btMultiBodyConstraintSolver Class Reference

#include <btMultiBodyConstraintSolver.h>

Inheritance diagram for btMultiBodyConstraintSolver:

Collaboration diagram for btMultiBodyConstraintSolver:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
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 btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
virtual btScalar	solveGroupCacheFriendlyFinish (btCollisionObject **bodies, int numBodies, 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)
Public Member Functions inherited from btSequentialImpulseConstraintSolver
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btSequentialImpulseConstraintSolver ()
virtual	~btSequentialImpulseConstraintSolver ()
virtual void	reset ()
	clear internal cached data and reset random seed
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.
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.
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
btScalar	resolveSingleConstraintRowGeneric (const btMultiBodySolverConstraint &c)
btScalar	resolveConeFrictionConstraintRows (const btMultiBodySolverConstraint &cA1, const btMultiBodySolverConstraint &cB)
void	convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
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)
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	setupMultiBodyJointLimitConstraint (btMultiBodySolverConstraint &constraintRow, btScalar *jacA, btScalar *jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, const btContactSolverInfo &infoGlobal)
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)
void	setupMultiBodyTorsionalFrictionConstraint (btMultiBodySolverConstraint &solverConstraint, const btVector3 &contactNormal, btManifoldPoint &cp, btScalar combinedTorsionalFriction, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)
void	convertMultiBodyContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
virtual btScalar	solveGroupCacheFriendlySetup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
virtual btScalar	solveSingleIteration (int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
void	applyDeltaVee (btScalar *deltaV, btScalar impulse, int velocityIndex, int ndof)
void	writeBackSolverBodyToMultiBody (btMultiBodySolverConstraint &constraint, btScalar deltaTime)
Protected Member Functions inherited from btSequentialImpulseConstraintSolver
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)
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	solveGroupCacheFriendlyIterations (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)

Protected Attributes
btMultiBodyConstraintArray	m_multiBodyNonContactConstraints
btMultiBodyConstraintArray	m_multiBodyNormalContactConstraints
btMultiBodyConstraintArray	m_multiBodyFrictionContactConstraints
btMultiBodyConstraintArray	m_multiBodyTorsionalFrictionContactConstraints
btMultiBodyConstraintArray	m_multiBodySpinningFrictionContactConstraints
btMultiBodyJacobianData	m_data
btMultiBodyConstraint **	m_tmpMultiBodyConstraints
int	m_tmpNumMultiBodyConstraints
Protected Attributes inherited from btSequentialImpulseConstraintSolver
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

Additional Inherited Members
Public Attributes inherited from btSequentialImpulseConstraintSolver
btSolverAnalyticsData	m_analyticsData
Static Protected Member Functions inherited from btSequentialImpulseConstraintSolver
static void	applyAnisotropicFriction (btCollisionObject *colObj, btVector3 &frictionDirection, int frictionMode)

Detailed Description

Definition at line 28 of file btMultiBodyConstraintSolver.h.

Member Function Documentation

addMultiBodyFrictionConstraint()

btMultiBodySolverConstraint & btMultiBodyConstraintSolver::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  )

protected

Definition at line 1142 of file btMultiBodyConstraintSolver.cpp.

addMultiBodySpinningFrictionConstraint()

btMultiBodySolverConstraint & btMultiBodyConstraintSolver::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  )

protected

Definition at line 1217 of file btMultiBodyConstraintSolver.cpp.

addMultiBodyTorsionalFrictionConstraint()

btMultiBodySolverConstraint & btMultiBodyConstraintSolver::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  )

protected

Definition at line 1177 of file btMultiBodyConstraintSolver.cpp.

applyDeltaVee()

void btMultiBodyConstraintSolver::applyDeltaVee ( btScalar *  deltaV, btScalar  impulse, int  velocityIndex, int  ndof  )

protected

Definition at line 229 of file btMultiBodyConstraintSolver.cpp.

BT_DECLARE_ALIGNED_ALLOCATOR()

btMultiBodyConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

convertContacts()

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

protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 1419 of file btMultiBodyConstraintSolver.cpp.

convertMultiBodyContact()

void btMultiBodyConstraintSolver::convertMultiBodyContact ( 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 every frame based on the relative linear velocity. If the relative velocity is 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 1254 of file btMultiBodyConstraintSolver.cpp.

resolveConeFrictionConstraintRows()

btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows ( const btMultiBodySolverConstraint &  cA1, const btMultiBodySolverConstraint &  cB  )

protected

Definition at line 318 of file btMultiBodyConstraintSolver.cpp.

resolveSingleConstraintRowGeneric()

btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric ( const btMultiBodySolverConstraint &  c )

protected

Definition at line 235 of file btMultiBodyConstraintSolver.cpp.

setupMultiBodyContactConstraint()

void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint ( btMultiBodySolverConstraint &  solverConstraint, const btVector3 &  contactNormal, const btScalar &  appliedImpulse, btManifoldPoint &  cp, const btContactSolverInfo &  infoGlobal, btScalar &  relaxation, bool  isFriction, btScalar  desiredVelocity = 0, btScalar  cfmSlip = 0  )

protected

Definition at line 501 of file btMultiBodyConstraintSolver.cpp.

setupMultiBodyJointLimitConstraint()

void btMultiBodyConstraintSolver::setupMultiBodyJointLimitConstraint ( btMultiBodySolverConstraint &  constraintRow, btScalar *  jacA, btScalar *  jacB, btScalar  penetration, btScalar  combinedFrictionCoeff, btScalar  combinedRestitutionCoeff, const btContactSolverInfo &  infoGlobal  )

protected

setupMultiBodyTorsionalFrictionConstraint()

void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint ( btMultiBodySolverConstraint &  solverConstraint, const btVector3 &  contactNormal, btManifoldPoint &  cp, btScalar  combinedTorsionalFriction, const btContactSolverInfo &  infoGlobal, btScalar &  relaxation, bool  isFriction, btScalar  desiredVelocity = 0, btScalar  cfmSlip = 0  )

protected

Definition at line 888 of file btMultiBodyConstraintSolver.cpp.

solveGroup()

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

virtual

this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 1494 of file btMultiBodyConstraintSolver.cpp.

solveGroupCacheFriendlyFinish()

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

virtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 1588 of file btMultiBodyConstraintSolver.cpp.

solveGroupCacheFriendlySetup()

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

protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Reimplemented in btMultiBodyMLCPConstraintSolver.

Definition at line 203 of file btMultiBodyConstraintSolver.cpp.

solveMultiBodyGroup()

void btMultiBodyConstraintSolver::solveMultiBodyGroup ( btCollisionObject **  bodies, int  numBodies, btPersistentManifold **  manifold, int  numManifolds, btTypedConstraint **  constraints, int  numConstraints, btMultiBodyConstraint **  multiBodyConstraints, int  numMultiBodyConstraints, const btContactSolverInfo &  info, btIDebugDraw *  debugDrawer, btDispatcher *  dispatcher  )

virtual

Definition at line 1740 of file btMultiBodyConstraintSolver.cpp.

solveSingleIteration()

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

protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 28 of file btMultiBodyConstraintSolver.cpp.

writeBackSolverBodyToMultiBody()

void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody ( btMultiBodySolverConstraint &  constraint, btScalar  deltaTime  )

protected

Definition at line 1521 of file btMultiBodyConstraintSolver.cpp.

Member Data Documentation

m_data

btMultiBodyJacobianData btMultiBodyConstraintSolver::m_data

protected

Definition at line 39 of file btMultiBodyConstraintSolver.h.

m_multiBodyFrictionContactConstraints

btMultiBodyConstraintArray btMultiBodyConstraintSolver::m_multiBodyFrictionContactConstraints

protected

Definition at line 35 of file btMultiBodyConstraintSolver.h.

m_multiBodyNonContactConstraints

btMultiBodyConstraintArray btMultiBodyConstraintSolver::m_multiBodyNonContactConstraints

protected

Definition at line 32 of file btMultiBodyConstraintSolver.h.

m_multiBodyNormalContactConstraints

btMultiBodyConstraintArray btMultiBodyConstraintSolver::m_multiBodyNormalContactConstraints

protected

Definition at line 34 of file btMultiBodyConstraintSolver.h.

m_multiBodySpinningFrictionContactConstraints

btMultiBodyConstraintArray btMultiBodyConstraintSolver::m_multiBodySpinningFrictionContactConstraints

protected

Definition at line 37 of file btMultiBodyConstraintSolver.h.

m_multiBodyTorsionalFrictionContactConstraints

btMultiBodyConstraintArray btMultiBodyConstraintSolver::m_multiBodyTorsionalFrictionContactConstraints

protected

Definition at line 36 of file btMultiBodyConstraintSolver.h.

m_tmpMultiBodyConstraints

btMultiBodyConstraint** btMultiBodyConstraintSolver::m_tmpMultiBodyConstraints

protected

Definition at line 42 of file btMultiBodyConstraintSolver.h.

m_tmpNumMultiBodyConstraints

int btMultiBodyConstraintSolver::m_tmpNumMultiBodyConstraints

protected

Definition at line 43 of file btMultiBodyConstraintSolver.h.

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

• btMultiBodyConstraintSolver.h
• btMultiBodyConstraintSolver.cpp