Blender  V3.3
btMultiBodyConstraintSolver.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4 
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:
10 
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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_MULTIBODY_CONSTRAINT_SOLVER_H
17 #define BT_MULTIBODY_CONSTRAINT_SOLVER_H
18 
21 
22 #define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
23 
24 class btMultiBody;
25 
26 #include "btMultiBodyConstraint.h"
27 
29 btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
30 {
31 protected:
32  btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
33 
38 
40 
41  //temp storage for multi body constraints for a specific island/group called by 'solveGroup'
44 
46 
47  //solve 2 friction directions and clamp against the implicit friction cone
49 
51 
52  btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis, const btScalar& appliedImpulse, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
53 
55  btScalar combinedTorsionalFriction,
56  btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
57 
59  btScalar combinedTorsionalFriction,
60  btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
61 
63  btScalar * jacA, btScalar * jacB,
64  btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
66 
68  const btVector3& contactNormal,
69  const btScalar& appliedImpulse,
70  btManifoldPoint& cp,
72  btScalar& relaxation,
73  bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
74 
75  //either rolling or spinning friction
77  const btVector3& contactNormal,
78  btManifoldPoint& cp,
79  btScalar combinedTorsionalFriction,
81  btScalar& relaxation,
82  bool isFriction, btScalar desiredVelocity = 0, btScalar cfmSlip = 0);
83 
86  // virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
88  void applyDeltaVee(btScalar * deltaV, btScalar impulse, int velocityIndex, int ndof);
90 
91 public:
93 
97 
98  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);
99 };
100 
101 #endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H
btCollisionObject
btMultiBodyJacobianData m_data
btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint &c)
BT_DECLARE_ALIGNED_ALLOCATOR()
void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint &constraintRow, btScalar *jacA, btScalar *jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, const btContactSolverInfo &infoGlobal)
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints
void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint &constraint, btScalar deltaTime)
virtual btScalar solveGroupCacheFriendlySetup(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 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 btMulti...
int m_tmpNumMultiBodyConstraints
btMultiBodySolverConstraint & addMultiBodySpinningFrictionConstraint(const btVector3 &normalAxis, btPersistentManifold *manifold, int frictionIndex, btManifoldPoint &cp, btScalar combinedTorsionalFriction, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0)
void applyDeltaVee(btScalar *deltaV, btScalar impulse, int velocityIndex, int ndof)
void setupMultiBodyContactConstraint(btMultiBodySolverConstraint &solverConstraint, const btVector3 &contactNormal, const btScalar &appliedImpulse, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)
btMultiBodyConstraintArray m_multiBodySpinningFrictionContactConstraints
btMultiBodySolverConstraint & addMultiBodyFrictionConstraint(const btVector3 &normalAxis, const btScalar &appliedImpulse, btPersistentManifold *manifold, int frictionIndex, btManifoldPoint &cp, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0)
btMultiBodyConstraint ** m_tmpMultiBodyConstraints
btMultiBodySolverConstraint & addMultiBodyTorsionalFrictionConstraint(const btVector3 &normalAxis, btPersistentManifold *manifold, int frictionIndex, btManifoldPoint &cp, btScalar combinedTorsionalFriction, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0)
virtual btScalar solveSingleIteration(int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints
btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint &cA1, const btMultiBodySolverConstraint &cB)
void convertContacts(btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
void convertMultiBodyContact(btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
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)
void setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint &solverConstraint, const btVector3 &contactNormal, btManifoldPoint &cp, btScalar combinedTorsionalFriction, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)
btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints
btMultiBodyConstraint
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btMultiBody
Definition: btMultiBody.h:51
btPersistentManifold()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint ** constraints
btSequentialImpulseConstraintSolverMt int btPersistentManifold ** manifoldPtr
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int numConstraints
btSequentialImpulseConstraintSolverMt int numBodies
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo & infoGlobal
btSequentialImpulseConstraintSolverMt int btPersistentManifold int numManifolds
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
static unsigned c
Definition: RandGen.cpp:83