btNNCGConstraintSolver.h File Reference

#include "btSequentialImpulseConstraintSolver.h"

Go to the source code of this file.

Functions
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)
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btNNCGConstraintSolver ()
virtual btConstraintSolverType	getSolverType () const

Variables
btNNCGConstraintSolver	__pad0__
btAlignedObjectArray< btScalar >	m_pNC
btAlignedObjectArray< btScalar >	m_pC
btAlignedObjectArray< btScalar >	m_pCF
btAlignedObjectArray< btScalar >	m_pCRF
btAlignedObjectArray< btScalar >	m_deltafNC
btAlignedObjectArray< btScalar >	m_deltafC
btAlignedObjectArray< btScalar >	m_deltafCF
btAlignedObjectArray< btScalar >	m_deltafCRF
bool	m_onlyForNoneContact

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

btNNCGConstraintSolver()

btNNCGConstraintSolver

(

)

Definition at line 47 of file btNNCGConstraintSolver.h.

References btSequentialImpulseConstraintSolver(), false, and m_onlyForNoneContact.

getSolverType()

virtual btConstraintSolverType getSolverType ( ) const

virtual

Definition at line 49 of file btNNCGConstraintSolver.h.

References BT_NNCG_SOLVER.

solveGroupCacheFriendlyFinish()

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

protectedvirtual

Definition at line 355 of file btNNCGConstraintSolver.cpp.

References btCollisionObject, infoGlobal, m_deltafC, m_deltafCF, m_deltafCRF, m_deltafNC, m_pC, m_pCF, m_pCRF, m_pNC, and numBodies.

Referenced by solveDeformableBodyGroup().

solveGroupCacheFriendlySetup()

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

protectedvirtual

References btCollisionObject, btPersistentManifold(), btTypedConstraint(), constraints, infoGlobal, manifoldPtr, numBodies, numConstraints, and numManifolds.

Referenced by solveDeformableBodyGroup().

solveSingleIteration()

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

protectedvirtual

solve all contact constraints

solve all friction constraints

Definition at line 35 of file btNNCGConstraintSolver.cpp.

References beta(), btCollisionObject, btPersistentManifold(), btRandInt2(), btSolverBody, btSolverConstraint, btTypedConstraint(), constraints, getOrInitSolverBody(), getRigidBodyA(), getRigidBodyB(), infoGlobal, isEnabled(), m_deltafC, m_deltafCF, m_deltafCRF, m_deltafNC, m_onlyForNoneContact, m_orderFrictionConstraintPool, m_orderNonContactConstraintPool, m_orderTmpConstraintPool, m_pC, m_pCF, m_pCRF, m_pNC, m_tmpSolverContactConstraintPool, m_tmpSolverContactFrictionConstraintPool, m_tmpSolverContactRollingFrictionConstraintPool, m_tmpSolverNonContactConstraintPool, numConstraints, resolveSingleConstraintRowGeneric(), resolveSingleConstraintRowLowerLimit(), SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS, SOLVER_RANDMIZE_ORDER, and SOLVER_USE_2_FRICTION_DIRECTIONS.

Referenced by solveDeformableGroupIterations().

Variable Documentation

__pad0__

btNNCGConstraintSolver __pad0__

Definition at line 22 of file btNNCGConstraintSolver.h.

m_deltafC

btAlignedObjectArray<btScalar> m_deltafC

Definition at line 34 of file btNNCGConstraintSolver.h.

Referenced by solveGroupCacheFriendlyFinish(), and solveSingleIteration().

m_deltafCF

btAlignedObjectArray<btScalar> m_deltafCF

Definition at line 35 of file btNNCGConstraintSolver.h.

Referenced by solveGroupCacheFriendlyFinish(), and solveSingleIteration().

m_deltafCRF

btAlignedObjectArray<btScalar> m_deltafCRF

Definition at line 36 of file btNNCGConstraintSolver.h.

Referenced by solveGroupCacheFriendlyFinish(), and solveSingleIteration().

m_deltafNC

btAlignedObjectArray<btScalar> m_deltafNC

Definition at line 33 of file btNNCGConstraintSolver.h.

Referenced by solveGroupCacheFriendlyFinish(), and solveSingleIteration().

m_onlyForNoneContact

bool m_onlyForNoneContact

Definition at line 54 of file btNNCGConstraintSolver.h.

Referenced by btNNCGConstraintSolver(), and solveSingleIteration().

m_pC

btAlignedObjectArray<btScalar> m_pC

Definition at line 28 of file btNNCGConstraintSolver.h.

Referenced by solveGroupCacheFriendlyFinish(), and solveSingleIteration().

m_pCF

btAlignedObjectArray<btScalar> m_pCF

Definition at line 29 of file btNNCGConstraintSolver.h.

Referenced by solveGroupCacheFriendlyFinish(), and solveSingleIteration().

m_pCRF

btAlignedObjectArray<btScalar> m_pCRF

Definition at line 30 of file btNNCGConstraintSolver.h.

Referenced by solveGroupCacheFriendlyFinish(), and solveSingleIteration().

m_pNC

btAlignedObjectArray<btScalar> m_pNC

Definition at line 27 of file btNNCGConstraintSolver.h.

Referenced by solveGroupCacheFriendlyFinish(), and solveSingleIteration().