Blender
V3.3
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#include <btDeformableContactConstraint.h>
Public Attributes | |
btVector3 | m_total_normal_dv |
btVector3 | m_total_tangent_dv |
btScalar | m_penetration |
btScalar | m_total_split_impulse |
bool | m_binding |
const btSoftBody::DeformableRigidContact * | m_contact |
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bool | m_static |
const btContactSolverInfo * | m_infoGlobal |
btVector3 | m_normal |
Definition at line 141 of file btDeformableContactConstraint.h.
btDeformableRigidContactConstraint::btDeformableRigidContactConstraint | ( | const btSoftBody::DeformableRigidContact & | c, |
const btContactSolverInfo & | infoGlobal | ||
) |
Definition at line 135 of file btDeformableContactConstraint.cpp.
References Freestyle::c, m_binding, m_penetration, m_total_normal_dv, m_total_split_impulse, and m_total_tangent_dv.
btDeformableRigidContactConstraint::btDeformableRigidContactConstraint | ( | const btDeformableRigidContactConstraint & | other | ) |
Definition at line 146 of file btDeformableContactConstraint.cpp.
References m_total_normal_dv, and m_total_tangent_dv.
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inline |
Definition at line 153 of file btDeformableContactConstraint.h.
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inlinevirtual |
Definition at line 154 of file btDeformableContactConstraint.h.
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pure virtual |
Implemented in btDeformableFaceRigidContactConstraint, and btDeformableNodeRigidContactConstraint.
Referenced by solveSplitImpulse().
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virtual |
Definition at line 205 of file btDeformableContactConstraint.cpp.
References btVector3, CO_FEATHERSTONE_LINK, CO_RIGID_BODY, btRigidBody::getPushVelocityInLocalPoint(), btSoftBody::DeformableRigidContact::jacobianData_normal, btSoftBody::DeformableRigidContact::jacobianData_t1, btSoftBody::DeformableRigidContact::jacobianData_t2, btSoftBody::DeformableRigidContact::m_c1, btSoftBody::sCti::m_colObj, m_contact, btSoftBody::DeformableRigidContact::m_cti, btMultiBodyJacobianData::m_jacobians, btMultiBodyLinkCollider::m_multiBody, btSoftBody::sCti::m_normal, btSoftBody::DeformableRigidContact::t1, btSoftBody::DeformableRigidContact::t2, btMultiBodyLinkCollider::upcast(), and btRigidBody::upcast().
Referenced by solveSplitImpulse().
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pure virtual |
Implemented in btDeformableFaceRigidContactConstraint, and btDeformableNodeRigidContactConstraint.
Referenced by solveSplitImpulse().
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virtual |
Implements btDeformableContactConstraint.
Definition at line 153 of file btDeformableContactConstraint.cpp.
References btVector3, CO_FEATHERSTONE_LINK, CO_RIGID_BODY, btRigidBody::getVelocityInLocalPoint(), btSoftBody::DeformableRigidContact::jacobianData_normal, btSoftBody::DeformableRigidContact::jacobianData_t1, btSoftBody::DeformableRigidContact::jacobianData_t2, btSoftBody::DeformableRigidContact::m_c1, btSoftBody::sCti::m_colObj, m_contact, btSoftBody::DeformableRigidContact::m_cti, btMultiBodyJacobianData::m_jacobians, btMultiBodyLinkCollider::m_multiBody, btSoftBody::sCti::m_normal, btSoftBody::DeformableRigidContact::t1, btSoftBody::DeformableRigidContact::t2, btMultiBodyLinkCollider::upcast(), and btRigidBody::upcast().
Referenced by solveConstraint().
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inlinevirtual |
Implements btDeformableContactConstraint.
Definition at line 169 of file btDeformableContactConstraint.h.
References m_penetration.
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virtual |
Implements btDeformableContactConstraint.
Definition at line 256 of file btDeformableContactConstraint.cpp.
References btDeformableContactConstraint::applyImpulse(), btRigidBody::applyImpulse(), btDot(), btVector3, CO_FEATHERSTONE_LINK, CO_RIGID_BODY, getVa(), btDeformableContactConstraint::getVb(), infoGlobal, btSoftBody::DeformableRigidContact::jacobianData_normal, btSoftBody::DeformableRigidContact::jacobianData_t1, btSoftBody::DeformableRigidContact::jacobianData_t2, m_binding, btSoftBody::DeformableRigidContact::m_c0, btSoftBody::DeformableRigidContact::m_c1, btSoftBody::DeformableRigidContact::m_c3, btSoftBody::DeformableRigidContact::m_c5, btSoftBody::sCti::m_colObj, m_contact, btSoftBody::DeformableRigidContact::m_cti, btContactSolverInfoData::m_deformable_cfm, btContactSolverInfoData::m_deformable_erp, btMultiBodyJacobianData::m_deltaVelocitiesUnitImpulse, btMultiBodyLinkCollider::m_multiBody, btSoftBody::sCti::m_normal, m_penetration, btContactSolverInfoData::m_splitImpulse, btDeformableContactConstraint::m_static, btContactSolverInfoData::m_timeStep, m_total_normal_dv, m_total_tangent_dv, SIMD_EPSILON, btSoftBody::DeformableRigidContact::t1, btSoftBody::DeformableRigidContact::t2, btMultiBodyLinkCollider::upcast(), and btRigidBody::upcast().
Referenced by btDeformableContactProjection::update().
btScalar btDeformableRigidContactConstraint::solveSplitImpulse | ( | const btContactSolverInfo & | infoGlobal | ) |
Definition at line 356 of file btDeformableContactConstraint.cpp.
References btRigidBody::applyPushImpulse(), applySplitImpulse(), btDot(), btVector3, CO_FEATHERSTONE_LINK, CO_RIGID_BODY, getSplitVa(), getSplitVb(), infoGlobal, btSoftBody::DeformableRigidContact::jacobianData_normal, btSoftBody::DeformableRigidContact::m_c0, btSoftBody::DeformableRigidContact::m_c1, btSoftBody::sCti::m_colObj, m_contact, btSoftBody::DeformableRigidContact::m_cti, btContactSolverInfoData::m_deformable_erp, btContactSolverInfoData::m_deformable_maxErrorReduction, btMultiBodyJacobianData::m_deltaVelocitiesUnitImpulse, btMultiBodyLinkCollider::m_multiBody, btSoftBody::sCti::m_normal, m_penetration, btContactSolverInfoData::m_timeStep, m_total_split_impulse, btMultiBodyLinkCollider::upcast(), and btRigidBody::upcast().
Referenced by btDeformableContactProjection::solveSplitImpulse().
bool btDeformableRigidContactConstraint::m_binding |
Definition at line 148 of file btDeformableContactConstraint.h.
Referenced by btDeformableRigidContactConstraint(), and solveConstraint().
const btSoftBody::DeformableRigidContact* btDeformableRigidContactConstraint::m_contact |
Definition at line 149 of file btDeformableContactConstraint.h.
Referenced by btDeformableNodeRigidContactConstraint::getContact(), btDeformableFaceRigidContactConstraint::getContact(), getSplitVa(), getVa(), solveConstraint(), and solveSplitImpulse().
btScalar btDeformableRigidContactConstraint::m_penetration |
Definition at line 146 of file btDeformableContactConstraint.h.
Referenced by btDeformableRigidContactConstraint(), setPenetrationScale(), solveConstraint(), and solveSplitImpulse().
btVector3 btDeformableRigidContactConstraint::m_total_normal_dv |
Definition at line 144 of file btDeformableContactConstraint.h.
Referenced by btDeformableRigidContactConstraint(), btDeformableNodeRigidContactConstraint::getDv(), btDeformableFaceRigidContactConstraint::getDv(), and solveConstraint().
btScalar btDeformableRigidContactConstraint::m_total_split_impulse |
Definition at line 147 of file btDeformableContactConstraint.h.
Referenced by btDeformableRigidContactConstraint(), and solveSplitImpulse().
btVector3 btDeformableRigidContactConstraint::m_total_tangent_dv |
Definition at line 145 of file btDeformableContactConstraint.h.
Referenced by btDeformableRigidContactConstraint(), btDeformableNodeRigidContactConstraint::getDv(), btDeformableFaceRigidContactConstraint::getDv(), and solveConstraint().