#include <btReducedDeformableContactConstraint.h>

Inheritance diagram for btReducedDeformableRigidContactConstraint:

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Collaboration diagram for btReducedDeformableRigidContactConstraint:

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Public Member Functions
	btReducedDeformableRigidContactConstraint (btReducedDeformableBody *rsb, const btSoftBody::DeformableRigidContact &c, const btContactSolverInfo &infoGlobal, btScalar dt)

	btReducedDeformableRigidContactConstraint ()

virtual	~btReducedDeformableRigidContactConstraint ()

void	setSolverBody (const int bodyId, btSolverBody &solver_body)

virtual void	warmStarting ()

virtual btScalar	solveConstraint (const btContactSolverInfo &infoGlobal)

void	calculateTangentialImpulse (btScalar &deltaImpulse_tangent, btScalar &appliedImpulse, const btScalar rhs_tangent, const btScalar tangentImpulseFactorInv, const btVector3 &tangent, const btScalar lower_limit, const btScalar upper_limit, const btVector3 &deltaV_rel)

virtual void	applyImpulse (const btVector3 &impulse)

virtual void	applySplitImpulse (const btVector3 &impulse)

virtual btVector3	getVa () const

virtual btVector3	getDeltaVa () const =0

virtual btVector3	getDeltaVb () const =0

Public Member Functions inherited from btDeformableRigidContactConstraint
	btDeformableRigidContactConstraint (const btSoftBody::DeformableRigidContact &c, const btContactSolverInfo &infoGlobal)

	btDeformableRigidContactConstraint (const btDeformableRigidContactConstraint &other)

	btDeformableRigidContactConstraint ()

virtual	~btDeformableRigidContactConstraint ()

virtual btVector3	getSplitVb () const =0

virtual btVector3	getSplitVa () const

virtual void	setPenetrationScale (btScalar scale)

btScalar	solveSplitImpulse (const btContactSolverInfo &infoGlobal)

Public Member Functions inherited from btDeformableContactConstraint
	btDeformableContactConstraint (const btVector3 &normal, const btContactSolverInfo &infoGlobal)

	btDeformableContactConstraint (bool isStatic, const btVector3 &normal, const btContactSolverInfo &infoGlobal)

	btDeformableContactConstraint ()

	btDeformableContactConstraint (const btDeformableContactConstraint &other)

virtual	~btDeformableContactConstraint ()

virtual btVector3	getVb () const =0

virtual btVector3	getDv (const btSoftBody::Node *) const =0

Public Attributes
bool	m_collideStatic

bool	m_collideMultibody

int	m_nodeQueryIndex

int	m_solverBodyId

btReducedDeformableBody *	m_rsb

btSolverBody *	m_solverBody

btScalar	m_dt

btScalar	m_appliedNormalImpulse

btScalar	m_appliedTangentImpulse

btScalar	m_appliedTangentImpulse2

btScalar	m_normalImpulseFactor

btScalar	m_tangentImpulseFactor

btScalar	m_tangentImpulseFactor2

btScalar	m_tangentImpulseFactorInv

btScalar	m_tangentImpulseFactorInv2

btScalar	m_rhs

btScalar	m_rhs_tangent

btScalar	m_rhs_tangent2

btScalar	m_cfm

btScalar	m_cfm_friction

btScalar	m_erp

btScalar	m_erp_friction

btScalar	m_friction

btVector3	m_contactNormalA

btVector3	m_contactNormalB

btVector3	m_contactTangent

btVector3	m_contactTangent2

btVector3	m_relPosA

btVector3	m_relPosB

btMatrix3x3	m_impulseFactor

btVector3	m_bufferVelocityA

btVector3	m_bufferVelocityB

btVector3	m_linearComponentNormal

btVector3	m_angularComponentNormal

btVector3	m_linearComponentTangent

btVector3	m_angularComponentTangent

Public Attributes inherited from btDeformableRigidContactConstraint
btVector3	m_total_normal_dv

btVector3	m_total_tangent_dv

btScalar	m_penetration

btScalar	m_total_split_impulse

bool	m_binding

const btSoftBody::DeformableRigidContact *	m_contact

Public Attributes inherited from btDeformableContactConstraint
bool	m_static

const btContactSolverInfo *	m_infoGlobal

btVector3	m_normal

Detailed Description

Definition at line 41 of file btReducedDeformableContactConstraint.h.

Constructor & Destructor Documentation

◆ btReducedDeformableRigidContactConstraint() [1/2]

btReducedDeformableRigidContactConstraint::btReducedDeformableRigidContactConstraint	(	btReducedDeformableBody *	rsb,
		const btSoftBody::DeformableRigidContact &	c,
		const btContactSolverInfo &	infoGlobal,
		btScalar	dt
	)

Definition at line 59 of file btReducedDeformableContactConstraint.cpp.

◆ btReducedDeformableRigidContactConstraint() [2/2]

btReducedDeformableRigidContactConstraint::btReducedDeformableRigidContactConstraint ( )

inline

Definition at line 93 of file btReducedDeformableContactConstraint.h.

◆ ~btReducedDeformableRigidContactConstraint()

virtual btReducedDeformableRigidContactConstraint::~btReducedDeformableRigidContactConstraint ( )

inlinevirtual

Definition at line 94 of file btReducedDeformableContactConstraint.h.

Member Function Documentation

◆ applyImpulse()

virtual void btReducedDeformableRigidContactConstraint::applyImpulse ( const btVector3 & impulse )

inlinevirtual

Implements btDeformableContactConstraint.

Reimplemented in btReducedDeformableNodeRigidContactConstraint, and btReducedDeformableFaceRigidContactConstraint.

Definition at line 111 of file btReducedDeformableContactConstraint.h.

◆ applySplitImpulse()

virtual void btReducedDeformableRigidContactConstraint::applySplitImpulse ( const btVector3 & impulse )

inlinevirtual

Implements btDeformableRigidContactConstraint.

Definition at line 113 of file btReducedDeformableContactConstraint.h.

◆ calculateTangentialImpulse()

void btReducedDeformableRigidContactConstraint::calculateTangentialImpulse	(	btScalar &	deltaImpulse_tangent,
		btScalar &	appliedImpulse,
		const btScalar	rhs_tangent,
		const btScalar	tangentImpulseFactorInv,
		const btVector3 &	tangent,
		const btScalar	lower_limit,
		const btScalar	upper_limit,
		const btVector3 &	deltaV_rel
	)