original version written by Erwin Coumans, October 2013 More...

#include <btMLCPSolver.h>

Inheritance diagram for btMLCPSolver:

Collaboration diagram for btMLCPSolver:

[legend]

Public Member Functions
	btMLCPSolver (btMLCPSolverInterface *solver)
	original version written by Erwin Coumans, October 2013 More...

virtual	~btMLCPSolver ()

void	setMLCPSolver (btMLCPSolverInterface *solver)

int	getNumFallbacks () const

void	setNumFallbacks (int num)

virtual btConstraintSolverType	getSolverType () const

Public Member Functions inherited from btSequentialImpulseConstraintSolver
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btSequentialImpulseConstraintSolver ()

virtual	~btSequentialImpulseConstraintSolver ()

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

virtual void	reset ()
	clear internal cached data and reset random seed More...

unsigned long	btRand2 ()

int	btRandInt2 (int n)

void	setRandSeed (unsigned long seed)

unsigned long	getRandSeed () const

btSingleConstraintRowSolver	getActiveConstraintRowSolverGeneric ()

void	setConstraintRowSolverGeneric (btSingleConstraintRowSolver rowSolver)

btSingleConstraintRowSolver	getActiveConstraintRowSolverLowerLimit ()

void	setConstraintRowSolverLowerLimit (btSingleConstraintRowSolver rowSolver)

btSingleConstraintRowSolver	getScalarConstraintRowSolverGeneric ()
	Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4. More...

btSingleConstraintRowSolver	getSSE2ConstraintRowSolverGeneric ()

btSingleConstraintRowSolver	getSSE4_1ConstraintRowSolverGeneric ()

btSingleConstraintRowSolver	getScalarConstraintRowSolverLowerLimit ()
	Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4. More...

btSingleConstraintRowSolver	getSSE2ConstraintRowSolverLowerLimit ()

btSingleConstraintRowSolver	getSSE4_1ConstraintRowSolverLowerLimit ()

Public Member Functions inherited from btConstraintSolver
virtual	~btConstraintSolver ()

virtual void	prepareSolve (int, int)

virtual void	allSolved (const btContactSolverInfo &, class btIDebugDraw *)

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

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

virtual void	createMLCP (const btContactSolverInfo &infoGlobal)

virtual void	createMLCPFast (const btContactSolverInfo &infoGlobal)

virtual bool	solveMLCP (const btContactSolverInfo &infoGlobal)

Protected Member Functions inherited from btSequentialImpulseConstraintSolver
void	setupSolverFunctions (bool useSimd)

void	setupFrictionConstraint (btSolverConstraint &solverConstraint, const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject colObj0, btCollisionObject colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.)

void	setupTorsionalFrictionConstraint (btSolverConstraint &solverConstraint, const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, btScalar combinedTorsionalFriction, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject colObj0, btCollisionObject colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.)

btSolverConstraint &	addFrictionConstraint (const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint &cp, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject colObj0, btCollisionObject colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0., btScalar cfmSlip=0.)

btSolverConstraint &	addTorsionalFrictionConstraint (const btVector3 &normalAxis, int solverBodyIdA, int solverBodyIdB, int frictionIndex, btManifoldPoint &cp, btScalar torsionalFriction, const btVector3 &rel_pos1, const btVector3 &rel_pos2, btCollisionObject colObj0, btCollisionObject colObj1, btScalar relaxation, btScalar desiredVelocity=0, btScalar cfmSlip=0.f)

void	setupContactConstraint (btSolverConstraint &solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btScalar &relaxation, const btVector3 &rel_pos1, const btVector3 &rel_pos2)

void	setFrictionConstraintImpulse (btSolverConstraint &solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal)

btScalar	restitutionCurve (btScalar rel_vel, btScalar restitution, btScalar velocityThreshold)

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

void	convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)

virtual void	convertJoints (btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal)

void	convertJoint (btSolverConstraint currentConstraintRow, btTypedConstraint constraint, const btTypedConstraint::btConstraintInfo1 &info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo &infoGlobal)

virtual void	convertBodies (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)

btScalar	resolveSplitPenetrationSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

btScalar	resolveSplitPenetrationImpulseCacheFriendly (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

int	getOrInitSolverBody (btCollisionObject &body, btScalar timeStep)

void	initSolverBody (btSolverBody solverBody, btCollisionObject collisionObject, btScalar timeStep)

btScalar	resolveSingleConstraintRowGeneric (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

btScalar	resolveSingleConstraintRowGenericSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

btScalar	resolveSingleConstraintRowLowerLimit (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

btScalar	resolveSingleConstraintRowLowerLimitSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

btScalar	resolveSplitPenetrationImpulse (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)

void	writeBackContacts (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)

void	writeBackJoints (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)

void	writeBackBodies (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)

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

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

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

Protected Attributes
btMatrixXu	m_A

btVectorXu	m_b

btVectorXu	m_x

btVectorXu	m_lo

btVectorXu	m_hi

btVectorXu	m_bSplit
	when using 'split impulse' we solve two separate (M)LCPs More...

btVectorXu	m_xSplit

btVectorXu	m_bSplit1

btVectorXu	m_xSplit2

btAlignedObjectArray< int >	m_limitDependencies

btAlignedObjectArray< btSolverConstraint * >	m_allConstraintPtrArray

btMLCPSolverInterface *	m_solver

int	m_fallback

btMatrixXu	m_scratchJ3
	The following scratch variables are not stateful – contents are cleared prior to each use. More...

btMatrixXu	m_scratchJInvM3

btAlignedObjectArray< int >	m_scratchOfs

btMatrixXu	m_scratchMInv

btMatrixXu	m_scratchJ

btMatrixXu	m_scratchJTranspose

btMatrixXu	m_scratchTmp

Protected Attributes inherited from btSequentialImpulseConstraintSolver
btAlignedObjectArray< btSolverBody >	m_tmpSolverBodyPool

btConstraintArray	m_tmpSolverContactConstraintPool

btConstraintArray	m_tmpSolverNonContactConstraintPool

btConstraintArray	m_tmpSolverContactFrictionConstraintPool

btConstraintArray	m_tmpSolverContactRollingFrictionConstraintPool

btAlignedObjectArray< int >	m_orderTmpConstraintPool

btAlignedObjectArray< int >	m_orderNonContactConstraintPool

btAlignedObjectArray< int >	m_orderFrictionConstraintPool

btAlignedObjectArray< btTypedConstraint::btConstraintInfo1 >	m_tmpConstraintSizesPool

int	m_maxOverrideNumSolverIterations

int	m_fixedBodyId

btAlignedObjectArray< int >	m_kinematicBodyUniqueIdToSolverBodyTable

btSingleConstraintRowSolver	m_resolveSingleConstraintRowGeneric

btSingleConstraintRowSolver	m_resolveSingleConstraintRowLowerLimit

btSingleConstraintRowSolver	m_resolveSplitPenetrationImpulse

int	m_cachedSolverMode

btScalar	m_leastSquaresResidual

unsigned long	m_btSeed2
	m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction More...

Additional Inherited Members
Static Protected Member Functions inherited from btSequentialImpulseConstraintSolver
static void	applyAnisotropicFriction (btCollisionObject *colObj, btVector3 &frictionDirection, int frictionMode)

Detailed Description

original version written by Erwin Coumans, October 2013

Definition at line 24 of file btMLCPSolver.h.

Constructor & Destructor Documentation

btMLCPSolver::btMLCPSolver ( btMLCPSolverInterface * solver )

original version written by Erwin Coumans, October 2013

Definition at line 23 of file btMLCPSolver.cpp.

btMLCPSolver::~btMLCPSolver ( )

virtual

Definition at line 29 of file btMLCPSolver.cpp.

Member Function Documentation

void btMLCPSolver::createMLCP ( const btContactSolverInfo & infoGlobal )

protectedvirtual

Definition at line 470 of file btMLCPSolver.cpp.

void btMLCPSolver::createMLCPFast ( const btContactSolverInfo & infoGlobal )

protectedvirtual

fill the upper triangle of the matrix, to make it symmetric

Definition at line 154 of file btMLCPSolver.cpp.

int btMLCPSolver::getNumFallbacks ( ) const

inline

Definition at line 77 of file btMLCPSolver.h.

virtual btConstraintSolverType btMLCPSolver::getSolverType ( ) const

inlinevirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 86 of file btMLCPSolver.h.

void btMLCPSolver::setMLCPSolver ( btMLCPSolverInterface * solver )

inline

Definition at line 72 of file btMLCPSolver.h.

void btMLCPSolver::setNumFallbacks ( int num )

inline

Definition at line 81 of file btMLCPSolver.h.

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

protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 586 of file btMLCPSolver.cpp.

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

protectedvirtual

The btSequentialImpulseConstraintSolver moves all friction constraints at the very end, we can also interleave them instead

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 36 of file btMLCPSolver.cpp.

bool btMLCPSolver::solveMLCP ( const btContactSolverInfo & infoGlobal )

protectedvirtual

Definition at line 120 of file btMLCPSolver.cpp.

Member Data Documentation

btMatrixXu btMLCPSolver::m_A

protected

Definition at line 29 of file btMLCPSolver.h.

btAlignedObjectArray<btSolverConstraint*> btMLCPSolver::m_allConstraintPtrArray

protected

Definition at line 42 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_b

protected

Definition at line 30 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_bSplit

protected

when using 'split impulse' we solve two separate (M)LCPs

Definition at line 36 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_bSplit1

protected

Definition at line 38 of file btMLCPSolver.h.

int btMLCPSolver::m_fallback

protected

Definition at line 44 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_hi

protected

Definition at line 33 of file btMLCPSolver.h.

btAlignedObjectArray<int> btMLCPSolver::m_limitDependencies

protected

Definition at line 41 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_lo

protected

Definition at line 32 of file btMLCPSolver.h.

btMatrixXu btMLCPSolver::m_scratchJ

protected

Definition at line 53 of file btMLCPSolver.h.

btMatrixXu btMLCPSolver::m_scratchJ3

protected

The following scratch variables are not stateful – contents are cleared prior to each use.

They are only cached here to avoid extra memory allocations and deallocations and to ensure that multiple instances of the solver can be run in parallel.

Definition at line 49 of file btMLCPSolver.h.

btMatrixXu btMLCPSolver::m_scratchJInvM3

protected

Definition at line 50 of file btMLCPSolver.h.

btMatrixXu btMLCPSolver::m_scratchJTranspose

protected

Definition at line 54 of file btMLCPSolver.h.

btMatrixXu btMLCPSolver::m_scratchMInv

protected

Definition at line 52 of file btMLCPSolver.h.

btAlignedObjectArray<int> btMLCPSolver::m_scratchOfs

protected

Definition at line 51 of file btMLCPSolver.h.

btMatrixXu btMLCPSolver::m_scratchTmp

protected

Definition at line 55 of file btMLCPSolver.h.

btMLCPSolverInterface* btMLCPSolver::m_solver

protected

Definition at line 43 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_x

protected

Definition at line 31 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_xSplit

protected

Definition at line 37 of file btMLCPSolver.h.

btVectorXu btMLCPSolver::m_xSplit2

protected

Definition at line 39 of file btMLCPSolver.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation