btMultiBodySolverConstraint.h File Reference

#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"

Go to the source code of this file.

Typedefs
typedef btAlignedObjectArray< btMultiBodySolverConstraint >	btMultiBodyConstraintArray

Enumerations
enum	btSolverConstraintType { BT_SOLVER_CONTACT_1D = 0 , BT_SOLVER_FRICTION_1D }

Variables
	btMultiBodySolverConstraint
	1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
int	m_deltaVelAindex
int	m_jacAindex
int	m_deltaVelBindex
int	m_jacBindex
btVector3	m_relpos1CrossNormal
btVector3	m_contactNormal1
btVector3	m_relpos2CrossNormal
btVector3	m_contactNormal2
btVector3	m_angularComponentA
btVector3	m_angularComponentB
btSimdScalar	m_appliedPushImpulse
btSimdScalar	m_appliedImpulse
btScalar	m_friction
btScalar	m_jacDiagABInv
btScalar	m_rhs
btScalar	m_cfm
btScalar	m_lowerLimit
btScalar	m_upperLimit
btScalar	m_rhsPenetration
union {
void *   m_originalContactPoint
btScalar   m_unusedPadding4
};
int	m_overrideNumSolverIterations
int	m_frictionIndex
int	m_solverBodyIdA
btMultiBody *	m_multiBodyA
int	m_linkA
int	m_solverBodyIdB
btMultiBody *	m_multiBodyB
int	m_linkB
btMultiBodyConstraint *	m_orgConstraint
int	m_orgDofIndex

Typedef Documentation

btMultiBodyConstraintArray

typedef btAlignedObjectArray<btMultiBodySolverConstraint> btMultiBodyConstraintArray

Definition at line 88 of file btMultiBodySolverConstraint.h.

Enumeration Type Documentation

btSolverConstraintType

enum btSolverConstraintType

Enumerator
BT_SOLVER_CONTACT_1D
BT_SOLVER_FRICTION_1D

Definition at line 81 of file btMultiBodySolverConstraint.h.

Variable Documentation

[union]

union { ... }

btMultiBodySolverConstraint

btMultiBodySolverConstraint

Initial value:

{
    BT_DECLARE_ALIGNED_ALLOCATOR()

1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.

Definition at line 29 of file btMultiBodySolverConstraint.h.

Referenced by addMultiBodyFrictionConstraint(), addMultiBodySpinningFrictionConstraint(), addMultiBodyTorsionalFrictionConstraint(), computeConstraintMatrixDiagElementMultiBody(), computeConstraintMatrixOffDiagElementMultiBody(), convertContacts(), convertMultiBodyContact(), btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), btMultiBodySphericalJointMotor::createConstraintRows(), btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody(), fillMultiBodyConstraint(), resolveConeFrictionConstraintRows(), resolveSingleConstraintRowGeneric(), setupMultiBodyContactConstraint(), setupMultiBodyJointLimitConstraint(), setupMultiBodyTorsionalFrictionConstraint(), btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(), btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup(), solveSingleIteration(), and writeBackSolverBodyToMultiBody().

m_angularComponentA

btVector3 m_angularComponentA

Definition at line 47 of file btMultiBodySolverConstraint.h.

m_angularComponentB

btVector3 m_angularComponentB

Definition at line 48 of file btMultiBodySolverConstraint.h.

m_appliedImpulse

btSimdScalar m_appliedImpulse

mutable

Definition at line 51 of file btMultiBodySolverConstraint.h.

m_appliedPushImpulse

btSimdScalar m_appliedPushImpulse

mutable

Definition at line 50 of file btMultiBodySolverConstraint.h.

m_cfm

btScalar m_cfm

Definition at line 56 of file btMultiBodySolverConstraint.h.

m_contactNormal1

btVector3 m_contactNormal1

Definition at line 43 of file btMultiBodySolverConstraint.h.

m_contactNormal2

btVector3 m_contactNormal2

Definition at line 45 of file btMultiBodySolverConstraint.h.

m_deltaVelAindex

int m_deltaVelAindex

Definition at line 37 of file btMultiBodySolverConstraint.h.

m_deltaVelBindex

int m_deltaVelBindex

Definition at line 39 of file btMultiBodySolverConstraint.h.

m_friction

btScalar m_friction

Definition at line 53 of file btMultiBodySolverConstraint.h.

m_frictionIndex

int m_frictionIndex

Definition at line 67 of file btMultiBodySolverConstraint.h.

m_jacAindex

int m_jacAindex

Definition at line 38 of file btMultiBodySolverConstraint.h.

m_jacBindex

int m_jacBindex

Definition at line 40 of file btMultiBodySolverConstraint.h.

m_jacDiagABInv

btScalar m_jacDiagABInv

Definition at line 54 of file btMultiBodySolverConstraint.h.

m_linkA

int m_linkA

Definition at line 71 of file btMultiBodySolverConstraint.h.

m_linkB

int m_linkB

Definition at line 75 of file btMultiBodySolverConstraint.h.

m_lowerLimit

btScalar m_lowerLimit

Definition at line 58 of file btMultiBodySolverConstraint.h.

m_multiBodyA

btMultiBody* m_multiBodyA

Definition at line 70 of file btMultiBodySolverConstraint.h.

m_multiBodyB

btMultiBody* m_multiBodyB

Definition at line 74 of file btMultiBodySolverConstraint.h.

m_orgConstraint

btMultiBodyConstraint* m_orgConstraint

Definition at line 78 of file btMultiBodySolverConstraint.h.

m_orgDofIndex

int m_orgDofIndex

Definition at line 79 of file btMultiBodySolverConstraint.h.

m_originalContactPoint

void* m_originalContactPoint

Definition at line 62 of file btMultiBodySolverConstraint.h.

m_overrideNumSolverIterations

int m_overrideNumSolverIterations

Definition at line 66 of file btMultiBodySolverConstraint.h.

m_relpos1CrossNormal

btVector3 m_relpos1CrossNormal

Definition at line 42 of file btMultiBodySolverConstraint.h.

m_relpos2CrossNormal

btVector3 m_relpos2CrossNormal

Definition at line 44 of file btMultiBodySolverConstraint.h.

m_rhs

btScalar m_rhs

Definition at line 55 of file btMultiBodySolverConstraint.h.

m_rhsPenetration

btScalar m_rhsPenetration

Definition at line 60 of file btMultiBodySolverConstraint.h.

m_solverBodyIdA

int m_solverBodyIdA

Definition at line 69 of file btMultiBodySolverConstraint.h.

m_solverBodyIdB

int m_solverBodyIdB

Definition at line 73 of file btMultiBodySolverConstraint.h.

m_unusedPadding4

btScalar m_unusedPadding4

Definition at line 63 of file btMultiBodySolverConstraint.h.

m_upperLimit

btScalar m_upperLimit

Definition at line 59 of file btMultiBodySolverConstraint.h.