#include <btDeformableMultiBodyConstraintSolver.h>

Inheritance diagram for btDeformableMultiBodyConstraintSolver:

[legend]

Collaboration diagram for btDeformableMultiBodyConstraintSolver:

[legend]

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

void	setDeformableSolver (btDeformableBodySolver *deformableSolver)

virtual void	solveDeformableBodyGroup (btCollisionObject bodies, int numBodies, btCollisionObject deformableBodies, int numDeformableBodies, btPersistentManifold manifold, int numManifolds, btTypedConstraint constraints, int numConstraints, btMultiBodyConstraint *multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo &info, btIDebugDraw debugDrawer, btDispatcher *dispatcher)

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) More...

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 btScalar	solveGroup (btCollisionObject bodies, int numBodies, btPersistentManifold manifold, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw debugDrawer, btDispatcher *dispatcher)
	btSequentialImpulseConstraintSolver Sequentially applies impulses More...

virtual void	reset ()
	clear internal cached data and reset random seed More...

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. More...

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. More...

btSingleConstraintRowSolver	getSSE2ConstraintRowSolverLowerLimit ()

btSingleConstraintRowSolver	getSSE4_1ConstraintRowSolverLowerLimit ()

Public Member Functions inherited from btConstraintSolver
virtual	~btConstraintSolver ()

virtual void	prepareSolve (int, int)

virtual btScalar	solveGroup (btCollisionObject bodies, int numBodies, btPersistentManifold manifold, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &info, class btIDebugDraw debugDrawer, btDispatcher *dispatcher)=0
	solve a group of constraints More...

virtual void	allSolved (const btContactSolverInfo &, class btIDebugDraw *)

virtual void	reset ()=0
	clear internal cached data and reset random seed More...

virtual btConstraintSolverType	getSolverType () const =0

Protected Member Functions
void	solverBodyWriteBack (const btContactSolverInfo &infoGlobal)

void	writeToSolverBody (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)

void	pairDeformableAndSolverBody (btCollisionObject **bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo &infoGlobal)

virtual void	solveGroupCacheFriendlySplitImpulseIterations (btCollisionObject bodies, int numBodies, btCollisionObject deformableBodies, int numDeformableBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)

virtual btScalar	solveDeformableGroupIterations (btCollisionObject bodies, int numBodies, btCollisionObject deformableBodies, int numDeformableBodies, 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	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)

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

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	solveGroupCacheFriendlyFinish (btCollisionObject **bodies, int numBodies, 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)

virtual btScalar	solveGroupCacheFriendlySetup (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)

Private Attributes
btDeformableBodySolver *	m_deformableSolver

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)

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 More...

Detailed Description

Definition at line 31 of file btDeformableMultiBodyConstraintSolver.h.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btDeformableMultiBodyConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ pairDeformableAndSolverBody()

void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody	(	btCollisionObject **	bodies,
		int	numBodies,
		int	numDeformableBodies,
		const btContactSolverInfo &	infoGlobal
	)

protected

Definition at line 133 of file btDeformableMultiBodyConstraintSolver.cpp.

◆ setDeformableSolver()

void btDeformableMultiBodyConstraintSolver::setDeformableSolver ( btDeformableBodySolver * deformableSolver )

inline

Definition at line 56 of file btDeformableMultiBodyConstraintSolver.h.

◆ solveDeformableBodyGroup()

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

virtual

Definition at line 73 of file btDeformableMultiBodyConstraintSolver.cpp.

◆ solveDeformableGroupIterations()

btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations	(	btCollisionObject **	bodies,
		int	numBodies,
		btCollisionObject **	deformableBodies,
		int	numDeformableBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer
	)

protectedvirtual

this is a special step to resolve penetrations (just for contacts)

Definition at line 21 of file btDeformableMultiBodyConstraintSolver.cpp.

◆ solveGroupCacheFriendlySplitImpulseIterations()

void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations	(	btCollisionObject **	bodies,
		int	numBodies,
		btCollisionObject **	deformableBodies,
		int	numDeformableBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer
	)

protectedvirtual

Definition at line 179 of file btDeformableMultiBodyConstraintSolver.cpp.

◆ solverBodyWriteBack()

void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack ( const btContactSolverInfo & infoGlobal )

protected

Definition at line 113 of file btDeformableMultiBodyConstraintSolver.cpp.

◆ writeToSolverBody()

void btDeformableMultiBodyConstraintSolver::writeToSolverBody	(	btCollisionObject **	bodies,
		int	numBodies,
		const btContactSolverInfo &	infoGlobal
	)

protected

Definition at line 91 of file btDeformableMultiBodyConstraintSolver.cpp.

Member Data Documentation

◆ m_deformableSolver

btDeformableBodySolver* btDeformableMultiBodyConstraintSolver::m_deformableSolver

private

Definition at line 34 of file btDeformableMultiBodyConstraintSolver.h.

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

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ pairDeformableAndSolverBody()

◆ setDeformableSolver()

◆ solveDeformableBodyGroup()

◆ solveDeformableGroupIterations()

◆ solveGroupCacheFriendlySplitImpulseIterations()

◆ solverBodyWriteBack()

◆ writeToSolverBody()

Member Data Documentation

◆ m_deformableSolver