The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. More...

#include <btSequentialImpulseConstraintSolver.h>

Inheritance diagram for btSequentialImpulseConstraintSolver:

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Collaboration diagram for btSequentialImpulseConstraintSolver:

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Public Member Functions
	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

Public Attributes
btSolverAnalyticsData	m_analyticsData

Protected Member Functions
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)

Static Protected Member Functions
static void	applyAnisotropicFriction (btCollisionObject *colObj, btVector3 &frictionDirection, int frictionMode)

Protected Attributes
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

The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.

Definition at line 50 of file btSequentialImpulseConstraintSolver.h.

Constructor & Destructor Documentation

◆ btSequentialImpulseConstraintSolver()

btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver ( )

Definition at line 353 of file btSequentialImpulseConstraintSolver.cpp.

◆ ~btSequentialImpulseConstraintSolver()

btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver ( )

virtual

Definition at line 385 of file btSequentialImpulseConstraintSolver.cpp.

Member Function Documentation

◆ addFrictionConstraint()

btSolverConstraint & btSequentialImpulseConstraintSolver::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.`
	)

protected

Definition at line 610 of file btSequentialImpulseConstraintSolver.cpp.

◆ addTorsionalFrictionConstraint()

btSolverConstraint & btSequentialImpulseConstraintSolver::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`
	)

protected

Definition at line 682 of file btSequentialImpulseConstraintSolver.cpp.

◆ applyAnisotropicFriction()

void btSequentialImpulseConstraintSolver::applyAnisotropicFriction	(	btCollisionObject *	colObj,
		btVector3 &	frictionDirection,
		int	frictionMode
	)

staticprotected

Definition at line 504 of file btSequentialImpulseConstraintSolver.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btSequentialImpulseConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ btRand2()

unsigned long btSequentialImpulseConstraintSolver::btRand2 ( )

Definition at line 420 of file btSequentialImpulseConstraintSolver.cpp.

◆ btRandInt2()

int btSequentialImpulseConstraintSolver::btRandInt2 ( int n )

Definition at line 427 of file btSequentialImpulseConstraintSolver.cpp.

◆ convertBodies()

void btSequentialImpulseConstraintSolver::convertBodies	(	btCollisionObject **	bodies,
		int	numBodies,
		const btContactSolverInfo &	infoGlobal
	)

protectedvirtual

Reimplemented in btSequentialImpulseConstraintSolverMt.

Definition at line 1358 of file btSequentialImpulseConstraintSolver.cpp.

◆ convertContact()

void btSequentialImpulseConstraintSolver::convertContact	(	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 very frame based on the relative linear velocity. If the relative velocity it 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 use contactPoint.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED 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 999 of file btSequentialImpulseConstraintSolver.cpp.

◆ convertContacts()

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

protectedvirtual

Reimplemented in btMultiBodyConstraintSolver, and btSequentialImpulseConstraintSolverMt.

Definition at line 1149 of file btSequentialImpulseConstraintSolver.cpp.

◆ convertJoint()

void btSequentialImpulseConstraintSolver::convertJoint	(	btSolverConstraint *	currentConstraintRow,
		btTypedConstraint *	constraint,
		const btTypedConstraint::btConstraintInfo1 &	info1,
		int	solverBodyIdA,
		int	solverBodyIdB,
		const btContactSolverInfo &	infoGlobal
	)

protected

the size of btSolverConstraint needs be a multiple of btScalar

finalize the constraint setup

Definition at line 1162 of file btSequentialImpulseConstraintSolver.cpp.

◆ convertJoints()

void btSequentialImpulseConstraintSolver::convertJoints	(	btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal
	)

protectedvirtual

setup the btSolverConstraints

Reimplemented in btSequentialImpulseConstraintSolverMt.

Definition at line 1294 of file btSequentialImpulseConstraintSolver.cpp.

◆ getActiveConstraintRowSolverGeneric()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverGeneric ( )

inline

Definition at line 184 of file btSequentialImpulseConstraintSolver.h.

◆ getActiveConstraintRowSolverLowerLimit()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverLowerLimit ( )

inline

Definition at line 192 of file btSequentialImpulseConstraintSolver.h.

◆ getOrInitSolverBody()

int btSequentialImpulseConstraintSolver::getOrInitSolverBody	(	btCollisionObject &	body,
		btScalar	timeStep
	)

protected

Definition at line 691 of file btSequentialImpulseConstraintSolver.cpp.

◆ getRandSeed()

unsigned long btSequentialImpulseConstraintSolver::getRandSeed ( ) const

inline

Definition at line 174 of file btSequentialImpulseConstraintSolver.h.

◆ getScalarConstraintRowSolverGeneric()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverGeneric ( )

Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4.

Definition at line 389 of file btSequentialImpulseConstraintSolver.cpp.

◆ getScalarConstraintRowSolverLowerLimit()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverLowerLimit ( )

Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4.

Definition at line 394 of file btSequentialImpulseConstraintSolver.cpp.

◆ getSolverType()

virtual btConstraintSolverType btSequentialImpulseConstraintSolver::getSolverType ( ) const

inlinevirtual

Implements btConstraintSolver.

Reimplemented in btNNCGConstraintSolver, btMultiBodyMLCPConstraintSolver, and btMLCPSolver.

Definition at line 179 of file btSequentialImpulseConstraintSolver.h.

◆ getSSE2ConstraintRowSolverGeneric()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric ( )

◆ getSSE2ConstraintRowSolverLowerLimit()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit ( )

◆ getSSE4_1ConstraintRowSolverGeneric()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric ( )

◆ getSSE4_1ConstraintRowSolverLowerLimit()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit ( )

◆ initSolverBody()

void btSequentialImpulseConstraintSolver::initSolverBody	(	btSolverBody *	solverBody,
		btCollisionObject *	collisionObject,
		btScalar	timeStep
	)

protected

Definition at line 459 of file btSequentialImpulseConstraintSolver.cpp.

◆ reset()

void btSequentialImpulseConstraintSolver::reset ( )

virtual

clear internal cached data and reset random seed

Implements btConstraintSolver.

Definition at line 1872 of file btSequentialImpulseConstraintSolver.cpp.

◆ resolveSingleConstraintRowGeneric()

btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGeneric	(	btSolverBody &	bodyA,
		btSolverBody &	bodyB,
		const btSolverConstraint &	contactConstraint
	)

protected

Definition at line 269 of file btSequentialImpulseConstraintSolver.cpp.

◆ resolveSingleConstraintRowGenericSIMD()

btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowGenericSIMD	(	btSolverBody &	bodyA,
		btSolverBody &	bodyB,
		const btSolverConstraint &	contactConstraint
	)

protected

Definition at line 263 of file btSequentialImpulseConstraintSolver.cpp.

◆ resolveSingleConstraintRowLowerLimit()

btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimit	(	btSolverBody &	bodyA,
		btSolverBody &	bodyB,
		const btSolverConstraint &	contactConstraint
	)

protected

Definition at line 279 of file btSequentialImpulseConstraintSolver.cpp.

◆ resolveSingleConstraintRowLowerLimitSIMD()

btScalar btSequentialImpulseConstraintSolver::resolveSingleConstraintRowLowerLimitSIMD	(	btSolverBody &	bodyA,
		btSolverBody &	bodyB,
		const btSolverConstraint &	contactConstraint
	)

protected

Definition at line 274 of file btSequentialImpulseConstraintSolver.cpp.

◆ resolveSplitPenetrationImpulse()

btScalar btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulse	(	btSolverBody &	bodyA,
		btSolverBody &	bodyB,
		const btSolverConstraint &	contactConstraint
	)

inlineprotected

Definition at line 139 of file btSequentialImpulseConstraintSolver.h.

◆ resolveSplitPenetrationImpulseCacheFriendly()

btScalar btSequentialImpulseConstraintSolver::resolveSplitPenetrationImpulseCacheFriendly	(	btSolverBody &	bodyA,
		btSolverBody &	bodyB,
		const btSolverConstraint &	contactConstraint
	)

inlineprotected

Definition at line 126 of file btSequentialImpulseConstraintSolver.h.

◆ resolveSplitPenetrationSIMD()

btScalar btSequentialImpulseConstraintSolver::resolveSplitPenetrationSIMD	(	btSolverBody &	bodyA,
		btSolverBody &	bodyB,
		const btSolverConstraint &	contactConstraint
	)

inlineprotected

Definition at line 121 of file btSequentialImpulseConstraintSolver.h.

◆ restitutionCurve()

btScalar btSequentialImpulseConstraintSolver::restitutionCurve	(	btScalar	rel_vel,
		btScalar	restitution,
		btScalar	velocityThreshold
	)

protected

Definition at line 494 of file btSequentialImpulseConstraintSolver.cpp.

◆ setConstraintRowSolverGeneric()

void btSequentialImpulseConstraintSolver::setConstraintRowSolverGeneric ( btSingleConstraintRowSolver rowSolver )

inline

Definition at line 188 of file btSequentialImpulseConstraintSolver.h.

◆ setConstraintRowSolverLowerLimit()

void btSequentialImpulseConstraintSolver::setConstraintRowSolverLowerLimit ( btSingleConstraintRowSolver rowSolver )

inline

Definition at line 196 of file btSequentialImpulseConstraintSolver.h.

◆ setFrictionConstraintImpulse()

void btSequentialImpulseConstraintSolver::setFrictionConstraintImpulse	(	btSolverConstraint &	solverConstraint,
		int	solverBodyIdA,
		int	solverBodyIdB,
		btManifoldPoint &	cp,
		const btContactSolverInfo &	infoGlobal
	)

protected

Definition at line 981 of file btSequentialImpulseConstraintSolver.cpp.

◆ setRandSeed()

void btSequentialImpulseConstraintSolver::setRandSeed ( unsigned long seed )

inline

Definition at line 170 of file btSequentialImpulseConstraintSolver.h.

◆ setupContactConstraint()

void btSequentialImpulseConstraintSolver::setupContactConstraint	(	btSolverConstraint &	solverConstraint,
		int	solverBodyIdA,
		int	solverBodyIdB,
		btManifoldPoint &	cp,
		const btContactSolverInfo &	infoGlobal,
		btScalar &	relaxation,
		const btVector3 &	rel_pos1,
		const btVector3 &	rel_pos2
	)

protected

warm starting (or zero if disabled)

Definition at line 796 of file btSequentialImpulseConstraintSolver.cpp.

◆ setupFrictionConstraint()

void btSequentialImpulseConstraintSolver::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.`
	)

protected

Definition at line 518 of file btSequentialImpulseConstraintSolver.cpp.

◆ setupSolverFunctions()

void btSequentialImpulseConstraintSolver::setupSolverFunctions ( bool useSimd )

protected

Definition at line 360 of file btSequentialImpulseConstraintSolver.cpp.

◆ setupTorsionalFrictionConstraint()

void btSequentialImpulseConstraintSolver::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.`
	)

protected

Definition at line 619 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveGroup()

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

virtual

btSequentialImpulseConstraintSolver Sequentially applies impulses

Implements btConstraintSolver.

Reimplemented in btMultiBodyConstraintSolver.

Definition at line 1858 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveGroupCacheFriendlyFinish()

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

protectedvirtual

Reimplemented in btNNCGConstraintSolver, btMultiBodyConstraintSolver, and btSequentialImpulseConstraintSolverMt.

Definition at line 1836 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveGroupCacheFriendlyIterations()

btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations	(	btCollisionObject **	bodies,
		int	numBodies,
		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)

Reimplemented in btMultiBodyMLCPConstraintSolver, and btMLCPSolver.

Definition at line 1730 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveGroupCacheFriendlySetup()

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

protectedvirtual

Reimplemented in btNNCGConstraintSolver, btMultiBodyConstraintSolver, btMLCPSolver, btSequentialImpulseConstraintSolverMt, and btMultiBodyMLCPConstraintSolver.

Definition at line 1403 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveGroupCacheFriendlySplitImpulseIterations()

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

protectedvirtual

Reimplemented in btSequentialImpulseConstraintSolverMt.

Definition at line 1697 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveSingleIteration()

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

protectedvirtual

solve all joint constraints

solve all contact constraints

solve all friction constraints

Reimplemented in btNNCGConstraintSolver, btMultiBodyConstraintSolver, and btSequentialImpulseConstraintSolverMt.

Definition at line 1526 of file btSequentialImpulseConstraintSolver.cpp.

◆ writeBackBodies()

void btSequentialImpulseConstraintSolver::writeBackBodies	(	int	iBegin,
		int	iEnd,
		const btContactSolverInfo &	infoGlobal
	)

protected

Definition at line 1808 of file btSequentialImpulseConstraintSolver.cpp.

◆ writeBackContacts()

void btSequentialImpulseConstraintSolver::writeBackContacts	(	int	iBegin,
		int	iEnd,
		const btContactSolverInfo &	infoGlobal
	)

protected

Definition at line 1765 of file btSequentialImpulseConstraintSolver.cpp.

◆ writeBackJoints()

void btSequentialImpulseConstraintSolver::writeBackJoints	(	int	iBegin,
		int	iEnd,
		const btContactSolverInfo &	infoGlobal
	)

protected

Definition at line 1785 of file btSequentialImpulseConstraintSolver.cpp.

Member Data Documentation

◆ m_analyticsData

btSolverAnalyticsData btSequentialImpulseConstraintSolver::m_analyticsData

Definition at line 212 of file btSequentialImpulseConstraintSolver.h.

◆ m_btSeed2

unsigned long btSequentialImpulseConstraintSolver::m_btSeed2

protected

m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction

Definition at line 108 of file btSequentialImpulseConstraintSolver.h.

◆ m_cachedSolverMode

int btSequentialImpulseConstraintSolver::m_cachedSolverMode

protected

Definition at line 80 of file btSequentialImpulseConstraintSolver.h.

◆ m_fixedBodyId

int btSequentialImpulseConstraintSolver::m_fixedBodyId

protected

Definition at line 67 of file btSequentialImpulseConstraintSolver.h.

◆ m_kinematicBodyUniqueIdToSolverBodyTable

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_kinematicBodyUniqueIdToSolverBodyTable

protected

Definition at line 75 of file btSequentialImpulseConstraintSolver.h.

◆ m_leastSquaresResidual

btScalar btSequentialImpulseConstraintSolver::m_leastSquaresResidual

protected

Definition at line 83 of file btSequentialImpulseConstraintSolver.h.

◆ m_maxOverrideNumSolverIterations

int btSequentialImpulseConstraintSolver::m_maxOverrideNumSolverIterations

protected

Definition at line 66 of file btSequentialImpulseConstraintSolver.h.

◆ m_orderFrictionConstraintPool

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderFrictionConstraintPool

protected

Definition at line 64 of file btSequentialImpulseConstraintSolver.h.

◆ m_orderNonContactConstraintPool

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderNonContactConstraintPool

protected

Definition at line 63 of file btSequentialImpulseConstraintSolver.h.

◆ m_orderTmpConstraintPool

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderTmpConstraintPool

protected

Definition at line 62 of file btSequentialImpulseConstraintSolver.h.

◆ m_resolveSingleConstraintRowGeneric

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowGeneric

protected

Definition at line 77 of file btSequentialImpulseConstraintSolver.h.

◆ m_resolveSingleConstraintRowLowerLimit

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowLowerLimit

protected

Definition at line 78 of file btSequentialImpulseConstraintSolver.h.

◆ m_resolveSplitPenetrationImpulse

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSplitPenetrationImpulse

protected

Definition at line 79 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpConstraintSizesPool

btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> btSequentialImpulseConstraintSolver::m_tmpConstraintSizesPool

protected

Definition at line 65 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpSolverBodyPool

btAlignedObjectArray<btSolverBody> btSequentialImpulseConstraintSolver::m_tmpSolverBodyPool

protected

Definition at line 56 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpSolverContactConstraintPool

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactConstraintPool

protected

Definition at line 57 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpSolverContactFrictionConstraintPool

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactFrictionConstraintPool

protected

Definition at line 59 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpSolverContactRollingFrictionConstraintPool

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactRollingFrictionConstraintPool

protected

Definition at line 60 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpSolverNonContactConstraintPool

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverNonContactConstraintPool

protected

Definition at line 58 of file btSequentialImpulseConstraintSolver.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ btSequentialImpulseConstraintSolver()

◆ ~btSequentialImpulseConstraintSolver()

Member Function Documentation

◆ addFrictionConstraint()

◆ addTorsionalFrictionConstraint()

◆ applyAnisotropicFriction()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ btRand2()

◆ btRandInt2()

◆ convertBodies()

◆ convertContact()

◆ convertContacts()

◆ convertJoint()

◆ convertJoints()

◆ getActiveConstraintRowSolverGeneric()

◆ getActiveConstraintRowSolverLowerLimit()

◆ getOrInitSolverBody()

◆ getRandSeed()

◆ getScalarConstraintRowSolverGeneric()

◆ getScalarConstraintRowSolverLowerLimit()

◆ getSolverType()

◆ getSSE2ConstraintRowSolverGeneric()

◆ getSSE2ConstraintRowSolverLowerLimit()

◆ getSSE4_1ConstraintRowSolverGeneric()

◆ getSSE4_1ConstraintRowSolverLowerLimit()

◆ initSolverBody()

◆ reset()

◆ resolveSingleConstraintRowGeneric()

◆ resolveSingleConstraintRowGenericSIMD()

◆ resolveSingleConstraintRowLowerLimit()

◆ resolveSingleConstraintRowLowerLimitSIMD()

◆ resolveSplitPenetrationImpulse()

◆ resolveSplitPenetrationImpulseCacheFriendly()

◆ resolveSplitPenetrationSIMD()

◆ restitutionCurve()

◆ setConstraintRowSolverGeneric()

◆ setConstraintRowSolverLowerLimit()

◆ setFrictionConstraintImpulse()

◆ setRandSeed()

◆ setupContactConstraint()

◆ setupFrictionConstraint()

◆ setupSolverFunctions()

◆ setupTorsionalFrictionConstraint()

◆ solveGroup()

◆ solveGroupCacheFriendlyFinish()

◆ solveGroupCacheFriendlyIterations()

◆ solveGroupCacheFriendlySetup()

◆ solveGroupCacheFriendlySplitImpulseIterations()

◆ solveSingleIteration()

◆ writeBackBodies()

◆ writeBackContacts()

◆ writeBackJoints()

Member Data Documentation

◆ m_analyticsData

◆ m_btSeed2

◆ m_cachedSolverMode

◆ m_fixedBodyId

◆ m_kinematicBodyUniqueIdToSolverBodyTable

◆ m_leastSquaresResidual

◆ m_maxOverrideNumSolverIterations

◆ m_orderFrictionConstraintPool

◆ m_orderNonContactConstraintPool

◆ m_orderTmpConstraintPool

◆ m_resolveSingleConstraintRowGeneric

◆ m_resolveSingleConstraintRowLowerLimit

◆ m_resolveSplitPenetrationImpulse

◆ m_tmpConstraintSizesPool

◆ m_tmpSolverBodyPool

◆ m_tmpSolverContactConstraintPool

◆ m_tmpSolverContactFrictionConstraintPool

◆ m_tmpSolverContactRollingFrictionConstraintPool

◆ m_tmpSolverNonContactConstraintPool