Bullet Collision Detection & Physics Library
Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
btNNCGConstraintSolver Class Reference

#include <btNNCGConstraintSolver.h>

Inheritance diagram for btNNCGConstraintSolver:
Inheritance graph
[legend]
Collaboration diagram for btNNCGConstraintSolver:
Collaboration graph
[legend]

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btNNCGConstraintSolver ()
 
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 *)
 

Public Attributes

bool m_onlyForNoneContact
 

Protected Member Functions

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)
 
virtual btScalar solveGroupCacheFriendlySetup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
 
- Protected Member Functions inherited from btSequentialImpulseConstraintSolver
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, btScalar desiredVelocity=0., btScalar cfmSlip=0.)
 
void setupRollingFrictionConstraint (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, btScalar desiredVelocity=0., btScalar cfmSlip=0.)
 
btSolverConstraintaddFrictionConstraint (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, btScalar desiredVelocity=0., btScalar cfmSlip=0.)
 
btSolverConstraintaddRollingFrictionConstraint (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, 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)
 
virtual void convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
 
void convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
 
void resolveSplitPenetrationSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
void resolveSplitPenetrationImpulseCacheFriendly (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
int getOrInitSolverBody (btCollisionObject &body, btScalar timeStep)
 
void initSolverBody (btSolverBody *solverBody, btCollisionObject *collisionObject, btScalar timeStep)
 
btSimdScalar resolveSingleConstraintRowGeneric (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
btSimdScalar resolveSingleConstraintRowGenericSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
btSimdScalar resolveSingleConstraintRowLowerLimit (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
btSimdScalar resolveSingleConstraintRowLowerLimitSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
virtual void solveGroupCacheFriendlySplitImpulseIterations (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)
 

Protected Attributes

btScalar m_deltafLengthSqrPrev
 
btAlignedObjectArray< btScalarm_pNC
 
btAlignedObjectArray< btScalarm_pC
 
btAlignedObjectArray< btScalarm_pCF
 
btAlignedObjectArray< btScalarm_pCRF
 
btAlignedObjectArray< btScalarm_deltafNC
 
btAlignedObjectArray< btScalarm_deltafC
 
btAlignedObjectArray< btScalarm_deltafCF
 
btAlignedObjectArray< btScalarm_deltafCRF
 
- Protected Attributes inherited from btSequentialImpulseConstraintSolver
btAlignedObjectArray< btSolverBodym_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::btConstraintInfo1m_tmpConstraintSizesPool
 
int m_maxOverrideNumSolverIterations
 
int m_fixedBodyId
 
btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric
 
btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit
 
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

Definition at line 21 of file btNNCGConstraintSolver.h.

Constructor & Destructor Documentation

btNNCGConstraintSolver::btNNCGConstraintSolver ( )
inline

Definition at line 50 of file btNNCGConstraintSolver.h.

Member Function Documentation

btNNCGConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR ( )
virtual btConstraintSolverType btNNCGConstraintSolver::getSolverType ( ) const
inlinevirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 52 of file btNNCGConstraintSolver.h.

btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish ( btCollisionObject **  bodies,
int  numBodies,
const btContactSolverInfo infoGlobal 
)
protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 447 of file btNNCGConstraintSolver.cpp.

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

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 23 of file btNNCGConstraintSolver.cpp.

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

solve all contact constraints using SIMD, if available

solve all friction constraints, using SIMD, if available

solve all contact constraints

solve all friction constraints

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 40 of file btNNCGConstraintSolver.cpp.

Member Data Documentation

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_deltafC
protected

Definition at line 34 of file btNNCGConstraintSolver.h.

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_deltafCF
protected

Definition at line 35 of file btNNCGConstraintSolver.h.

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_deltafCRF
protected

Definition at line 36 of file btNNCGConstraintSolver.h.

btScalar btNNCGConstraintSolver::m_deltafLengthSqrPrev
protected

Definition at line 25 of file btNNCGConstraintSolver.h.

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_deltafNC
protected

Definition at line 33 of file btNNCGConstraintSolver.h.

bool btNNCGConstraintSolver::m_onlyForNoneContact

Definition at line 57 of file btNNCGConstraintSolver.h.

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_pC
protected

Definition at line 28 of file btNNCGConstraintSolver.h.

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_pCF
protected

Definition at line 29 of file btNNCGConstraintSolver.h.

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_pCRF
protected

Definition at line 30 of file btNNCGConstraintSolver.h.

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_pNC
protected

Definition at line 27 of file btNNCGConstraintSolver.h.


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