#include <btMultiBodyMLCPConstraintSolver.h>

Inheritance diagram for btMultiBodyMLCPConstraintSolver:

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Collaboration diagram for btMultiBodyMLCPConstraintSolver:

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Public Member Functions
	btMultiBodyMLCPConstraintSolver (btMLCPSolverInterface *solver)
	Constructor.

virtual	~btMultiBodyMLCPConstraintSolver ()
	Destructor.

void	setMLCPSolver (btMLCPSolverInterface *solver)
	Sets MLCP solver. Assumed it's not null.

int	getNumFallbacks () const
	Returns the number of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver fails.

void	setNumFallbacks (int num)
	Sets the number of fallbacks. This function may be used to reset the number to zero.

virtual btConstraintSolverType	getSolverType () const
	Returns the constraint solver type.

Public Member Functions inherited from btMultiBodyConstraintSolver
	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

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
virtual void	createMLCPFast (const btContactSolverInfo &infoGlobal)
	Constructs MLCP terms, which are `m_A`, `m_b`, `m_lo`, and `m_hi`.

void	createMLCPFastRigidBody (const btContactSolverInfo &infoGlobal)
	Constructs MLCP terms for constraints of two rigid bodies.

void	createMLCPFastMultiBody (const btContactSolverInfo &infoGlobal)
	Constructs MLCP terms for constraints of two multi-bodies or one rigid body and one multibody.

virtual bool	solveMLCP (const btContactSolverInfo &infoGlobal)
	Solves MLCP and returns the success.

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

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

Protected Member Functions inherited from btMultiBodyConstraintSolver
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	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)

Protected Attributes
btAlignedObjectArray< int >	m_limitDependencies
	Indices of normal contact constraint associated with frictional contact constraint for rigid bodies.

btAlignedObjectArray< int >	m_multiBodyLimitDependencies
	Indices of normal contact constraint associated with frictional contact constraint for multibodies.

btAlignedObjectArray< btSolverConstraint * >	m_allConstraintPtrArray
	Array of all the rigid body constraints.

btAlignedObjectArray< btMultiBodySolverConstraint * >	m_multiBodyAllConstraintPtrArray
	Array of all the multibody constraints.

btMLCPSolverInterface *	m_solver
	MLCP solver.

int	m_fallback
	Count of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver fails.

MLCP Formulation for Rigid Bodies
btMatrixXu	m_A
	A matrix in the MLCP formulation.

btVectorXu	m_b
	b vector in the MLCP formulation.

btVectorXu	m_x
	Constraint impulse, which is an output of MLCP solving.

btVectorXu	m_lo
	Lower bound of constraint impulse, `m_x`.

btVectorXu	m_hi
	Upper bound of constraint impulse, `m_x`.

Cache Variables for Split Impulse for Rigid Bodies
When using 'split impulse' we solve two separate (M)LCPs
btVectorXu	m_bSplit
	Split impulse Cache vector corresponding to `m_b`.

btVectorXu	m_xSplit
	Split impulse cache vector corresponding to `m_x`.

MLCP Formulation for Multibodies
btMatrixXu	m_multiBodyA
	A matrix in the MLCP formulation.

btVectorXu	m_multiBodyB
	b vector in the MLCP formulation.

btVectorXu	m_multiBodyX
	Constraint impulse, which is an output of MLCP solving.

btVectorXu	m_multiBodyLo
	Lower bound of constraint impulse, `m_x`.

btVectorXu	m_multiBodyHi
	Upper bound of constraint impulse, `m_x`.

MLCP Scratch Variables
The following scratch variables are not stateful – contents are cleared prior to each use. They are only cached here to avoid extra memory allocations and deallocations and to ensure that multiple instances of the solver can be run in parallel.
btMatrixXu	m_scratchJ3
	Cache variable for constraint Jacobian matrix.

btMatrixXu	m_scratchJInvM3
	Cache variable for constraint Jacobian times inverse mass matrix.

btAlignedObjectArray< int >	m_scratchOfs
	Cache variable for offsets.

Protected Attributes inherited from btMultiBodyConstraintSolver
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 26 of file btMultiBodyMLCPConstraintSolver.h.

Constructor & Destructor Documentation

◆ btMultiBodyMLCPConstraintSolver()

btMultiBodyMLCPConstraintSolver::btMultiBodyMLCPConstraintSolver ( btMLCPSolverInterface * solver )

explicit

Constructor.

Parameters

[in]	solver	MLCP solver. Assumed it's not null.
[in]	maxLCPSize	Maximum size of LCP to solve using MLCP solver. If the MLCP size exceeds this number, sequaltial impulse method will be used.

Definition at line 937 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ ~btMultiBodyMLCPConstraintSolver()

btMultiBodyMLCPConstraintSolver::~btMultiBodyMLCPConstraintSolver ( )

virtual

Destructor.

Definition at line 943 of file btMultiBodyMLCPConstraintSolver.cpp.

Member Function Documentation

◆ createMLCPFast()

void btMultiBodyMLCPConstraintSolver::createMLCPFast ( const btContactSolverInfo & infoGlobal )

protectedvirtual

Constructs MLCP terms, which are m_A, m_b, m_lo, and m_hi.

Definition at line 236 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ createMLCPFastMultiBody()

void btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody ( const btContactSolverInfo & infoGlobal )

protected

Constructs MLCP terms for constraints of two multi-bodies or one rigid body and one multibody.

Definition at line 556 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ createMLCPFastRigidBody()

void btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody ( const btContactSolverInfo & infoGlobal )

protected

Constructs MLCP terms for constraints of two rigid bodies.

fill the upper triangle of the matrix, to make it symmetric

Definition at line 242 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ getNumFallbacks()

int btMultiBodyMLCPConstraintSolver::getNumFallbacks ( ) const

Returns the number of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver fails.

Definition at line 953 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ getSolverType()

btConstraintSolverType btMultiBodyMLCPConstraintSolver::getSolverType ( ) const

virtual

Returns the constraint solver type.

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 963 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ setMLCPSolver()

void btMultiBodyMLCPConstraintSolver::setMLCPSolver ( btMLCPSolverInterface * solver )

Sets MLCP solver. Assumed it's not null.

Definition at line 948 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ setNumFallbacks()

void btMultiBodyMLCPConstraintSolver::setNumFallbacks ( int num )

Sets the number of fallbacks. This function may be used to reset the number to zero.

Definition at line 958 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ solveGroupCacheFriendlyIterations()

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

protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 846 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ solveGroupCacheFriendlySetup()

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

protectedvirtual

Reimplemented from btMultiBodyConstraintSolver.

Definition at line 691 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ solveMLCP()

bool btMultiBodyMLCPConstraintSolver::solveMLCP ( const btContactSolverInfo & infoGlobal )

protectedvirtual

Solves MLCP and returns the success.

Definition at line 657 of file btMultiBodyMLCPConstraintSolver.cpp.

Member Data Documentation

◆ m_A

btMatrixXu btMultiBodyMLCPConstraintSolver::m_A

protected

A matrix in the MLCP formulation.

Definition at line 33 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_allConstraintPtrArray

btAlignedObjectArray<btSolverConstraint*> btMultiBodyMLCPConstraintSolver::m_allConstraintPtrArray

protected

Array of all the rigid body constraints.

Definition at line 98 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_b

btVectorXu btMultiBodyMLCPConstraintSolver::m_b

protected

b vector in the MLCP formulation.

Definition at line 36 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_bSplit

btVectorXu btMultiBodyMLCPConstraintSolver::m_bSplit

protected

Split impulse Cache vector corresponding to m_b.

Definition at line 54 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_fallback

int btMultiBodyMLCPConstraintSolver::m_fallback

protected

Count of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver fails.

Definition at line 107 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_hi

btVectorXu btMultiBodyMLCPConstraintSolver::m_hi

protected

Upper bound of constraint impulse, m_x.

Definition at line 45 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_limitDependencies

btAlignedObjectArray<int> btMultiBodyMLCPConstraintSolver::m_limitDependencies

protected

Indices of normal contact constraint associated with frictional contact constraint for rigid bodies.

This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate normal contact impulse. For example, i-th element represents the index of a normal constraint that is accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint. Otherwise, -1.

Definition at line 87 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_lo

btVectorXu btMultiBodyMLCPConstraintSolver::m_lo

protected

Lower bound of constraint impulse, m_x.

Definition at line 42 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_multiBodyA

btMatrixXu btMultiBodyMLCPConstraintSolver::m_multiBodyA

protected

A matrix in the MLCP formulation.

Definition at line 65 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_multiBodyAllConstraintPtrArray

btAlignedObjectArray<btMultiBodySolverConstraint*> btMultiBodyMLCPConstraintSolver::m_multiBodyAllConstraintPtrArray

protected

Array of all the multibody constraints.

Definition at line 101 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_multiBodyB

btVectorXu btMultiBodyMLCPConstraintSolver::m_multiBodyB

protected

b vector in the MLCP formulation.

Definition at line 68 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_multiBodyHi

btVectorXu btMultiBodyMLCPConstraintSolver::m_multiBodyHi

protected

Upper bound of constraint impulse, m_x.

Definition at line 77 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_multiBodyLimitDependencies

btAlignedObjectArray<int> btMultiBodyMLCPConstraintSolver::m_multiBodyLimitDependencies

protected

Indices of normal contact constraint associated with frictional contact constraint for multibodies.

This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate normal contact impulse. For example, i-th element represents the index of a normal constraint that is accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint. Otherwise, -1.

Definition at line 95 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_multiBodyLo

btVectorXu btMultiBodyMLCPConstraintSolver::m_multiBodyLo

protected

Lower bound of constraint impulse, m_x.

Definition at line 74 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_multiBodyX

btVectorXu btMultiBodyMLCPConstraintSolver::m_multiBodyX

protected

Constraint impulse, which is an output of MLCP solving.

Definition at line 71 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_scratchJ3

btMatrixXu btMultiBodyMLCPConstraintSolver::m_scratchJ3

protected

Cache variable for constraint Jacobian matrix.

Definition at line 117 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_scratchJInvM3

btMatrixXu btMultiBodyMLCPConstraintSolver::m_scratchJInvM3

protected

Cache variable for constraint Jacobian times inverse mass matrix.

Definition at line 120 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_scratchOfs

btAlignedObjectArray<int> btMultiBodyMLCPConstraintSolver::m_scratchOfs

protected

Cache variable for offsets.

Definition at line 123 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_solver

btMLCPSolverInterface* btMultiBodyMLCPConstraintSolver::m_solver

protected

MLCP solver.

Definition at line 104 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_x

btVectorXu btMultiBodyMLCPConstraintSolver::m_x

protected

Constraint impulse, which is an output of MLCP solving.

Definition at line 39 of file btMultiBodyMLCPConstraintSolver.h.

◆ m_xSplit

btVectorXu btMultiBodyMLCPConstraintSolver::m_xSplit

protected

Split impulse cache vector corresponding to m_x.

Definition at line 57 of file btMultiBodyMLCPConstraintSolver.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btMultiBodyMLCPConstraintSolver()

◆ ~btMultiBodyMLCPConstraintSolver()

Member Function Documentation

◆ createMLCPFast()

◆ createMLCPFastMultiBody()

◆ createMLCPFastRigidBody()

◆ getNumFallbacks()

◆ getSolverType()

◆ setMLCPSolver()

◆ setNumFallbacks()

◆ solveGroupCacheFriendlyIterations()

◆ solveGroupCacheFriendlySetup()

◆ solveMLCP()

Member Data Documentation

◆ m_A

◆ m_allConstraintPtrArray

◆ m_b

◆ m_bSplit

◆ m_fallback

◆ m_hi

◆ m_limitDependencies

◆ m_lo

◆ m_multiBodyA

◆ m_multiBodyAllConstraintPtrArray

◆ m_multiBodyB

◆ m_multiBodyHi

◆ m_multiBodyLimitDependencies

◆ m_multiBodyLo

◆ m_multiBodyX

◆ m_scratchJ3

◆ m_scratchJInvM3

◆ m_scratchOfs

◆ m_solver

◆ m_x

◆ m_xSplit