btSolverConstraint Struct Reference

1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. More...

#include <btSolverConstraint.h>

Collaboration diagram for btSolverConstraint:

Public Types
enum	btSolverConstraintType {   BT_SOLVER_CONTACT_1D = 0,   BT_SOLVER_FRICTION_1D }

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

Public Attributes
btVector3	m_relpos1CrossNormal
btVector3	m_contactNormal1
btVector3	m_relpos2CrossNormal
btVector3	m_contactNormal2
btVector3	m_angularComponentA
btVector3	m_angularComponentB
btSimdScalar	m_appliedPushImpulse
btSimdScalar	m_appliedImpulse
btScalar	m_friction
btScalar	m_jacDiagABInv
btScalar	m_rhs
btScalar	m_cfm
btScalar	m_lowerLimit
btScalar	m_upperLimit
btScalar	m_rhsPenetration
union {
void *   m_originalContactPoint
btScalar   m_unusedPadding4
int   m_numRowsForNonContactConstraint
};
int	m_overrideNumSolverIterations
int	m_frictionIndex
int	m_solverBodyIdA
int	m_solverBodyIdB

Detailed Description

1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.

Definition at line 30 of file btSolverConstraint.h.

Member Enumeration Documentation

enum btSolverConstraint::btSolverConstraintType

Enumerator
BT_SOLVER_CONTACT_1D
BT_SOLVER_FRICTION_1D

Definition at line 67 of file btSolverConstraint.h.

Member Function Documentation

btSolverConstraint::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

Member Data Documentation

union { ... }

btVector3 btSolverConstraint::m_angularComponentA

Definition at line 40 of file btSolverConstraint.h.

btVector3 btSolverConstraint::m_angularComponentB

Definition at line 41 of file btSolverConstraint.h.

btSimdScalar btSolverConstraint::m_appliedImpulse

mutable

Definition at line 44 of file btSolverConstraint.h.

btSimdScalar btSolverConstraint::m_appliedPushImpulse

mutable

Definition at line 43 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_cfm

Definition at line 49 of file btSolverConstraint.h.

btVector3 btSolverConstraint::m_contactNormal1

Definition at line 35 of file btSolverConstraint.h.

btVector3 btSolverConstraint::m_contactNormal2

Definition at line 38 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_friction

Definition at line 46 of file btSolverConstraint.h.

int btSolverConstraint::m_frictionIndex

Definition at line 62 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_jacDiagABInv

Definition at line 47 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_lowerLimit

Definition at line 51 of file btSolverConstraint.h.

int btSolverConstraint::m_numRowsForNonContactConstraint

Definition at line 58 of file btSolverConstraint.h.

void* btSolverConstraint::m_originalContactPoint

Definition at line 56 of file btSolverConstraint.h.

int btSolverConstraint::m_overrideNumSolverIterations

Definition at line 61 of file btSolverConstraint.h.

btVector3 btSolverConstraint::m_relpos1CrossNormal

Definition at line 34 of file btSolverConstraint.h.

btVector3 btSolverConstraint::m_relpos2CrossNormal

Definition at line 37 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_rhs

Definition at line 48 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_rhsPenetration

Definition at line 53 of file btSolverConstraint.h.

int btSolverConstraint::m_solverBodyIdA

Definition at line 63 of file btSolverConstraint.h.

int btSolverConstraint::m_solverBodyIdB

Definition at line 64 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_unusedPadding4

Definition at line 57 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_upperLimit

Definition at line 52 of file btSolverConstraint.h.

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The documentation for this struct was generated from the following file:

• btSolverConstraint.h