btSequentialImpulseConstraintSolver Class Reference

The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. More...

#include <btSequentialImpulseConstraintSolver.h>

Inheritance diagram for btSequentialImpulseConstraintSolver:

Collaboration diagram for btSequentialImpulseConstraintSolver:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btSequentialImpulseConstraintSolver ()
virtual	~btSequentialImpulseConstraintSolver ()
virtual btScalar	solveGroup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher)
	btSequentialImpulseConstraintSolver Sequentially applies impulses More...
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
btSingleConstraintRowSolver	getActiveConstraintRowSolverGeneric ()
void	setConstraintRowSolverGeneric (btSingleConstraintRowSolver rowSolver)
btSingleConstraintRowSolver	getActiveConstraintRowSolverLowerLimit ()
void	setConstraintRowSolverLowerLimit (btSingleConstraintRowSolver rowSolver)
btSingleConstraintRowSolver	getScalarConstraintRowSolverGeneric ()
	Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4. More...
btSingleConstraintRowSolver	getSSE2ConstraintRowSolverGeneric ()
btSingleConstraintRowSolver	getSSE4_1ConstraintRowSolverGeneric ()
btSingleConstraintRowSolver	getScalarConstraintRowSolverLowerLimit ()
	Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4. More...
btSingleConstraintRowSolver	getSSE2ConstraintRowSolverLowerLimit ()
btSingleConstraintRowSolver	getSSE4_1ConstraintRowSolverLowerLimit ()
Public Member Functions inherited from btConstraintSolver
virtual	~btConstraintSolver ()
virtual void	prepareSolve (int, int)
virtual void	allSolved (const btContactSolverInfo &, class btIDebugDraw *)

Protected Member Functions
void	setupSolverFunctions (bool useSimd)
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, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.)
void	setupTorsionalFrictionConstraint (btSolverConstraint &solverConstraint, const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, btScalar combinedTorsionalFriction, 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, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.)
btSolverConstraint &	addTorsionalFrictionConstraint (const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint &cp, btScalar torsionalFriction, 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, btScalar velocityThreshold)
virtual void	convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
void	convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
virtual void	convertJoints (btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal)
void	convertJoint (btSolverConstraint *currentConstraintRow, btTypedConstraint *constraint, const btTypedConstraint::btConstraintInfo1 &info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo &infoGlobal)
virtual void	convertBodies (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
btScalar	resolveSplitPenetrationSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btScalar	resolveSplitPenetrationImpulseCacheFriendly (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
int	getOrInitSolverBody (btCollisionObject &body, btScalar timeStep)
void	initSolverBody (btSolverBody *solverBody, btCollisionObject *collisionObject, btScalar timeStep)
btScalar	resolveSingleConstraintRowGeneric (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btScalar	resolveSingleConstraintRowGenericSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btScalar	resolveSingleConstraintRowLowerLimit (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btScalar	resolveSingleConstraintRowLowerLimitSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btScalar	resolveSplitPenetrationImpulse (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
void	writeBackContacts (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
void	writeBackJoints (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
void	writeBackBodies (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
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	solveSingleIteration (int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
virtual btScalar	solveGroupCacheFriendlySetup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
virtual btScalar	solveGroupCacheFriendlyIterations (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)

Static Protected Member Functions
static void	applyAnisotropicFriction (btCollisionObject *colObj, btVector3 &frictionDirection, int frictionMode)

Protected Attributes
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
btAlignedObjectArray< int >	m_kinematicBodyUniqueIdToSolverBodyTable
btSingleConstraintRowSolver	m_resolveSingleConstraintRowGeneric
btSingleConstraintRowSolver	m_resolveSingleConstraintRowLowerLimit
btSingleConstraintRowSolver	m_resolveSplitPenetrationImpulse
int	m_cachedSolverMode
btScalar	m_leastSquaresResidual
unsigned long	m_btSeed2
	m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction More...

Detailed Description

The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.

Definition at line 33 of file btSequentialImpulseConstraintSolver.h.

Constructor & Destructor Documentation

btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver

(

)

Definition at line 366 of file btSequentialImpulseConstraintSolver.cpp.

btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver ( )

virtual

Definition at line 398 of file btSequentialImpulseConstraintSolver.cpp.

Member Function Documentation

btSolverConstraint & btSequentialImpulseConstraintSolver::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, const btContactSolverInfo &  infoGlobal, btScalar  desiredVelocity = 0., btScalar  cfmSlip = 0.  )

protected

Definition at line 644 of file btSequentialImpulseConstraintSolver.cpp.

btSolverConstraint & btSequentialImpulseConstraintSolver::addTorsionalFrictionConstraint ( const btVector3 &  normalAxis, int  solverBodyIdA, int  solverBodyIdB, int  frictionIndex, btManifoldPoint &  cp, btScalar  torsionalFriction, const btVector3 &  rel_pos1, const btVector3 &  rel_pos2, btCollisionObject *  colObj0, btCollisionObject *  colObj1, btScalar  relaxation, btScalar  desiredVelocity = 0, btScalar  cfmSlip = 0.f  )

protected

Definition at line 731 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::applyAnisotropicFriction ( btCollisionObject *  colObj, btVector3 &  frictionDirection, int  frictionMode  )

staticprotected

Definition at line 527 of file btSequentialImpulseConstraintSolver.cpp.

btSequentialImpulseConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

unsigned long btSequentialImpulseConstraintSolver::btRand2

(

)

Definition at line 434 of file btSequentialImpulseConstraintSolver.cpp.

int btSequentialImpulseConstraintSolver::btRandInt2

(

int

n

)

Definition at line 443 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::convertBodies ( btCollisionObject **  bodies, int  numBodies, const btContactSolverInfo &  infoGlobal  )

protectedvirtual

Reimplemented in btSequentialImpulseConstraintSolverMt.

Definition at line 1472 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::convertContact ( 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 1090 of file btSequentialImpulseConstraintSolver.cpp.

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

protectedvirtual

Reimplemented in btSequentialImpulseConstraintSolverMt, and btMultiBodyConstraintSolver.

Definition at line 1255 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::convertJoint ( btSolverConstraint *  currentConstraintRow, btTypedConstraint *  constraint, const btTypedConstraint::btConstraintInfo1 &  info1, int  solverBodyIdA, int  solverBodyIdB, const btContactSolverInfo &  infoGlobal  )

protected

the size of btSolverConstraint needs be a multiple of btScalar

finalize the constraint setup

Definition at line 1270 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::convertJoints ( btTypedConstraint **  constraints, int  numConstraints, const btContactSolverInfo &  infoGlobal  )

protectedvirtual

setup the btSolverConstraints

Reimplemented in btSequentialImpulseConstraintSolverMt.

Definition at line 1407 of file btSequentialImpulseConstraintSolver.cpp.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverGeneric ( )

inline

Definition at line 170 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverLowerLimit ( )

inline

Definition at line 178 of file btSequentialImpulseConstraintSolver.h.

int btSequentialImpulseConstraintSolver::getOrInitSolverBody ( btCollisionObject &  body, btScalar  timeStep  )

protected

Definition at line 741 of file btSequentialImpulseConstraintSolver.cpp.

unsigned long btSequentialImpulseConstraintSolver::getRandSeed ( ) const

inline

Definition at line 159 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverGeneric

(

)

Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4.

Definition at line 402 of file btSequentialImpulseConstraintSolver.cpp.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverLowerLimit

(

)

Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4.

Definition at line 407 of file btSequentialImpulseConstraintSolver.cpp.

virtual btConstraintSolverType btSequentialImpulseConstraintSolver::getSolverType ( ) const

inlinevirtual

Implements btConstraintSolver.

Reimplemented in btMultiBodyMLCPConstraintSolver, btMLCPSolver, and btNNCGConstraintSolver.

Definition at line 165 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric

(

)

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit

(

)

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric

(

)

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit

(

)

void btSequentialImpulseConstraintSolver::initSolverBody ( btSolverBody *  solverBody, btCollisionObject *  collisionObject, btScalar  timeStep  )

protected

Definition at line 472 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::reset ( )

virtual

clear internal cached data and reset random seed

Implements btConstraintSolver.

Definition at line 2001 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric ( btSolverBody &  bodyA, btSolverBody &  bodyB, const btSolverConstraint &  contactConstraint  )

protected

Definition at line 279 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD ( btSolverBody &  bodyA, btSolverBody &  bodyB, const btSolverConstraint &  contactConstraint  )

protected

Definition at line 273 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit ( btSolverBody &  bodyA, btSolverBody &  bodyB, const btSolverConstraint &  contactConstraint  )

protected

Definition at line 290 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD ( btSolverBody &  bodyA, btSolverBody &  bodyB, const btSolverConstraint &  contactConstraint  )

protected

Definition at line 284 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulse ( btSolverBody &  bodyA, btSolverBody &  bodyB, const btSolverConstraint &  contactConstraint  )

inlineprotected

Definition at line 121 of file btSequentialImpulseConstraintSolver.h.

btScalar btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly ( btSolverBody &  bodyA, btSolverBody &  bodyB, const btSolverConstraint &  contactConstraint  )

inlineprotected

Definition at line 108 of file btSequentialImpulseConstraintSolver.h.

btScalar btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD ( btSolverBody &  bodyA, btSolverBody &  bodyB, const btSolverConstraint &  contactConstraint  )

inlineprotected

Definition at line 103 of file btSequentialImpulseConstraintSolver.h.

btScalar btSequentialImpulseConstraintSolver::restitutionCurve ( btScalar  rel_vel, btScalar  restitution, btScalar  velocityThreshold  )

protected

Definition at line 515 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setConstraintRowSolverGeneric ( btSingleConstraintRowSolver  rowSolver )

inline

Definition at line 174 of file btSequentialImpulseConstraintSolver.h.

void btSequentialImpulseConstraintSolver::setConstraintRowSolverLowerLimit ( btSingleConstraintRowSolver  rowSolver )

inline

Definition at line 182 of file btSequentialImpulseConstraintSolver.h.

void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse ( btSolverConstraint &  solverConstraint, int  solverBodyIdA, int  solverBodyIdB, btManifoldPoint &  cp, const btContactSolverInfo &  infoGlobal  )

protected

Definition at line 1044 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setRandSeed ( unsigned long  seed )

inline

Definition at line 155 of file btSequentialImpulseConstraintSolver.h.

void btSequentialImpulseConstraintSolver::setupContactConstraint ( btSolverConstraint &  solverConstraint, int  solverBodyIdA, int  solverBodyIdB, btManifoldPoint &  cp, const btContactSolverInfo &  infoGlobal, btScalar &  relaxation, const btVector3 &  rel_pos1, const btVector3 &  rel_pos2  )

protected

warm starting (or zero if disabled)

Definition at line 845 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::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, const btContactSolverInfo &  infoGlobal, btScalar  desiredVelocity = 0., btScalar  cfmSlip = 0.  )

protected

Definition at line 547 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setupSolverFunctions ( bool  useSimd )

protected

Definition at line 373 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setupTorsionalFrictionConstraint ( btSolverConstraint &  solverConstraint, const btVector3 &  normalAxis, int  solverBodyIdA, int  solverBodyIdB, btManifoldPoint &  cp, btScalar  combinedTorsionalFriction, const btVector3 &  rel_pos1, const btVector3 &  rel_pos2, btCollisionObject *  colObj0, btCollisionObject *  colObj1, btScalar  relaxation, btScalar  desiredVelocity = 0., btScalar  cfmSlip = 0.  )

protected

Definition at line 654 of file btSequentialImpulseConstraintSolver.cpp.

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

virtual

btSequentialImpulseConstraintSolver Sequentially applies impulses

Implements btConstraintSolver.

Reimplemented in btMultiBodyConstraintSolver.

Definition at line 1986 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyFinish ( btCollisionObject **  bodies, int  numBodies, const btContactSolverInfo &  infoGlobal  )

protectedvirtual

Reimplemented in btMultiBodyConstraintSolver, btSequentialImpulseConstraintSolverMt, and btNNCGConstraintSolver.

Definition at line 1962 of file btSequentialImpulseConstraintSolver.cpp.

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

protectedvirtual

this is a special step to resolve penetrations (just for contacts)

Reimplemented in btMultiBodyMLCPConstraintSolver, and btMLCPSolver.

Definition at line 1861 of file btSequentialImpulseConstraintSolver.cpp.

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

protectedvirtual

Reimplemented in btMultiBodyMLCPConstraintSolver, btMultiBodyConstraintSolver, btSequentialImpulseConstraintSolverMt, btMLCPSolver, and btNNCGConstraintSolver.

Definition at line 1519 of file btSequentialImpulseConstraintSolver.cpp.

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

protectedvirtual

Reimplemented in btSequentialImpulseConstraintSolverMt.

Definition at line 1828 of file btSequentialImpulseConstraintSolver.cpp.

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

protectedvirtual

solve all joint constraints

solve all contact constraints

solve all friction constraints

Reimplemented in btMultiBodyConstraintSolver, btSequentialImpulseConstraintSolverMt, and btNNCGConstraintSolver.

Definition at line 1649 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::writeBackBodies ( int  iBegin, int  iEnd, const btContactSolverInfo &  infoGlobal  )

protected

Definition at line 1934 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::writeBackContacts ( int  iBegin, int  iEnd, const btContactSolverInfo &  infoGlobal  )

protected

Definition at line 1889 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::writeBackJoints ( int  iBegin, int  iEnd, const btContactSolverInfo &  infoGlobal  )

protected

Definition at line 1909 of file btSequentialImpulseConstraintSolver.cpp.

Member Data Documentation

unsigned long btSequentialImpulseConstraintSolver::m_btSeed2

protected

m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction

Definition at line 89 of file btSequentialImpulseConstraintSolver.h.

int btSequentialImpulseConstraintSolver::m_cachedSolverMode

protected

Definition at line 60 of file btSequentialImpulseConstraintSolver.h.

int btSequentialImpulseConstraintSolver::m_fixedBodyId

protected

Definition at line 47 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_kinematicBodyUniqueIdToSolverBodyTable

protected

Definition at line 55 of file btSequentialImpulseConstraintSolver.h.

btScalar btSequentialImpulseConstraintSolver::m_leastSquaresResidual

protected

Definition at line 63 of file btSequentialImpulseConstraintSolver.h.

int btSequentialImpulseConstraintSolver::m_maxOverrideNumSolverIterations

protected

Definition at line 46 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderFrictionConstraintPool

protected

Definition at line 44 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderNonContactConstraintPool

protected

Definition at line 43 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderTmpConstraintPool

protected

Definition at line 42 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowGeneric

protected

Definition at line 57 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowLowerLimit

protected

Definition at line 58 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSplitPenetrationImpulse

protected

Definition at line 59 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> btSequentialImpulseConstraintSolver::m_tmpConstraintSizesPool

protected

Definition at line 45 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<btSolverBody> btSequentialImpulseConstraintSolver::m_tmpSolverBodyPool

protected

Definition at line 36 of file btSequentialImpulseConstraintSolver.h.

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactConstraintPool

protected

Definition at line 37 of file btSequentialImpulseConstraintSolver.h.

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactFrictionConstraintPool

protected

Definition at line 39 of file btSequentialImpulseConstraintSolver.h.

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactRollingFrictionConstraintPool

protected

Definition at line 40 of file btSequentialImpulseConstraintSolver.h.

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverNonContactConstraintPool

protected

Definition at line 38 of file btSequentialImpulseConstraintSolver.h.

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The documentation for this class was generated from the following files:

• btSequentialImpulseConstraintSolver.h
• btSequentialImpulseConstraintSolver.cpp