btSolverBody.h File Reference

#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btTransformUtil.h"

Go to the source code of this file.

Macros
#define	btSimdScalar   btScalar
	Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision.

Functions
void	setWorldTransform (const btTransform &worldTransform)
const btTransform &	getWorldTransform () const
SIMD_FORCE_INLINE void	getVelocityInLocalPointNoDelta (const btVector3 &rel_pos, btVector3 &velocity) const
SIMD_FORCE_INLINE void	getVelocityInLocalPointObsolete (const btVector3 &rel_pos, btVector3 &velocity) const
SIMD_FORCE_INLINE void	getAngularVelocity (btVector3 &angVel) const
SIMD_FORCE_INLINE void	applyImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
SIMD_FORCE_INLINE void	internalApplyPushImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, btScalar impulseMagnitude)
const btVector3 &	getDeltaLinearVelocity () const
const btVector3 &	getDeltaAngularVelocity () const
const btVector3 &	getPushVelocity () const
const btVector3 &	getTurnVelocity () const
btVector3 &	internalGetDeltaLinearVelocity ()
	some internal methods, don't use them
btVector3 &	internalGetDeltaAngularVelocity ()
const btVector3 &	internalGetAngularFactor () const
const btVector3 &	internalGetInvMass () const
void	internalSetInvMass (const btVector3 &invMass)
btVector3 &	internalGetPushVelocity ()
btVector3 &	internalGetTurnVelocity ()
SIMD_FORCE_INLINE void	internalGetVelocityInLocalPointObsolete (const btVector3 &rel_pos, btVector3 &velocity) const
SIMD_FORCE_INLINE void	internalGetAngularVelocity (btVector3 &angVel) const
SIMD_FORCE_INLINE void	internalApplyImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
void	writebackVelocity ()
void	writebackVelocityAndTransform (btScalar timeStep, btScalar splitImpulseTurnErp)

Variables
	btSolverBody
	The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
btTransform	m_worldTransform
btVector3	m_deltaLinearVelocity
btVector3	m_deltaAngularVelocity
btVector3	m_angularFactor
btVector3	m_linearFactor
btVector3	m_invMass
btVector3	m_pushVelocity
btVector3	m_turnVelocity
btVector3	m_linearVelocity
btVector3	m_angularVelocity
btVector3	m_externalForceImpulse
btVector3	m_externalTorqueImpulse
btRigidBody *	m_originalBody

Macro Definition Documentation

btSimdScalar

#define btSimdScalar   btScalar

Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision.

Definition at line 99 of file btSolverBody.h.

Referenced by gResolveSplitPenetrationImpulse_sse2(), and setupTorsionalFrictionConstraint().

Function Documentation

applyImpulse()

SIMD_FORCE_INLINE void applyImpulse	(	const btVector3 &	linearComponent,
		const btVector3 &	angularComponent,
		const btScalar	impulseMagnitude )

Definition at line 156 of file btSolverBody.h.

References btVector3, m_angularFactor, m_deltaAngularVelocity, m_deltaLinearVelocity, m_linearFactor, m_originalBody, and SIMD_FORCE_INLINE.

getAngularVelocity()

SIMD_FORCE_INLINE void getAngularVelocity

(

btVector3 &

angVel

)

const

Definition at line 147 of file btSolverBody.h.

References btVector3, m_angularVelocity, m_deltaAngularVelocity, m_originalBody, and SIMD_FORCE_INLINE.

getDeltaAngularVelocity()

const btVector3 & getDeltaAngularVelocity

(

)

const

Definition at line 179 of file btSolverBody.h.

References btVector3, and m_deltaAngularVelocity.

getDeltaLinearVelocity()

const btVector3 & getDeltaLinearVelocity

(

)

const

Definition at line 174 of file btSolverBody.h.

References btVector3, and m_deltaLinearVelocity.

getPushVelocity()

const btVector3 & getPushVelocity

(

)

const

Definition at line 184 of file btSolverBody.h.

References btVector3, and m_pushVelocity.

getTurnVelocity()

const btVector3 & getTurnVelocity

(

)

const

Definition at line 189 of file btSolverBody.h.

References btVector3, and m_turnVelocity.

getVelocityInLocalPointNoDelta()

SIMD_FORCE_INLINE void getVelocityInLocalPointNoDelta	(	const btVector3 &	rel_pos,
		btVector3 &	velocity ) const

Definition at line 131 of file btSolverBody.h.

References btVector3, cross, m_angularVelocity, m_externalForceImpulse, m_externalTorqueImpulse, m_linearVelocity, m_originalBody, and SIMD_FORCE_INLINE.

getVelocityInLocalPointObsolete()

SIMD_FORCE_INLINE void getVelocityInLocalPointObsolete	(	const btVector3 &	rel_pos,
		btVector3 &	velocity ) const

Definition at line 139 of file btSolverBody.h.

References btVector3, cross, m_angularVelocity, m_deltaAngularVelocity, m_deltaLinearVelocity, m_linearVelocity, m_originalBody, and SIMD_FORCE_INLINE.

getWorldTransform()

const btTransform & getWorldTransform

(

)

const

Definition at line 126 of file btSolverBody.h.

References btTransform, and m_worldTransform.

internalApplyImpulse()

SIMD_FORCE_INLINE void internalApplyImpulse	(	const btVector3 &	linearComponent,
		const btVector3 &	angularComponent,
		const btScalar	impulseMagnitude )

Definition at line 243 of file btSolverBody.h.

References btVector3, m_angularFactor, m_deltaAngularVelocity, m_deltaLinearVelocity, m_linearFactor, m_originalBody, and SIMD_FORCE_INLINE.

internalApplyPushImpulse()

SIMD_FORCE_INLINE void internalApplyPushImpulse	(	const btVector3 &	linearComponent,
		const btVector3 &	angularComponent,
		btScalar	impulseMagnitude )

Definition at line 165 of file btSolverBody.h.

References btVector3, m_angularFactor, m_linearFactor, m_originalBody, m_pushVelocity, m_turnVelocity, and SIMD_FORCE_INLINE.

internalGetAngularFactor()

const btVector3 & internalGetAngularFactor

(

)

const

Definition at line 207 of file btSolverBody.h.

References btVector3, and m_angularFactor.

internalGetAngularVelocity()

SIMD_FORCE_INLINE void internalGetAngularVelocity

(

btVector3 &

angVel

)

const

Definition at line 237 of file btSolverBody.h.

References btVector3, m_angularVelocity, m_deltaAngularVelocity, and SIMD_FORCE_INLINE.

internalGetDeltaAngularVelocity()

btVector3 & internalGetDeltaAngularVelocity

(

)

Definition at line 202 of file btSolverBody.h.

References btVector3, and m_deltaAngularVelocity.

internalGetDeltaLinearVelocity()

btVector3 & internalGetDeltaLinearVelocity

(

)

some internal methods, don't use them

Definition at line 197 of file btSolverBody.h.

References btVector3, and m_deltaLinearVelocity.

internalGetInvMass()

const btVector3 & internalGetInvMass

(

)

const

Definition at line 212 of file btSolverBody.h.

References btVector3, and m_invMass.

internalGetPushVelocity()

btVector3 & internalGetPushVelocity

(

)

Definition at line 222 of file btSolverBody.h.

References btVector3, and m_pushVelocity.

internalGetTurnVelocity()

btVector3 & internalGetTurnVelocity

(

)

Definition at line 227 of file btSolverBody.h.

References btVector3, and m_turnVelocity.

internalGetVelocityInLocalPointObsolete()

SIMD_FORCE_INLINE void internalGetVelocityInLocalPointObsolete	(	const btVector3 &	rel_pos,
		btVector3 &	velocity ) const

Definition at line 232 of file btSolverBody.h.

References btVector3, cross, m_angularVelocity, m_deltaAngularVelocity, m_deltaLinearVelocity, m_linearVelocity, and SIMD_FORCE_INLINE.

internalSetInvMass()

void internalSetInvMass

(

const btVector3 &

invMass

)

Definition at line 217 of file btSolverBody.h.

References btVector3, and m_invMass.

setWorldTransform()

void setWorldTransform

(

const btTransform &

worldTransform

)

Definition at line 121 of file btSolverBody.h.

References btTransform, and m_worldTransform.

writebackVelocity()

void writebackVelocity

(

)

Definition at line 252 of file btSolverBody.h.

References m_angularVelocity, m_deltaAngularVelocity, m_deltaLinearVelocity, m_linearVelocity, and m_originalBody.

writebackVelocityAndTransform()

void writebackVelocityAndTransform	(	btScalar	timeStep,
		btScalar	splitImpulseTurnErp )

Definition at line 263 of file btSolverBody.h.

References btTransform, btTransformUtil::integrateTransform(), m_angularVelocity, m_deltaAngularVelocity, m_deltaLinearVelocity, m_linearVelocity, m_originalBody, m_pushVelocity, m_turnVelocity, and m_worldTransform.

Variable Documentation

btSolverBody

btSolverBody

Initial value:

{
    BT_DECLARE_ALIGNED_ALLOCATOR()

The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.

Definition at line 104 of file btSolverBody.h.

Referenced by computeConstraintMatrixDiagElementMultiBody(), computeConstraintMatrixOffDiagElementMultiBody(), convertBodies(), convertContact(), convertJoint(), btMLCPSolver::createMLCP(), fillMultiBodyConstraint(), getInfo2(), getOrInitSolverBody(), getOrInitSolverBodyThreadsafe(), gResolveSingleConstraintRowGeneric_scalar_reference(), gResolveSingleConstraintRowLowerLimit_scalar_reference(), gResolveSplitPenetrationImpulse_scalar_reference(), gResolveSplitPenetrationImpulse_sse2(), initBatchedBodyDynamicFlags(), initSolverBody(), internalCollectContactManifoldCachedInfo(), internalConvertBodies(), internalSetupContactConstraints(), resolveConeFrictionConstraintRows(), resolveMultipleContactConstraints(), resolveMultipleContactConstraintsInterleaved(), resolveMultipleContactFrictionConstraints(), resolveMultipleContactSplitPenetrationImpulseConstraints(), resolveMultipleJointConstraints(), resolveSingleConstraintRowGeneric(), resolveSingleConstraintRowGeneric(), resolveSingleConstraintRowGenericSIMD(), resolveSingleConstraintRowLowerLimit(), resolveSingleConstraintRowLowerLimitSIMD(), resolveSplitPenetrationImpulse(), resolveSplitPenetrationImpulseCacheFriendly(), resolveSplitPenetrationSIMD(), setupContactConstraint(), setupFrictionConstraint(), setupMultiBodyContactConstraint(), setupMultiBodyTorsionalFrictionConstraint(), setupSpatialGridBatchesMt(), setupTorsionalFrictionConstraint(), solveConstraintObsolete(), solveConstraintObsolete(), btMLCPSolver::solveGroupCacheFriendlyIterations(), btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(), solveSingleIteration(), btBatchedConstraints::validate(), and writeToSolverBody().

m_angularFactor

btVector3 m_angularFactor

Definition at line 110 of file btSolverBody.h.

Referenced by applyImpulse(), internalApplyImpulse(), internalApplyPushImpulse(), and internalGetAngularFactor().

m_angularVelocity

btVector3 m_angularVelocity

Definition at line 116 of file btSolverBody.h.

Referenced by getAngularVelocity(), getVelocityInLocalPointNoDelta(), getVelocityInLocalPointObsolete(), internalGetAngularVelocity(), internalGetVelocityInLocalPointObsolete(), solverBodyWriteBack(), writeBackBodies(), writebackVelocity(), and writebackVelocityAndTransform().

m_deltaAngularVelocity

btVector3 m_deltaAngularVelocity

Definition at line 109 of file btSolverBody.h.

Referenced by applyImpulse(), getAngularVelocity(), getDeltaAngularVelocity(), getVelocityInLocalPointObsolete(), internalApplyImpulse(), internalGetAngularVelocity(), internalGetDeltaAngularVelocity(), internalGetVelocityInLocalPointObsolete(), solverBodyWriteBack(), writebackVelocity(), and writebackVelocityAndTransform().

m_deltaLinearVelocity

btVector3 m_deltaLinearVelocity

Definition at line 108 of file btSolverBody.h.

Referenced by applyImpulse(), btRigidBody::ATTRIBUTE_ALIGNED16(), getDeltaLinearVelocity(), getVelocityInLocalPointObsolete(), internalApplyImpulse(), internalGetDeltaLinearVelocity(), internalGetVelocityInLocalPointObsolete(), btRigidBody::setupRigidBody(), solverBodyWriteBack(), writebackVelocity(), and writebackVelocityAndTransform().

m_externalForceImpulse

btVector3 m_externalForceImpulse

Definition at line 117 of file btSolverBody.h.

Referenced by getVelocityInLocalPointNoDelta(), and writeBackBodies().

m_externalTorqueImpulse

btVector3 m_externalTorqueImpulse

Definition at line 118 of file btSolverBody.h.

Referenced by getVelocityInLocalPointNoDelta(), and writeBackBodies().

m_invMass

btVector3 m_invMass

Definition at line 112 of file btSolverBody.h.

Referenced by internalCollectContactManifoldCachedInfo(), internalGetInvMass(), and internalSetInvMass().

m_linearFactor

btVector3 m_linearFactor

Definition at line 111 of file btSolverBody.h.

Referenced by applyImpulse(), internalApplyImpulse(), and internalApplyPushImpulse().

m_linearVelocity

btVector3 m_linearVelocity

Definition at line 115 of file btSolverBody.h.

Referenced by getVelocityInLocalPointNoDelta(), getVelocityInLocalPointObsolete(), internalGetVelocityInLocalPointObsolete(), solverBodyWriteBack(), writeBackBodies(), writebackVelocity(), and writebackVelocityAndTransform().

m_originalBody

btRigidBody* m_originalBody

Definition at line 120 of file btSolverBody.h.

Referenced by applyImpulse(), btMLCPSolver::createMLCP(), getAngularVelocity(), getVelocityInLocalPointNoDelta(), getVelocityInLocalPointObsolete(), internalApplyImpulse(), internalApplyPushImpulse(), writebackVelocity(), and writebackVelocityAndTransform().

m_pushVelocity

btVector3 m_pushVelocity

Definition at line 113 of file btSolverBody.h.

Referenced by getPushVelocity(), internalApplyPushImpulse(), internalGetPushVelocity(), and writebackVelocityAndTransform().

m_turnVelocity

btVector3 m_turnVelocity

Definition at line 114 of file btSolverBody.h.

Referenced by getTurnVelocity(), internalApplyPushImpulse(), internalGetTurnVelocity(), and writebackVelocityAndTransform().

m_worldTransform

btTransform m_worldTransform

Definition at line 107 of file btSolverBody.h.

Referenced by btRigidBody::computeGyroscopicImpulseImplicit_World(), btRaycastVehicle::debugDraw(), btRigidBody::getAabb(), btRigidBody::getCenterOfMassPosition(), btRigidBody::getCenterOfMassTransform(), btRigidBody::getOrientation(), getWorldTransform(), getWorldTransform(), btSoftBody::initDefaults(), btRigidBody::predictIntegratedTransform(), btRigidBody::saveKinematicState(), btRigidBody::setCenterOfMassTransform(), btRigidBody::setMotionState(), btRigidBody::setupRigidBody(), setWorldTransform(), setWorldTransform(), btRigidBody::translate(), btRigidBody::updateInertiaTensor(), writeBackBodies(), and writebackVelocityAndTransform().