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

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
 
virtual void reset ()
 clear internal cached data and reset random seed
 
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.
 
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.
 
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)
 
btSimdScalar resolveSplitPenetrationSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
 
btSimdScalar 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)
 
btSimdScalar resolveSplitPenetrationImpulse (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 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
 

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::btSequentialImpulseConstraintSolver ( )

Definition at line 362 of file btSequentialImpulseConstraintSolver.cpp.

◆ ~btSequentialImpulseConstraintSolver()

btSequentialImpulseConstraintSolver::~btSequentialImpulseConstraintSolver ( )
virtual

Definition at line 394 of file btSequentialImpulseConstraintSolver.cpp.

Member Function Documentation

◆ addFrictionConstraint()

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 640 of file btSequentialImpulseConstraintSolver.cpp.

◆ addTorsionalFrictionConstraint()

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 727 of file btSequentialImpulseConstraintSolver.cpp.

◆ applyAnisotropicFriction()

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

Definition at line 523 of file btSequentialImpulseConstraintSolver.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btSequentialImpulseConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ btRand2()

unsigned long btSequentialImpulseConstraintSolver::btRand2 ( )

Definition at line 430 of file btSequentialImpulseConstraintSolver.cpp.

◆ btRandInt2()

int btSequentialImpulseConstraintSolver::btRandInt2 ( int n)

Definition at line 439 of file btSequentialImpulseConstraintSolver.cpp.

◆ convertContact()

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 1082 of file btSequentialImpulseConstraintSolver.cpp.

◆ convertContacts()

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

Reimplemented in btMultiBodyConstraintSolver.

Definition at line 1247 of file btSequentialImpulseConstraintSolver.cpp.

◆ getActiveConstraintRowSolverGeneric()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverGeneric ( )
inline

Definition at line 164 of file btSequentialImpulseConstraintSolver.h.

◆ getActiveConstraintRowSolverLowerLimit()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getActiveConstraintRowSolverLowerLimit ( )
inline

Definition at line 172 of file btSequentialImpulseConstraintSolver.h.

◆ getOrInitSolverBody()

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

Definition at line 737 of file btSequentialImpulseConstraintSolver.cpp.

◆ getRandSeed()

unsigned long btSequentialImpulseConstraintSolver::getRandSeed ( ) const
inline

Definition at line 153 of file btSequentialImpulseConstraintSolver.h.

◆ getScalarConstraintRowSolverGeneric()

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 398 of file btSequentialImpulseConstraintSolver.cpp.

◆ getScalarConstraintRowSolverLowerLimit()

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 403 of file btSequentialImpulseConstraintSolver.cpp.

◆ getSolverType()

virtual btConstraintSolverType btSequentialImpulseConstraintSolver::getSolverType ( ) const
inlinevirtual

Implements btConstraintSolver.

Reimplemented in btNNCGConstraintSolver, and btMLCPSolver.

Definition at line 159 of file btSequentialImpulseConstraintSolver.h.

◆ getSSE2ConstraintRowSolverGeneric()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverGeneric ( )

◆ getSSE2ConstraintRowSolverLowerLimit()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE2ConstraintRowSolverLowerLimit ( )

◆ getSSE4_1ConstraintRowSolverGeneric()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverGeneric ( )

◆ getSSE4_1ConstraintRowSolverLowerLimit()

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::getSSE4_1ConstraintRowSolverLowerLimit ( )

◆ initSolverBody()

void btSequentialImpulseConstraintSolver::initSolverBody ( btSolverBody * solverBody,
btCollisionObject * collisionObject,
btScalar timeStep )
protected

Definition at line 468 of file btSequentialImpulseConstraintSolver.cpp.

◆ reset()

void btSequentialImpulseConstraintSolver::reset ( )
virtual

clear internal cached data and reset random seed

Implements btConstraintSolver.

Definition at line 1970 of file btSequentialImpulseConstraintSolver.cpp.

◆ resolveSingleConstraintRowGeneric()

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

Definition at line 276 of file btSequentialImpulseConstraintSolver.cpp.

◆ resolveSingleConstraintRowGenericSIMD()

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

Definition at line 270 of file btSequentialImpulseConstraintSolver.cpp.

◆ resolveSingleConstraintRowLowerLimit()

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

Definition at line 287 of file btSequentialImpulseConstraintSolver.cpp.

◆ resolveSingleConstraintRowLowerLimitSIMD()

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

Definition at line 281 of file btSequentialImpulseConstraintSolver.cpp.

◆ resolveSplitPenetrationImpulse()

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

Definition at line 117 of file btSequentialImpulseConstraintSolver.h.

◆ resolveSplitPenetrationImpulseCacheFriendly()

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

Definition at line 104 of file btSequentialImpulseConstraintSolver.h.

◆ resolveSplitPenetrationSIMD()

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

Definition at line 99 of file btSequentialImpulseConstraintSolver.h.

◆ restitutionCurve()

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

Definition at line 511 of file btSequentialImpulseConstraintSolver.cpp.

◆ setConstraintRowSolverGeneric()

void btSequentialImpulseConstraintSolver::setConstraintRowSolverGeneric ( btSingleConstraintRowSolver rowSolver)
inline

Definition at line 168 of file btSequentialImpulseConstraintSolver.h.

◆ setConstraintRowSolverLowerLimit()

void btSequentialImpulseConstraintSolver::setConstraintRowSolverLowerLimit ( btSingleConstraintRowSolver rowSolver)
inline

Definition at line 176 of file btSequentialImpulseConstraintSolver.h.

◆ setFrictionConstraintImpulse()

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

Definition at line 1036 of file btSequentialImpulseConstraintSolver.cpp.

◆ setRandSeed()

void btSequentialImpulseConstraintSolver::setRandSeed ( unsigned long seed)
inline

Definition at line 149 of file btSequentialImpulseConstraintSolver.h.

◆ setupContactConstraint()

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 837 of file btSequentialImpulseConstraintSolver.cpp.

◆ setupFrictionConstraint()

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 543 of file btSequentialImpulseConstraintSolver.cpp.

◆ setupSolverFunctions()

void btSequentialImpulseConstraintSolver::setupSolverFunctions ( bool useSimd)
protected

Definition at line 369 of file btSequentialImpulseConstraintSolver.cpp.

◆ setupTorsionalFrictionConstraint()

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 650 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveGroup()

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 1955 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveGroupCacheFriendlyFinish()

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

Reimplemented in btNNCGConstraintSolver, and btMultiBodyConstraintSolver.

Definition at line 1869 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveGroupCacheFriendlyIterations()

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 btMLCPSolver.

Definition at line 1841 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveGroupCacheFriendlySetup()

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

setup the btSolverConstraints

the size of btSolverConstraint needs be a multiple of btScalar

finalize the constraint setup

Reimplemented in btNNCGConstraintSolver, btMultiBodyConstraintSolver, and btMLCPSolver.

Definition at line 1261 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveGroupCacheFriendlySplitImpulseIterations()

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

Definition at line 1809 of file btSequentialImpulseConstraintSolver.cpp.

◆ solveSingleIteration()

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 btNNCGConstraintSolver, and btMultiBodyConstraintSolver.

Definition at line 1631 of file btSequentialImpulseConstraintSolver.cpp.

Member Data Documentation

◆ m_btSeed2

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.

◆ m_cachedSolverMode

int btSequentialImpulseConstraintSolver::m_cachedSolverMode
protected

Definition at line 60 of file btSequentialImpulseConstraintSolver.h.

◆ m_fixedBodyId

int btSequentialImpulseConstraintSolver::m_fixedBodyId
protected

Definition at line 47 of file btSequentialImpulseConstraintSolver.h.

◆ m_kinematicBodyUniqueIdToSolverBodyTable

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_kinematicBodyUniqueIdToSolverBodyTable
protected

Definition at line 55 of file btSequentialImpulseConstraintSolver.h.

◆ m_leastSquaresResidual

btScalar btSequentialImpulseConstraintSolver::m_leastSquaresResidual
protected

Definition at line 63 of file btSequentialImpulseConstraintSolver.h.

◆ m_maxOverrideNumSolverIterations

int btSequentialImpulseConstraintSolver::m_maxOverrideNumSolverIterations
protected

Definition at line 46 of file btSequentialImpulseConstraintSolver.h.

◆ m_orderFrictionConstraintPool

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderFrictionConstraintPool
protected

Definition at line 44 of file btSequentialImpulseConstraintSolver.h.

◆ m_orderNonContactConstraintPool

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderNonContactConstraintPool
protected

Definition at line 43 of file btSequentialImpulseConstraintSolver.h.

◆ m_orderTmpConstraintPool

btAlignedObjectArray<int> btSequentialImpulseConstraintSolver::m_orderTmpConstraintPool
protected

Definition at line 42 of file btSequentialImpulseConstraintSolver.h.

◆ m_resolveSingleConstraintRowGeneric

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowGeneric
protected

Definition at line 57 of file btSequentialImpulseConstraintSolver.h.

◆ m_resolveSingleConstraintRowLowerLimit

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSingleConstraintRowLowerLimit
protected

Definition at line 58 of file btSequentialImpulseConstraintSolver.h.

◆ m_resolveSplitPenetrationImpulse

btSingleConstraintRowSolver btSequentialImpulseConstraintSolver::m_resolveSplitPenetrationImpulse
protected

Definition at line 59 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpConstraintSizesPool

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

Definition at line 45 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpSolverBodyPool

btAlignedObjectArray<btSolverBody> btSequentialImpulseConstraintSolver::m_tmpSolverBodyPool
protected

Definition at line 36 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpSolverContactConstraintPool

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactConstraintPool
protected

Definition at line 37 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpSolverContactFrictionConstraintPool

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactFrictionConstraintPool
protected

Definition at line 39 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpSolverContactRollingFrictionConstraintPool

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverContactRollingFrictionConstraintPool
protected

Definition at line 40 of file btSequentialImpulseConstraintSolver.h.

◆ m_tmpSolverNonContactConstraintPool

btConstraintArray btSequentialImpulseConstraintSolver::m_tmpSolverNonContactConstraintPool
protected

Definition at line 38 of file btSequentialImpulseConstraintSolver.h.

The documentation for this class was generated from the following files:
Generated by doxygen 1.10.0