Blender  V3.3
btMultiBodyMLCPConstraintSolver.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2018 Google Inc. http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
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8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
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11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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15 
16 #ifndef BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
17 #define BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
18 
19 #include "LinearMath/btMatrixX.h"
20 #include "LinearMath/btThreads.h"
22 
24 class btMultiBody;
25 
26 class btMultiBodyMLCPConstraintSolver : public btMultiBodyConstraintSolver
27 {
28 protected:
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128  virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
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137  virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
138 
139  // Documentation inherited
141  btCollisionObject** bodies,
142  int numBodies,
144  int numManifolds,
146  int numConstraints,
148  btIDebugDraw* debugDrawer) BT_OVERRIDE;
149 
150  // Documentation inherited
152  btCollisionObject** bodies,
153  int numBodies,
155  int numManifolds,
157  int numConstraints,
159  btIDebugDraw* debugDrawer) ;
160 
161 public:
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174  void setMLCPSolver(btMLCPSolverInterface* solver);
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178  int getNumFallbacks() const;
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181  void setNumFallbacks(int num);
182 
184  virtual btConstraintSolverType getSolverType() const;
185 };
186 
187 #endif // BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
btCollisionObject
btConstraintSolverType
btConstraintSolver provides solver interface
#define btMatrixXu
Definition: btMatrixX.h:529
#define btVectorXu
Definition: btMatrixX.h:528
btMultiBody
Definition: btMultiBody.h:51
btPersistentManifold()
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint ** constraints
btSequentialImpulseConstraintSolverMt int btPersistentManifold ** manifoldPtr
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo btIDebugDraw *debugDrawer BT_OVERRIDE
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int numConstraints
btSequentialImpulseConstraintSolverMt int numBodies
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo & infoGlobal
btSequentialImpulseConstraintSolverMt int btPersistentManifold int numManifolds
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
original version written by Erwin Coumans, October 2013
btMatrixXu m_scratchJ3
Cache variable for constraint Jacobian matrix.
btAlignedObjectArray< int > m_multiBodyLimitDependencies
btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
btVectorXu m_xSplit
Split impulse cache vector corresponding to m_x.
btVectorXu m_b
b vector in the MLCP formulation.
btAlignedObjectArray< btMultiBodySolverConstraint * > m_multiBodyAllConstraintPtrArray
Array of all the multibody constraints.
btMLCPSolverInterface * m_solver
MLCP solver.
void setNumFallbacks(int num)
Sets the number of fallbacks. This function may be used to reset the number to zero.
btScalar solveGroupCacheFriendlyIterations(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
btVectorXu m_lo
Lower bound of constraint impulse, m_x.
btMatrixXu m_A
A matrix in the MLCP formulation.
int m_fallback
Count of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver f...
btMatrixXu m_multiBodyA
A matrix in the MLCP formulation.
btAlignedObjectArray< int > m_limitDependencies
btVectorXu m_bSplit
Split impulse Cache vector corresponding to m_b.
void setMLCPSolver(btMLCPSolverInterface *solver)
Sets MLCP solver. Assumed it's not null.
btAlignedObjectArray< int > m_scratchOfs
Cache variable for offsets.
void createMLCPFastRigidBody(const btContactSolverInfo &infoGlobal)
Constructs MLCP terms for constraints of two rigid bodies.
btVectorXu m_hi
Upper bound of constraint impulse, m_x.
virtual bool solveMLCP(const btContactSolverInfo &infoGlobal)
Solves MLCP and returns the success.
btVectorXu m_x
Constraint impulse, which is an output of MLCP solving.
btVectorXu m_multiBodyLo
Lower bound of constraint impulse, m_x.
virtual void createMLCPFast(const btContactSolverInfo &infoGlobal)
Constructs MLCP terms, which are m_A, m_b, m_lo, and m_hi.
btAlignedObjectArray< btSolverConstraint * > m_allConstraintPtrArray
Array of all the rigid body constraints.
btMatrixXu m_scratchJInvM3
Cache variable for constraint Jacobian times inverse mass matrix.
btVectorXu m_multiBodyX
Constraint impulse, which is an output of MLCP solving.
void createMLCPFastMultiBody(const btContactSolverInfo &infoGlobal)
Constructs MLCP terms for constraints of two multi-bodies or one rigid body and one multibody.
btVectorXu m_multiBodyHi
Upper bound of constraint impulse, m_x.
virtual btConstraintSolverType getSolverType() const
Returns the constraint solver type.
btVectorXu m_multiBodyB
b vector in the MLCP formulation.