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

The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method. More...

#include <btSequentialImpulseConstraintSolver.h>

Inheritance diagram for btSequentialImpulseConstraintSolver:
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Public Member Functions

 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
 
virtual btConstraintSolverType getSolverType () 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

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)
 
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)
 

Static Protected Member Functions

static void applyAnisotropicFriction (btCollisionObject *colObj, btVector3 &frictionDirection, int frictionMode)
 

Protected Attributes

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...
 

Detailed Description

The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.

Definition at line 33 of file btSequentialImpulseConstraintSolver.h.

Constructor & Destructor Documentation

btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver ( )

Definition at line 366 of file btSequentialImpulseConstraintSolver.cpp.

btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver ( )
virtual

Definition at line 398 of file btSequentialImpulseConstraintSolver.cpp.

Member Function Documentation

btSolverConstraint & btSequentialImpulseConstraintSolver::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. 
)
protected

Definition at line 644 of file btSequentialImpulseConstraintSolver.cpp.

btSolverConstraint & btSequentialImpulseConstraintSolver::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 
)
protected

Definition at line 731 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::applyAnisotropicFriction ( btCollisionObject *  colObj,
btVector3 &  frictionDirection,
int  frictionMode 
)
staticprotected

Definition at line 527 of file btSequentialImpulseConstraintSolver.cpp.

btSequentialImpulseConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR ( )
unsigned long btSequentialImpulseConstraintSolver::btRand2 ( )

Definition at line 434 of file btSequentialImpulseConstraintSolver.cpp.

int btSequentialImpulseConstraintSolver::btRandInt2 ( int  n)

Definition at line 443 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::convertBodies ( btCollisionObject **  bodies,
int  numBodies,
const btContactSolverInfo &  infoGlobal 
)
protectedvirtual

Reimplemented in btSequentialImpulseConstraintSolverMt.

Definition at line 1472 of file btSequentialImpulseConstraintSolver.cpp.

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

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 very frame based on the relative linear velocity. If the relative velocity it 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 1090 of file btSequentialImpulseConstraintSolver.cpp.

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

Reimplemented in btSequentialImpulseConstraintSolverMt, and btMultiBodyConstraintSolver.

Definition at line 1255 of file btSequentialImpulseConstraintSolver.cpp.

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

the size of btSolverConstraint needs be a multiple of btScalar

finalize the constraint setup

Definition at line 1270 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::convertJoints ( btTypedConstraint **  constraints,
int  numConstraints,
const btContactSolverInfo &  infoGlobal 
)
protectedvirtual

setup the btSolverConstraints

Reimplemented in btSequentialImpulseConstraintSolverMt.

Definition at line 1407 of file btSequentialImpulseConstraintSolver.cpp.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverGeneric ( )
inline

Definition at line 170 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverLowerLimit ( )
inline

Definition at line 178 of file btSequentialImpulseConstraintSolver.h.

int btSequentialImpulseConstraintSolver::getOrInitSolverBody ( btCollisionObject &  body,
btScalar  timeStep 
)
protected

Definition at line 741 of file btSequentialImpulseConstraintSolver.cpp.

unsigned long btSequentialImpulseConstraintSolver::getRandSeed ( ) const
inline

Definition at line 159 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverGeneric ( )

Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4.

Definition at line 402 of file btSequentialImpulseConstraintSolver.cpp.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getScalarConstraintRowSolverLowerLimit ( )

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

Definition at line 407 of file btSequentialImpulseConstraintSolver.cpp.

virtual btConstraintSolverType btSequentialImpulseConstraintSolver::getSolverType ( ) const
inlinevirtual

Implements btConstraintSolver.

Reimplemented in btMultiBodyMLCPConstraintSolver, btMLCPSolver, and btNNCGConstraintSolver.

Definition at line 165 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric ( )
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit ( )
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric ( )
btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit ( )
void btSequentialImpulseConstraintSolver::initSolverBody ( btSolverBody *  solverBody,
btCollisionObject *  collisionObject,
btScalar  timeStep 
)
protected

Definition at line 472 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::reset ( )
virtual

clear internal cached data and reset random seed

Implements btConstraintSolver.

Definition at line 2001 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 279 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 273 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 290 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 284 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 121 of file btSequentialImpulseConstraintSolver.h.

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

Definition at line 108 of file btSequentialImpulseConstraintSolver.h.

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

Definition at line 103 of file btSequentialImpulseConstraintSolver.h.

btScalar btSequentialImpulseConstraintSolver::restitutionCurve ( btScalar  rel_vel,
btScalar  restitution,
btScalar  velocityThreshold 
)
protected

Definition at line 515 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setConstraintRowSolverGeneric ( btSingleConstraintRowSolver  rowSolver)
inline

Definition at line 174 of file btSequentialImpulseConstraintSolver.h.

void btSequentialImpulseConstraintSolver::setConstraintRowSolverLowerLimit ( btSingleConstraintRowSolver  rowSolver)
inline

Definition at line 182 of file btSequentialImpulseConstraintSolver.h.

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

Definition at line 1044 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setRandSeed ( unsigned long  seed)
inline

Definition at line 155 of file btSequentialImpulseConstraintSolver.h.

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

warm starting (or zero if disabled)

Definition at line 845 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::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. 
)
protected

Definition at line 547 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::setupSolverFunctions ( bool  useSimd)
protected

Definition at line 373 of file btSequentialImpulseConstraintSolver.cpp.

void btSequentialImpulseConstraintSolver::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. 
)
protected

Definition at line 654 of file btSequentialImpulseConstraintSolver.cpp.

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

btSequentialImpulseConstraintSolver Sequentially applies impulses

Implements btConstraintSolver.

Reimplemented in btMultiBodyConstraintSolver.

Definition at line 1986 of file btSequentialImpulseConstraintSolver.cpp.

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

Reimplemented in btMultiBodyConstraintSolver, btSequentialImpulseConstraintSolverMt, and btNNCGConstraintSolver.

Definition at line 1962 of file btSequentialImpulseConstraintSolver.cpp.

btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlyIterations ( btCollisionObject **  bodies,
int  numBodies,
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)

Reimplemented in btMultiBodyMLCPConstraintSolver, and btMLCPSolver.

Definition at line 1861 of file btSequentialImpulseConstraintSolver.cpp.

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

Reimplemented in btMultiBodyMLCPConstraintSolver, btMultiBodyConstraintSolver, btSequentialImpulseConstraintSolverMt, btMLCPSolver, and btNNCGConstraintSolver.

Definition at line 1519 of file btSequentialImpulseConstraintSolver.cpp.

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

Reimplemented in btSequentialImpulseConstraintSolverMt.

Definition at line 1828 of file btSequentialImpulseConstraintSolver.cpp.

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

solve all joint constraints

solve all contact constraints

solve all friction constraints

Reimplemented in btMultiBodyConstraintSolver, btSequentialImpulseConstraintSolverMt, and btNNCGConstraintSolver.

Definition at line 1649 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 1934 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 1889 of file btSequentialImpulseConstraintSolver.cpp.

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

Definition at line 1909 of file btSequentialImpulseConstraintSolver.cpp.

Member Data Documentation

unsigned long btSequentialImpulseConstraintSolver::m_btSeed2
protected

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

Definition at line 89 of file btSequentialImpulseConstraintSolver.h.

int btSequentialImpulseConstraintSolver::m_cachedSolverMode
protected

Definition at line 60 of file btSequentialImpulseConstraintSolver.h.

int btSequentialImpulseConstraintSolver::m_fixedBodyId
protected

Definition at line 47 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_kinematicBodyUniqueIdToSolverBodyTable
protected

Definition at line 55 of file btSequentialImpulseConstraintSolver.h.

btScalar btSequentialImpulseConstraintSolver::m_leastSquaresResidual
protected

Definition at line 63 of file btSequentialImpulseConstraintSolver.h.

int btSequentialImpulseConstraintSolver::m_maxOverrideNumSolverIterations
protected

Definition at line 46 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderFrictionConstraintPool
protected

Definition at line 44 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderNonContactConstraintPool
protected

Definition at line 43 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderTmpConstraintPool
protected

Definition at line 42 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowGeneric
protected

Definition at line 57 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowLowerLimit
protected

Definition at line 58 of file btSequentialImpulseConstraintSolver.h.

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSplitPenetrationImpulse
protected

Definition at line 59 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> btSequentialImpulseConstraintSolver::m_tmpConstraintSizesPool
protected

Definition at line 45 of file btSequentialImpulseConstraintSolver.h.

btAlignedObjectArray<btSolverBody> btSequentialImpulseConstraintSolver::m_tmpSolverBodyPool
protected

Definition at line 36 of file btSequentialImpulseConstraintSolver.h.

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactConstraintPool
protected

Definition at line 37 of file btSequentialImpulseConstraintSolver.h.

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactFrictionConstraintPool
protected

Definition at line 39 of file btSequentialImpulseConstraintSolver.h.

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactRollingFrictionConstraintPool
protected

Definition at line 40 of file btSequentialImpulseConstraintSolver.h.

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverNonContactConstraintPool
protected

Definition at line 38 of file btSequentialImpulseConstraintSolver.h.

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