17#ifndef BT_MLCP_SOLVER_H
18#define BT_MLCP_SOLVER_H
btConstraintSolverType
btConstraintSolver provides solver interface
const T & btMax(const T &a, const T &b)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
btCollisionObject can be used to manage collision detection objects.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
original version written by Erwin Coumans, October 2013
original version written by Erwin Coumans, October 2013
btMatrixXu m_scratchJTranspose
btAlignedObjectArray< int > m_limitDependencies
virtual void createMLCP(const btContactSolverInfo &infoGlobal)
btMatrixXu m_scratchJ3
The following scratch variables are not stateful – contents are cleared prior to each use.
virtual bool solveMLCP(const btContactSolverInfo &infoGlobal)
btVectorXu m_bSplit
when using 'split impulse' we solve two separate (M)LCPs
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
btAlignedObjectArray< int > m_scratchOfs
btMatrixXu m_scratchJInvM3
virtual void createMLCPFast(const btContactSolverInfo &infoGlobal)
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
int getNumFallbacks() const
btAlignedObjectArray< btSolverConstraint * > m_allConstraintPtrArray
btMLCPSolverInterface * m_solver
void setNumFallbacks(int num)
virtual btConstraintSolverType getSolverType() const
void setMLCPSolver(btMLCPSolverInterface *solver)
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
TypedConstraint is the baseclass for Bullet constraints and vehicles.