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);
btAlignedObjectArray< btMultiBodySolverConstraint > btMultiBodyConstraintArray
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
btCollisionObject can be used to manage collision detection objects.
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
ManifoldContactPoint collects and maintains persistent contactpoints.
btScalar resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint &c)
btMultiBodyConstraint ** m_tmpMultiBodyConstraints
void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint &constraint, btScalar deltaTime)
int m_tmpNumMultiBodyConstraints
btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints
void convertContacts(btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
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_multiBodyNormalContactConstraints
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
btMultiBodyConstraintArray m_multiBodySpinningFrictionContactConstraints
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
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)
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)
btMultiBodyJacobianData m_data
BT_DECLARE_ALIGNED_ALLOCATOR()
void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint &constraintRow, btScalar *jacA, btScalar *jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, const btContactSolverInfo &infoGlobal)
btScalar resolveConeFrictionConstraintRows(const btMultiBodySolverConstraint &cA1, const btMultiBodySolverConstraint &cB)
virtual btScalar solveSingleIteration(int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
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_multiBodyNonContactConstraints
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...
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
btSequentialImpulseConstraintSolver()
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btVector3 can be used to represent 3D points and vectors.
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...