btMultiBodyConstraintSolver.h File Reference

#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "btMultiBodySolverConstraint.h"
#include "btMultiBodyConstraint.h"

Go to the source code of this file.

Macros
#define	DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

Functions
btScalar	resolveSingleConstraintRowGeneric (const btMultiBodySolverConstraint &c)
btScalar	resolveConeFrictionConstraintRows (const btMultiBodySolverConstraint &cA1, const btMultiBodySolverConstraint &cB)
void	convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
btMultiBodySolverConstraint &	addMultiBodyFrictionConstraint (const btVector3 &normalAxis, const btScalar &appliedImpulse, btPersistentManifold *manifold, int frictionIndex, btManifoldPoint &cp, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0)
btMultiBodySolverConstraint &	addMultiBodyTorsionalFrictionConstraint (const btVector3 &normalAxis, btPersistentManifold *manifold, int frictionIndex, btManifoldPoint &cp, btScalar combinedTorsionalFriction, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0)
btMultiBodySolverConstraint &	addMultiBodySpinningFrictionConstraint (const btVector3 &normalAxis, btPersistentManifold *manifold, int frictionIndex, btManifoldPoint &cp, btScalar combinedTorsionalFriction, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0)
void	setupMultiBodyJointLimitConstraint (btMultiBodySolverConstraint &constraintRow, btScalar *jacA, btScalar *jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, const btContactSolverInfo &infoGlobal)
void	setupMultiBodyContactConstraint (btMultiBodySolverConstraint &solverConstraint, const btVector3 &contactNormal, const btScalar &appliedImpulse, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)
void	setupMultiBodyTorsionalFrictionConstraint (btMultiBodySolverConstraint &solverConstraint, const btVector3 &contactNormal, btManifoldPoint &cp, btScalar combinedTorsionalFriction, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)
void	convertMultiBodyContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
virtual btScalar	solveGroupCacheFriendlySetup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
virtual btScalar	solveSingleIteration (int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
void	applyDeltaVee (btScalar *deltaV, btScalar impulse, int velocityIndex, int ndof)
void	writeBackSolverBodyToMultiBody (btMultiBodySolverConstraint &constraint, btScalar deltaTime)
	BT_DECLARE_ALIGNED_ALLOCATOR ()
virtual btScalar	solveGroup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher)
	this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
virtual btScalar	solveGroupCacheFriendlyFinish (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
virtual void	solveMultiBodyGroup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, btMultiBodyConstraint **multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher)

Variables
btMultiBodyConstraintSolver	__pad0__
btMultiBodyConstraintArray	m_multiBodyNormalContactConstraints
btMultiBodyConstraintArray	m_multiBodyFrictionContactConstraints
btMultiBodyConstraintArray	m_multiBodyTorsionalFrictionContactConstraints
btMultiBodyConstraintArray	m_multiBodySpinningFrictionContactConstraints
btMultiBodyJacobianData	m_data
btMultiBodyConstraint **	m_tmpMultiBodyConstraints
int	m_tmpNumMultiBodyConstraints

Macro Definition Documentation

DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

Definition at line 22 of file btMultiBodyConstraintSolver.h.

Function Documentation

addMultiBodyFrictionConstraint()

btMultiBodySolverConstraint & btMultiBodyConstraintSolver::addMultiBodyFrictionConstraint	(	const btVector3 &	normalAxis,
		const btScalar &	appliedImpulse,
		btPersistentManifold *	manifold,
		int	frictionIndex,
		btManifoldPoint &	cp,
		btCollisionObject *	colObj0,
		btCollisionObject *	colObj1,
		btScalar	relaxation,
		const btContactSolverInfo &	infoGlobal,
		btScalar	desiredVelocity = 0,
		btScalar	cfmSlip = 0 )

Definition at line 1142 of file btMultiBodyConstraintSolver.cpp.

References BT_PROFILE, btMultiBody, btMultiBodySolverConstraint, btAlignedObjectArray< T >::expandNonInitializing(), getOrInitSolverBody(), infoGlobal, btMultiBodyLinkCollider::m_link, btMultiBodyLinkCollider::m_multiBody, m_multiBodyFrictionContactConstraints, setupMultiBodyContactConstraint(), and btMultiBodyLinkCollider::upcast().

Referenced by convertMultiBodyContact().

addMultiBodySpinningFrictionConstraint()

btMultiBodySolverConstraint & btMultiBodyConstraintSolver::addMultiBodySpinningFrictionConstraint	(	const btVector3 &	normalAxis,
		btPersistentManifold *	manifold,
		int	frictionIndex,
		btManifoldPoint &	cp,
		btScalar	combinedTorsionalFriction,
		btCollisionObject *	colObj0,
		btCollisionObject *	colObj1,
		btScalar	relaxation,
		const btContactSolverInfo &	infoGlobal,
		btScalar	desiredVelocity = 0,
		btScalar	cfmSlip = 0 )

Definition at line 1217 of file btMultiBodyConstraintSolver.cpp.

References BT_PROFILE, btMultiBody, btMultiBodySolverConstraint, btAlignedObjectArray< T >::expandNonInitializing(), getOrInitSolverBody(), infoGlobal, btMultiBodyLinkCollider::m_link, btMultiBodyLinkCollider::m_multiBody, m_multiBodySpinningFrictionContactConstraints, setupMultiBodyTorsionalFrictionConstraint(), and btMultiBodyLinkCollider::upcast().

Referenced by convertMultiBodyContact().

addMultiBodyTorsionalFrictionConstraint()

btMultiBodySolverConstraint & btMultiBodyConstraintSolver::addMultiBodyTorsionalFrictionConstraint	(	const btVector3 &	normalAxis,
		btPersistentManifold *	manifold,
		int	frictionIndex,
		btManifoldPoint &	cp,
		btScalar	combinedTorsionalFriction,
		btCollisionObject *	colObj0,
		btCollisionObject *	colObj1,
		btScalar	relaxation,
		const btContactSolverInfo &	infoGlobal,
		btScalar	desiredVelocity = 0,
		btScalar	cfmSlip = 0 )

Definition at line 1177 of file btMultiBodyConstraintSolver.cpp.

References BT_PROFILE, btMultiBody, btMultiBodySolverConstraint, btAlignedObjectArray< T >::expandNonInitializing(), getOrInitSolverBody(), infoGlobal, btMultiBodyLinkCollider::m_link, btMultiBodyLinkCollider::m_multiBody, m_multiBodyFrictionContactConstraints, m_multiBodyTorsionalFrictionContactConstraints, setupMultiBodyTorsionalFrictionConstraint(), SOLVER_DISABLE_IMPLICIT_CONE_FRICTION, SOLVER_USE_2_FRICTION_DIRECTIONS, and btMultiBodyLinkCollider::upcast().

Referenced by convertMultiBodyContact().

applyDeltaVee()

void btMultiBodyConstraintSolver::applyDeltaVee	(	btScalar *	deltaV,
		btScalar	impulse,
		int	velocityIndex,
		int	ndof )

Definition at line 229 of file btMultiBodyConstraintSolver.cpp.

References m_data.

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

convertContacts()

void convertContacts	(	btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		const btContactSolverInfo &	infoGlobal )

convertMultiBodyContact()

void btMultiBodyConstraintSolver::convertMultiBodyContact	(	btPersistentManifold *	manifold,
		const btContactSolverInfo &	infoGlobal )

avoid collision response between two static objects

Bullet has several options to set the friction directions By default, each contact has only a single friction direction that is recomputed automatically every frame based on the relative linear velocity. If the relative velocity is zero, it will automatically compute a friction direction.

You can also enable two friction directions, using the SOLVER_USE_2_FRICTION_DIRECTIONS. In that case, the second friction direction will be orthogonal to both contact normal and first friction direction.

If you choose SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, then the friction will be independent from the relative projected velocity.

The user can manually override the friction directions for certain contacts using a contact callback, and set the cp.m_lateralFrictionInitialized to true In that case, you can set the target relative motion in each friction direction (cp.m_contactMotion1 and cp.m_contactMotion2) this will give a conveyor belt effect

Definition at line 1254 of file btMultiBodyConstraintSolver.cpp.

References addMultiBodyFrictionConstraint(), addMultiBodySpinningFrictionConstraint(), addMultiBodyTorsionalFrictionConstraint(), applyAnisotropicFriction(), BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED, btMultiBody, btMultiBodySolverConstraint, btPlaneSpace1(), btAlignedObjectArray< T >::expandNonInitializing(), btManifoldPoint::getDistance(), getOrInitSolverBody(), infoGlobal, btManifoldPoint::m_appliedImpulse, btManifoldPoint::m_appliedImpulseLateral1, btManifoldPoint::m_appliedImpulseLateral2, btManifoldPoint::m_combinedRollingFriction, btManifoldPoint::m_combinedSpinningFriction, btManifoldPoint::m_contactMotion1, btManifoldPoint::m_contactMotion2, btManifoldPoint::m_contactPointFlags, btManifoldPoint::m_frictionCFM, btManifoldPoint::m_lateralFrictionDir1, btManifoldPoint::m_lateralFrictionDir2, btMultiBodyLinkCollider::m_link, btMultiBodyLinkCollider::m_multiBody, m_multiBodyFrictionContactConstraints, m_multiBodyNormalContactConstraints, btManifoldPoint::m_normalWorldOnB, btManifoldPoint::m_prevRHS, setupMultiBodyContactConstraint(), btAlignedObjectArray< T >::size(), SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION, SOLVER_ENABLE_FRICTION_DIRECTION_CACHING, SOLVER_USE_2_FRICTION_DIRECTIONS, and btMultiBodyLinkCollider::upcast().

resolveConeFrictionConstraintRows()

btScalar btMultiBodyConstraintSolver::resolveConeFrictionConstraintRows	(	const btMultiBodySolverConstraint &	cA1,
		const btMultiBodySolverConstraint &	cB )

Definition at line 318 of file btMultiBodyConstraintSolver.cpp.

References applyDeltaVee(), btAtan2(), btCos(), btFabs(), btMultiBodySolverConstraint, btSin(), btSolverBody, and m_data.

resolveSingleConstraintRowGeneric()

btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric

(

const btMultiBodySolverConstraint &

c

)

Definition at line 235 of file btMultiBodyConstraintSolver.cpp.

References applyDeltaVee(), btSolverBody, m_data, and sum().

setupMultiBodyContactConstraint()

void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint	(	btMultiBodySolverConstraint &	solverConstraint,
		const btVector3 &	contactNormal,
		const btScalar &	appliedImpulse,
		btManifoldPoint &	cp,
		const btContactSolverInfo &	infoGlobal,
		btScalar &	relaxation,
		bool	isFriction,
		btScalar	desiredVelocity = 0,
		btScalar	cfmSlip = 0 )

Definition at line 501 of file btMultiBodyConstraintSolver.cpp.

References applyDeltaVee(), BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING, BT_CONTACT_FLAG_FRICTION_ANCHOR, BT_CONTACT_FLAG_HAS_CONTACT_CFM, BT_CONTACT_FLAG_HAS_CONTACT_ERP, BT_PROFILE, btAssert, btFabs(), btMultiBody, btSolverBody, btVector3, cross(), dot(), e, btRigidBody::getAngularFactor(), btManifoldPoint::getDistance(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), btRigidBody::getLinearFactor(), btManifoldPoint::getPositionWorldOnA(), btManifoldPoint::getPositionWorldOnB(), btRigidBody::getTotalForce(), btRigidBody::getTotalTorque(), btRigidBody::getVelocityInLocalPoint(), infoGlobal, l, btManifoldPoint::m_appliedImpulse, btManifoldPoint::m_combinedContactDamping1, btManifoldPoint::m_combinedContactStiffness1, btManifoldPoint::m_combinedFriction, btManifoldPoint::m_combinedRestitution, btManifoldPoint::m_contactCFM, btManifoldPoint::m_contactERP, btManifoldPoint::m_contactPointFlags, m_data, btManifoldPoint::m_prevRHS, btAlignedObjectArray< T >::resize(), restitutionCurve(), SIMD_EPSILON, btAlignedObjectArray< T >::size(), and SOLVER_USE_ARTICULATED_WARMSTARTING.

Referenced by addMultiBodyFrictionConstraint(), and convertMultiBodyContact().

setupMultiBodyJointLimitConstraint()

void setupMultiBodyJointLimitConstraint	(	btMultiBodySolverConstraint &	constraintRow,
		btScalar *	jacA,
		btScalar *	jacB,
		btScalar	penetration,
		btScalar	combinedFrictionCoeff,
		btScalar	combinedRestitutionCoeff,
		const btContactSolverInfo &	infoGlobal )

setupMultiBodyTorsionalFrictionConstraint()

void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint	(	btMultiBodySolverConstraint &	solverConstraint,
		const btVector3 &	contactNormal,
		btManifoldPoint &	cp,
		btScalar	combinedTorsionalFriction,
		const btContactSolverInfo &	infoGlobal,
		btScalar &	relaxation,
		bool	isFriction,
		btScalar	desiredVelocity = 0,
		btScalar	cfmSlip = 0 )

Definition at line 888 of file btMultiBodyConstraintSolver.cpp.

References BT_PROFILE, btAssert, btMultiBody, btSolverBody, btVector3, btRigidBody::getAngularFactor(), btManifoldPoint::getDistance(), btRigidBody::getInvInertiaTensorWorld(), btManifoldPoint::getPositionWorldOnA(), btManifoldPoint::getPositionWorldOnB(), infoGlobal, l, btManifoldPoint::m_combinedRestitution, m_data, btAlignedObjectArray< T >::resize(), restitutionCurve(), SIMD_EPSILON, and btAlignedObjectArray< T >::size().

Referenced by addMultiBodySpinningFrictionConstraint(), and addMultiBodyTorsionalFrictionConstraint().

solveGroup()

virtual btScalar solveGroup ( btCollisionObject ** bodies, int numBodies, btPersistentManifold ** manifold, int numManifolds, btTypedConstraint ** constraints, int numConstraints, const btContactSolverInfo & info, btIDebugDraw * debugDrawer, btDispatcher * dispatcher )

virtual

this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)

solveGroupCacheFriendlyFinish()

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

virtual

solveGroupCacheFriendlySetup()

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

virtual

solveMultiBodyGroup()

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

virtual

Definition at line 1740 of file btMultiBodyConstraintSolver.cpp.

References constraints, m_tmpMultiBodyConstraints, m_tmpNumMultiBodyConstraints, numBodies, numConstraints, and numManifolds.

solveSingleIteration()

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

virtual

writeBackSolverBodyToMultiBody()

void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody	(	btMultiBodySolverConstraint &	constraint,
		btScalar	deltaTime )

Definition at line 1521 of file btMultiBodyConstraintSolver.cpp.

References m_data.

Variable Documentation

__pad0__

btMultiBodyConstraintSolver __pad0__

Definition at line 29 of file btMultiBodyConstraintSolver.h.

m_data

btMultiBodyJacobianData m_data

Definition at line 39 of file btMultiBodyConstraintSolver.h.

m_multiBodyFrictionContactConstraints

btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints

Definition at line 35 of file btMultiBodyConstraintSolver.h.

Referenced by addMultiBodyFrictionConstraint(), addMultiBodyTorsionalFrictionConstraint(), convertMultiBodyContact(), and btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup().

m_multiBodyNormalContactConstraints

btMultiBodyConstraintArray m_multiBodyNormalContactConstraints

Definition at line 34 of file btMultiBodyConstraintSolver.h.

Referenced by convertMultiBodyContact(), and btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup().

m_multiBodySpinningFrictionContactConstraints

btMultiBodyConstraintArray m_multiBodySpinningFrictionContactConstraints

Definition at line 37 of file btMultiBodyConstraintSolver.h.

Referenced by addMultiBodySpinningFrictionConstraint().

m_multiBodyTorsionalFrictionContactConstraints

btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints

Definition at line 36 of file btMultiBodyConstraintSolver.h.

Referenced by addMultiBodyTorsionalFrictionConstraint().

m_tmpMultiBodyConstraints

btMultiBodyConstraint** m_tmpMultiBodyConstraints

Definition at line 42 of file btMultiBodyConstraintSolver.h.

Referenced by solveDeformableBodyGroup(), and solveMultiBodyGroup().

m_tmpNumMultiBodyConstraints

int m_tmpNumMultiBodyConstraints

Definition at line 43 of file btMultiBodyConstraintSolver.h.

Referenced by solveDeformableBodyGroup(), and solveMultiBodyGroup().