btSolverConstraint.h File Reference

#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include "btJacobianEntry.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btSolverBody.h"

Go to the source code of this file.

Typedefs
typedef btAlignedObjectArray< btSolverConstraint >	btConstraintArray

Enumerations
enum	btSolverConstraintType { BT_SOLVER_CONTACT_1D = 0 , BT_SOLVER_FRICTION_1D }

Variables
	btSolverConstraint
	1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
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_numRowsForNonContactConstraint
};
int	m_overrideNumSolverIterations
int	m_frictionIndex
int	m_solverBodyIdA
int	m_solverBodyIdB

Typedef Documentation

btConstraintArray

typedef btAlignedObjectArray<btSolverConstraint> btConstraintArray

Definition at line 72 of file btSolverConstraint.h.

Enumeration Type Documentation

btSolverConstraintType

enum btSolverConstraintType

Enumerator
BT_SOLVER_CONTACT_1D
BT_SOLVER_FRICTION_1D

Definition at line 65 of file btSolverConstraint.h.

Variable Documentation

[union]

union { ... }

btSolverConstraint

btSolverConstraint

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 30 of file btSolverConstraint.h.

Referenced by addFrictionConstraint(), addTorsionalFrictionConstraint(), convertContact(), convertJoint(), convertJoints(), btMLCPSolver::createMLCP(), btMLCPSolver::createMLCPFast(), btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(), debugDrawSingleBatch(), ReadSolverConstraintsLoop::forLoop(), gResolveSingleConstraintRowGeneric_scalar_reference(), gResolveSingleConstraintRowLowerLimit_scalar_reference(), gResolveSplitPenetrationImpulse_scalar_reference(), gResolveSplitPenetrationImpulse_sse2(), initBatchedConstraintInfo(), internalAllocContactConstraints(), internalConvertMultipleJoints(), internalSetupContactConstraints(), resolveAllRollingFrictionConstraints(), resolveMultipleContactConstraints(), resolveMultipleContactConstraintsInterleaved(), resolveMultipleContactFrictionConstraints(), resolveMultipleContactRollingFrictionConstraints(), resolveMultipleContactSplitPenetrationImpulseConstraints(), resolveMultipleJointConstraints(), resolveSingleConstraintRowGeneric(), resolveSingleConstraintRowGenericSIMD(), resolveSingleConstraintRowLowerLimit(), resolveSingleConstraintRowLowerLimitSIMD(), resolveSplitPenetrationImpulse(), resolveSplitPenetrationImpulseCacheFriendly(), resolveSplitPenetrationSIMD(), setFrictionConstraintImpulse(), setupContactConstraint(), setupFrictionConstraint(), setupTorsionalFrictionConstraint(), btMLCPSolver::solveGroupCacheFriendlyIterations(), btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(), solveGroupCacheFriendlySplitImpulseIterations(), solveGroupCacheFriendlySplitImpulseIterations(), solveSingleIteration(), btBatchedConstraints::validate(), writeBackContacts(), and writeBackJoints().

m_angularComponentA

btVector3 m_angularComponentA

Definition at line 40 of file btSolverConstraint.h.

m_angularComponentB

btVector3 m_angularComponentB

Definition at line 41 of file btSolverConstraint.h.

m_appliedImpulse

btSimdScalar m_appliedImpulse

mutable

Definition at line 44 of file btSolverConstraint.h.

Referenced by btTypedConstraint(), btTypedConstraint(), buildJacobian(), getAppliedImpulse(), internalGetAppliedImpulse(), internalSetAppliedImpulse(), and solveConstraintObsolete().

m_appliedPushImpulse

btSimdScalar m_appliedPushImpulse

mutable

Definition at line 43 of file btSolverConstraint.h.

m_cfm

btScalar m_cfm

Definition at line 49 of file btSolverConstraint.h.

m_contactNormal1

btVector3 m_contactNormal1

Definition at line 35 of file btSolverConstraint.h.

Referenced by btMLCPSolver::createMLCP(), btMLCPSolver::createMLCPFast(), and btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody().

m_contactNormal2

btVector3 m_contactNormal2

Definition at line 38 of file btSolverConstraint.h.

Referenced by btMLCPSolver::createMLCP(), btMLCPSolver::createMLCPFast(), and btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody().

m_friction

btScalar m_friction

Definition at line 46 of file btSolverConstraint.h.

m_frictionIndex

int m_frictionIndex

Definition at line 61 of file btSolverConstraint.h.

m_jacDiagABInv

btScalar m_jacDiagABInv

Definition at line 47 of file btSolverConstraint.h.

Referenced by btMLCPSolver::createMLCP().

m_lowerLimit

btScalar m_lowerLimit

Definition at line 51 of file btSolverConstraint.h.

m_numRowsForNonContactConstraint

int m_numRowsForNonContactConstraint

Definition at line 57 of file btSolverConstraint.h.

m_originalContactPoint

void* m_originalContactPoint

Definition at line 55 of file btSolverConstraint.h.

m_overrideNumSolverIterations

int m_overrideNumSolverIterations

Definition at line 60 of file btSolverConstraint.h.

Referenced by btTypedConstraint(), btTypedConstraint(), getOverrideNumSolverIterations(), and setOverrideNumSolverIterations().

m_relpos1CrossNormal

btVector3 m_relpos1CrossNormal

Definition at line 34 of file btSolverConstraint.h.

Referenced by btMLCPSolver::createMLCP(), btMLCPSolver::createMLCPFast(), and btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody().

m_relpos2CrossNormal

btVector3 m_relpos2CrossNormal

Definition at line 37 of file btSolverConstraint.h.

Referenced by btMLCPSolver::createMLCP(), btMLCPSolver::createMLCPFast(), and btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody().

m_rhs

btScalar m_rhs

Definition at line 48 of file btSolverConstraint.h.

m_rhsPenetration

btScalar m_rhsPenetration

Definition at line 53 of file btSolverConstraint.h.

m_solverBodyIdA

int m_solverBodyIdA

Definition at line 62 of file btSolverConstraint.h.

m_solverBodyIdB

int m_solverBodyIdB

Definition at line 63 of file btSolverConstraint.h.

m_unusedPadding4

btScalar m_unusedPadding4

Definition at line 56 of file btSolverConstraint.h.

m_upperLimit

btScalar m_upperLimit

Definition at line 52 of file btSolverConstraint.h.