#include <btMultiBodyConstraintSolver.h>

Inheritance diagram for btMultiBodyConstraintSolver:

Collaboration diagram for btMultiBodyConstraintSolver:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

virtual btScalar	solveGroup (btCollisionObject bodies, int numBodies, btPersistentManifold manifold, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw debugDrawer, btDispatcher *dispatcher)
	this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints) More...

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)

Public Member Functions inherited from btSequentialImpulseConstraintSolver
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btSequentialImpulseConstraintSolver ()

virtual	~btSequentialImpulseConstraintSolver ()

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

virtual btConstraintSolverType	getSolverType () const

Public Member Functions inherited from btConstraintSolver
virtual	~btConstraintSolver ()

virtual void	prepareSolve (int, int)

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

Protected Member Functions
void	resolveSingleConstraintRowGeneric (const btMultiBodySolverConstraint &c)

void	resolveSingleConstraintRowGenericMultiBody (const btMultiBodySolverConstraint &c)

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

btMultiBodySolverConstraint &	addMultiBodyFrictionConstraint (const btVector3 &normalAxis, btPersistentManifold manifold, int frictionIndex, btManifoldPoint &cp, btCollisionObject colObj0, btCollisionObject *colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0)

void	setupMultiBodyJointLimitConstraint (btMultiBodySolverConstraint &constraintRow, btScalar jacA, btScalar jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, const btContactSolverInfo &infoGlobal)

void	setupMultiBodyContactConstraint (btMultiBodySolverConstraint &solverConstraint, const btVector3 &contactNormal, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)

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

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

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

void	applyDeltaVee (btScalar *deltaV, btScalar impulse, int velocityIndex, int ndof)

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)

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

Protected Attributes
btMultiBodyConstraintArray	m_multiBodyNonContactConstraints

btMultiBodyConstraintArray	m_multiBodyNormalContactConstraints

btMultiBodyConstraintArray	m_multiBodyFrictionContactConstraints

btMultiBodyJacobianData	m_data

btMultiBodyConstraint **	m_tmpMultiBodyConstraints

int	m_tmpNumMultiBodyConstraints

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

Definition at line 29 of file btMultiBodyConstraintSolver.h.

Member Function Documentation

btMultiBodySolverConstraint & btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint	(	const btVector3 &	normalAxis,
		btPersistentManifold *	manifold,
		int	frictionIndex,
		btManifoldPoint &	cp,
		btCollisionObject *	colObj0,
		btCollisionObject *	colObj1,
		btScalar	relaxation,
		const btContactSolverInfo &	infoGlobal,
		btScalar	desiredVelocity = `0`,
		btScalar	cfmSlip = `0`
	)

protected

Definition at line 530 of file btMultiBodyConstraintSolver.cpp.

void btMultiBodyConstraintSolver::applyDeltaVee	(	btScalar *	deltaV,
		btScalar	impulse,
		int	velocityIndex,
		int	ndof
	)

protected

Definition at line 92 of file btMultiBodyConstraintSolver.cpp.

btMultiBodyConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR ( )

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

protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 742 of file btMultiBodyConstraintSolver.cpp.

void btMultiBodyConstraintSolver::convertMultiBodyContact	(	btPersistentManifold *	manifold,
		const btContactSolverInfo &	infoGlobal
	)

protected

avoid collision response between two static objects

Bullet has several options to set the friction directions By default, each contact has only a single friction direction that is recomputed automatically very frame based on the relative linear velocity. If the relative velocity it zero, it will automatically compute a friction direction.

You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS. In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.

If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.

The user can manually override the friction directions for certain contacts using a contact callback, and set the cp.m_lateralFrictionInitialized to true In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) this will give a conveyor belt effect

Definition at line 562 of file btMultiBodyConstraintSolver.cpp.

void btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric ( const btMultiBodySolverConstraint & c )

protected

Definition at line 98 of file btMultiBodyConstraintSolver.cpp.

void btMultiBodyConstraintSolver::resolveSingleConstraintRowGenericMultiBody ( const btMultiBodySolverConstraint & c )

protected

Definition at line 172 of file btMultiBodyConstraintSolver.cpp.

void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint	(	btMultiBodySolverConstraint &	solverConstraint,
		const btVector3 &	contactNormal,
		btManifoldPoint &	cp,
		const btContactSolverInfo &	infoGlobal,
		btScalar &	relaxation,
		bool	isFriction,
		btScalar	desiredVelocity = `0`,
		btScalar	cfmSlip = `0`
	)

protected

warm starting (or zero if disabled)

Definition at line 228 of file btMultiBodyConstraintSolver.cpp.

void btMultiBodyConstraintSolver::setupMultiBodyJointLimitConstraint	(	btMultiBodySolverConstraint &	constraintRow,
		btScalar *	jacA,
		btScalar *	jacB,
		btScalar	penetration,
		btScalar	combinedFrictionCoeff,
		btScalar	combinedRestitutionCoeff,
		const btContactSolverInfo &	infoGlobal
	)

protected

btScalar btMultiBodyConstraintSolver::solveGroup	(	btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifold,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	info,
		btIDebugDraw *	debugDrawer,
		btDispatcher *	dispatcher
	)

virtual

this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 777 of file btMultiBodyConstraintSolver.cpp.

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

protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 69 of file btMultiBodyConstraintSolver.cpp.

void btMultiBodyConstraintSolver::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

Definition at line 783 of file btMultiBodyConstraintSolver.cpp.

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