btDeformableMultiBodyConstraintSolver.h File Reference

#include "btDeformableBodySolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"

Go to the source code of this file.

Functions
void	solverBodyWriteBack (const btContactSolverInfo &infoGlobal)
void	writeToSolverBody (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
virtual void	solveGroupCacheFriendlySplitImpulseIterations (btCollisionObject **bodies, int numBodies, btCollisionObject **deformableBodies, int numDeformableBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
virtual btScalar	solveDeformableGroupIterations (btCollisionObject **bodies, int numBodies, btCollisionObject **deformableBodies, int numDeformableBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
	BT_DECLARE_ALIGNED_ALLOCATOR ()
void	setDeformableSolver (btDeformableBodySolver *deformableSolver)
virtual void	solveDeformableBodyGroup (btCollisionObject **bodies, int numBodies, btCollisionObject **deformableBodies, int numDeformableBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, btMultiBodyConstraint **multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher)

Variables
btDeformableMultiBodyConstraintSolver	__pad0__

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

setDeformableSolver()

void setDeformableSolver

(

btDeformableBodySolver *

deformableSolver

)

Definition at line 53 of file btDeformableMultiBodyConstraintSolver.h.

solveDeformableBodyGroup()

void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup ( btCollisionObject ** bodies, int numBodies, btCollisionObject ** deformableBodies, int numDeformableBodies, btPersistentManifold ** manifold, int numManifolds, btTypedConstraint ** constraints, int numConstraints, btMultiBodyConstraint ** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo & info, btIDebugDraw * debugDrawer, btDispatcher * dispatcher )

virtual

Definition at line 61 of file btDeformableMultiBodyConstraintSolver.cpp.

References constraints, m_tmpMultiBodyConstraints, m_tmpNumMultiBodyConstraints, numBodies, numConstraints, numManifolds, solveDeformableGroupIterations(), solveGroupCacheFriendlyFinish(), and solveGroupCacheFriendlySetup().

solveDeformableGroupIterations()

btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations ( btCollisionObject ** bodies, int numBodies, btCollisionObject ** deformableBodies, int numDeformableBodies, btPersistentManifold ** manifoldPtr, int numManifolds, btTypedConstraint ** constraints, int numConstraints, const btContactSolverInfo & infoGlobal, btIDebugDraw * debugDrawer )

protectedvirtual

this is a special step to resolve penetrations (just for contacts)

Definition at line 19 of file btDeformableMultiBodyConstraintSolver.cpp.

References btMax(), constraints, infoGlobal, m_analyticsData, btSolverAnalyticsData::m_islandId, m_leastSquaresResidual, m_maxOverrideNumSolverIterations, btSolverAnalyticsData::m_numBodies, btSolverAnalyticsData::m_numContactManifolds, btSolverAnalyticsData::m_numIterationsUsed, btSolverAnalyticsData::m_numSolverCalls, btSolverAnalyticsData::m_remainingLeastSquaresResidual, manifoldPtr, numBodies, numConstraints, numManifolds, printf, solveGroupCacheFriendlySplitImpulseIterations(), solverBodyWriteBack(), solveSingleIteration(), and writeToSolverBody().

Referenced by solveDeformableBodyGroup().

solveGroupCacheFriendlySplitImpulseIterations()

void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations ( btCollisionObject ** bodies, int numBodies, btCollisionObject ** deformableBodies, int numDeformableBodies, btPersistentManifold ** manifoldPtr, int numManifolds, btTypedConstraint ** constraints, int numConstraints, const btContactSolverInfo & infoGlobal, btIDebugDraw * debugDrawer )

protectedvirtual

Definition at line 108 of file btDeformableMultiBodyConstraintSolver.cpp.

References BT_PROFILE, btMax(), btSolverConstraint, infoGlobal, m_orderTmpConstraintPool, m_tmpSolverContactConstraintPool, printf, resolveSplitPenetrationImpulse(), and btAlignedObjectArray< T >::size().

solverBodyWriteBack()

void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack ( const btContactSolverInfo & infoGlobal )

protected

Definition at line 95 of file btDeformableMultiBodyConstraintSolver.cpp.

References m_angularVelocity, m_deltaAngularVelocity, m_deltaLinearVelocity, m_linearVelocity, and btRigidBody::setLinearVelocity().

Referenced by solveDeformableGroupIterations().

writeToSolverBody()

void btDeformableMultiBodyConstraintSolver::writeToSolverBody ( btCollisionObject ** bodies, int numBodies, const btContactSolverInfo & infoGlobal )

protected

Definition at line 79 of file btDeformableMultiBodyConstraintSolver.cpp.

References btSolverBody, btRigidBody::getAngularVelocity(), btRigidBody::getInvMass(), btRigidBody::getLinearVelocity(), getOrInitSolverBody(), infoGlobal, numBodies, and btRigidBody::upcast().

Referenced by solveDeformableGroupIterations().

Variable Documentation

__pad0__

btDeformableMultiBodyConstraintSolver __pad0__

Definition at line 32 of file btDeformableMultiBodyConstraintSolver.h.