btMultiBodyMLCPConstraintSolver.cpp File Reference

#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"

Include dependency graph for btMultiBodyMLCPConstraintSolver.cpp:

Go to the source code of this file.

Classes
struct	btJointNode1

Macros
#define	DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

Functions
static btScalar	computeDeltaVelocityInConstraintSpace (const btVector3 &angularDeltaVelocity, const btVector3 &contactNormal, btScalar invMass, const btVector3 &angularJacobian, const btVector3 &linearJacobian)
static btScalar	computeDeltaVelocityInConstraintSpace (const btVector3 &angularDeltaVelocity, btScalar invMass, const btVector3 &angularJacobian)
static btScalar	computeDeltaVelocityInConstraintSpace (const btScalar *deltaVelocity, const btScalar *jacobian, int size)
static btScalar	computeConstraintMatrixDiagElementMultiBody (const btAlignedObjectArray< btSolverBody > &solverBodyPool, const btMultiBodyJacobianData &data, const btMultiBodySolverConstraint &constraint)
static btScalar	computeConstraintMatrixOffDiagElementMultiBody (const btAlignedObjectArray< btSolverBody > &solverBodyPool, const btMultiBodyJacobianData &data, const btMultiBodySolverConstraint &constraint, const btMultiBodySolverConstraint &offDiagConstraint)

Variables
static bool	interleaveContactAndFriction1 = false

Macro Definition Documentation

DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

Definition at line 23 of file btMultiBodyMLCPConstraintSolver.cpp.

Function Documentation

computeConstraintMatrixDiagElementMultiBody()

static btScalar computeConstraintMatrixDiagElementMultiBody ( const btAlignedObjectArray< btSolverBody > &  solverBodyPool, const btMultiBodyJacobianData &  data, const btMultiBodySolverConstraint &  constraint  )

static

Definition at line 66 of file btMultiBodyMLCPConstraintSolver.cpp.

computeConstraintMatrixOffDiagElementMultiBody()

static btScalar computeConstraintMatrixOffDiagElementMultiBody ( const btAlignedObjectArray< btSolverBody > &  solverBodyPool, const btMultiBodyJacobianData &  data, const btMultiBodySolverConstraint &  constraint, const btMultiBodySolverConstraint &  offDiagConstraint  )

static

Definition at line 117 of file btMultiBodyMLCPConstraintSolver.cpp.

computeDeltaVelocityInConstraintSpace() [1/3]

static btScalar computeDeltaVelocityInConstraintSpace ( const btScalar *  deltaVelocity, const btScalar *  jacobian, int  size  )

static

Definition at line 57 of file btMultiBodyMLCPConstraintSolver.cpp.

computeDeltaVelocityInConstraintSpace() [2/3]

static btScalar computeDeltaVelocityInConstraintSpace ( const btVector3 &  angularDeltaVelocity, btScalar  invMass, const btVector3 &  angularJacobian  )

static

Definition at line 48 of file btMultiBodyMLCPConstraintSolver.cpp.

computeDeltaVelocityInConstraintSpace() [3/3]

static btScalar computeDeltaVelocityInConstraintSpace ( const btVector3 &  angularDeltaVelocity, const btVector3 &  contactNormal, btScalar  invMass, const btVector3 &  angularJacobian, const btVector3 &  linearJacobian  )

static

Definition at line 36 of file btMultiBodyMLCPConstraintSolver.cpp.

Variable Documentation

interleaveContactAndFriction1

bool interleaveContactAndFriction1 = false

static

Definition at line 25 of file btMultiBodyMLCPConstraintSolver.cpp.