16 #ifndef BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
17 #define BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
btConstraintSolverType
btConstraintSolver provides solver interface
#define BT_DECLARE_ALIGNED_ALLOCATOR()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
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.
int getNumFallbacks() const
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.