, to make it symmetric

Definition at line 153 of file btMLCPSolver.cpp.

int btMLCPSolver::getNumFallbacks ( ) const

inline

Definition at line 64 of file btMLCPSolver.h.

virtual btConstraintSolverType btMLCPSolver::getSolverType ( ) const

inlinevirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 73 of file btMLCPSolver.h.

void btMLCPSolver::setMLCPSolver ( btMLCPSolverInterface * solver )

inline

Definition at line 59 of file btMLCPSolver.h.

void btMLCPSolver::setNumFallbacks ( int num )

inline

Definition at line 68 of file btMLCPSolver.h.

btScalar btMLCPSolver::solveGroupCacheFriendlyIterations	(	btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer
	)

protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 582 of file btMLCPSolver.cpp.

btScalar btMLCPSolver::solveGroupCacheFriendlySetup	(	btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer
	)

protectedvirtual

The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 35 of file btMLCPSolver.cpp.

bool btMLCPSolver::solveMLCP ( const btContactSolverInfo & infoGlobal )

protectedvirtual

Definition at line 119 of file btMLCPSolver.cpp.

Member Data Documentation

btMatrixXu btMLCPSolver::m_A

protected

Definition at line 29 of file btMLCPSolver.h.

btConstraintArray btMLCPSolver::m_allConstraintArray

protected

Definition at line 42 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_b

protected

Definition at line 30 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_bSplit

protected

when using 'split impulse' we solve two separate (M)LCPs

Definition at line 36 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_bSplit1

protected

Definition at line 38 of file btMLCPSolver.h.

int btMLCPSolver::m_fallback

protected

Definition at line 44 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_hi

protected

Definition at line 33 of file btMLCPSolver.h.

btAlignedObjectArray<int> btMLCPSolver::m_limitDependencies

protected

Definition at line 41 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_lo

protected

Definition at line 32 of file btMLCPSolver.h.

btMLCPSolverInterface* btMLCPSolver::m_solver

protected

Definition at line 43 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_x

protected

Definition at line 31 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_xSplit

protected

Definition at line 37 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_xSplit2

protected

Definition at line 39 of file btMLCPSolver.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation