16 #ifndef BT_MULTIBODY_CONSTRAINT_SOLVER_H
17 #define BT_MULTIBODY_CONSTRAINT_SOLVER_H
22 #define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
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);
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);
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
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
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
btSequentialImpulseConstraintSolver()
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...