Bullet Collision Detection & Physics Library: btMultiBodyConstraintSolver.h Source File

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btMultiBodyConstraintSolver.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_MULTIBODY_CONSTRAINT_SOLVER_H
17 #define BT_MULTIBODY_CONSTRAINT_SOLVER_H
18
19 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
20 #include "btMultiBodySolverConstraint.h"
21
22 #define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
23
24 class btMultiBody;
25
26 #include "btMultiBodyConstraint.h"
27
28
29
30 ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
31 {
32
33 protected:
34
35 btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
36
37 btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
38 btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
39
40 btMultiBodyJacobianData m_data;
41
42 //temp storage for multi body constraints for a specific island/group called by 'solveGroup'
43 btMultiBodyConstraint** m_tmpMultiBodyConstraints;
44 int m_tmpNumMultiBodyConstraints;
45
46 void resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
47
48
49 void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);
50 btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
51
52
53 void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint& constraintRow,
54 btScalar* jacA,btScalar* jacB,
55 btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
56 const btContactSolverInfo& infoGlobal);
57
58 void setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
59 const btVector3& contactNormal,
60 btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
61 btScalar& relaxation,
62 bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
63
64 void convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
65 virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
66 // virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
67
68 virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
69 void applyDeltaVee(btScalar* deltaV, btScalar impulse, int velocityIndex, int ndof);
70 void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& constraint, btScalar deltaTime);
71 public:
72
73 BT_DECLARE_ALIGNED_ALLOCATOR();
74
76 virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
77 virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
78
79 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);
80 };
81
82
83
84
85
86 #endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H
87
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:54
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition: btMultiBodySolverConstraint.h:28
btAlignedObjectArray< btMultiBodySolverConstraint >
btMultiBodySolverConstraint.h
btSequentialImpulseConstraintSolver.h
btMultiBodyConstraint.h
btManifoldPoint
ManifoldContactPoint collects and maintains persistent contactpoints.
Definition: btManifoldPoint.h:42
btMultiBodyConstraintSolver::m_tmpNumMultiBodyConstraints
int m_tmpNumMultiBodyConstraints
Definition: btMultiBodyConstraintSolver.h:44
btMultiBody
Definition: btMultiBody.h:51
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:42
btMultiBodyConstraintSolver::m_multiBodyNonContactConstraints
btMultiBodyConstraintArray m_multiBodyNonContactConstraints
Definition: btMultiBodyConstraintSolver.h:35
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:49
btMultiBodyConstraintSolver
Definition: btMultiBodyConstraintSolver.h:30
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:28
btMultiBodyConstraintSolver::m_multiBodyFrictionContactConstraints
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints
Definition: btMultiBodyConstraintSolver.h:38
btSequentialImpulseConstraintSolver
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
Definition: btSequentialImpulseConstraintSolver.h:33
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
btContactSolverInfo
Definition: btContactSolverInfo.h:65
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:78
btMultiBodyConstraintSolver::m_multiBodyNormalContactConstraints
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints
Definition: btMultiBodyConstraintSolver.h:37
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btMultiBodyConstraintSolver::m_tmpMultiBodyConstraints
btMultiBodyConstraint ** m_tmpMultiBodyConstraints
Definition: btMultiBodyConstraintSolver.h:43
btDispatcher
The btDispatcher interface class can be used in combination with broadphase to dispatch calculations ...
Definition: btDispatcher.h:69
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btMultiBodyConstraintSolver::m_data
btMultiBodyJacobianData m_data
Definition: btMultiBodyConstraintSolver.h:40