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| | BT_DECLARE_ALIGNED_ALLOCATOR () |
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| virtual btScalar | solveGroup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher) |
| | this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints) More...
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| virtual btScalar | solveGroupCacheFriendlyFinish (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal) |
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| 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) |
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| | BT_DECLARE_ALIGNED_ALLOCATOR () |
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| | btSequentialImpulseConstraintSolver () |
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| virtual | ~btSequentialImpulseConstraintSolver () |
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| virtual void | reset () |
| | clear internal cached data and reset random seed More...
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| unsigned long | btRand2 () |
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| int | btRandInt2 (int n) |
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| void | setRandSeed (unsigned long seed) |
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| unsigned long | getRandSeed () const |
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| virtual btConstraintSolverType | getSolverType () const |
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| btSingleConstraintRowSolver | getActiveConstraintRowSolverGeneric () |
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| void | setConstraintRowSolverGeneric (btSingleConstraintRowSolver rowSolver) |
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| btSingleConstraintRowSolver | getActiveConstraintRowSolverLowerLimit () |
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| void | setConstraintRowSolverLowerLimit (btSingleConstraintRowSolver rowSolver) |
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| btSingleConstraintRowSolver | getScalarConstraintRowSolverGeneric () |
| | Various implementations of solving a single constraint row using a generic equality constraint, using scalar reference, SSE2 or SSE4. More...
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| btSingleConstraintRowSolver | getSSE2ConstraintRowSolverGeneric () |
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| btSingleConstraintRowSolver | getSSE4_1ConstraintRowSolverGeneric () |
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| btSingleConstraintRowSolver | getScalarConstraintRowSolverLowerLimit () |
| | Various implementations of solving a single constraint row using an inequality (lower limit) constraint, using scalar reference, SSE2 or SSE4. More...
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| btSingleConstraintRowSolver | getSSE2ConstraintRowSolverLowerLimit () |
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| btSingleConstraintRowSolver | getSSE4_1ConstraintRowSolverLowerLimit () |
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| virtual | ~btConstraintSolver () |
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| virtual void | prepareSolve (int, int) |
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| virtual void | allSolved (const btContactSolverInfo &, class btIDebugDraw *) |
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| btScalar | resolveSingleConstraintRowGeneric (const btMultiBodySolverConstraint &c) |
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| btScalar | resolveConeFrictionConstraintRows (const btMultiBodySolverConstraint &cA1, const btMultiBodySolverConstraint &cB) |
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| void | convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal) |
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| 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) |
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| btMultiBodySolverConstraint & | addMultiBodyTorsionalFrictionConstraint (const btVector3 &normalAxis, btPersistentManifold *manifold, int frictionIndex, btManifoldPoint &cp, btScalar combinedTorsionalFriction, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0) |
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| void | setupMultiBodyJointLimitConstraint (btMultiBodySolverConstraint &constraintRow, btScalar *jacA, btScalar *jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, const btContactSolverInfo &infoGlobal) |
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| void | setupMultiBodyContactConstraint (btMultiBodySolverConstraint &solverConstraint, const btVector3 &contactNormal, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0) |
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| void | setupMultiBodyTorsionalFrictionConstraint (btMultiBodySolverConstraint &solverConstraint, const btVector3 &contactNormal, btManifoldPoint &cp, btScalar combinedTorsionalFriction, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0) |
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| void | convertMultiBodyContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal) |
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| virtual btScalar | solveGroupCacheFriendlySetup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) |
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| virtual btScalar | solveSingleIteration (int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) |
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| void | applyDeltaVee (btScalar *deltaV, btScalar impulse, int velocityIndex, int ndof) |
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| void | writeBackSolverBodyToMultiBody (btMultiBodySolverConstraint &constraint, btScalar deltaTime) |
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| void | setupSolverFunctions (bool useSimd) |
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| 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.) |
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| 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.) |
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| 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.) |
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| 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) |
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| void | setupContactConstraint (btSolverConstraint &solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btScalar &relaxation, const btVector3 &rel_pos1, const btVector3 &rel_pos2) |
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| void | setFrictionConstraintImpulse (btSolverConstraint &solverConstraint, int solverBodyIdA, int solverBodyIdB, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal) |
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| btScalar | restitutionCurve (btScalar rel_vel, btScalar restitution, btScalar velocityThreshold) |
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| void | convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal) |
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| virtual void | convertJoints (btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal) |
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| void | convertJoint (btSolverConstraint *currentConstraintRow, btTypedConstraint *constraint, const btTypedConstraint::btConstraintInfo1 &info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo &infoGlobal) |
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| virtual void | convertBodies (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal) |
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| btScalar | resolveSplitPenetrationSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint) |
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| btScalar | resolveSplitPenetrationImpulseCacheFriendly (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint) |
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| int | getOrInitSolverBody (btCollisionObject &body, btScalar timeStep) |
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| void | initSolverBody (btSolverBody *solverBody, btCollisionObject *collisionObject, btScalar timeStep) |
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| btScalar | resolveSingleConstraintRowGeneric (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint) |
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| btScalar | resolveSingleConstraintRowGenericSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint) |
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| btScalar | resolveSingleConstraintRowLowerLimit (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint) |
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| btScalar | resolveSingleConstraintRowLowerLimitSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint) |
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| btScalar | resolveSplitPenetrationImpulse (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint) |
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| void | writeBackContacts (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal) |
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| void | writeBackJoints (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal) |
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| void | writeBackBodies (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal) |
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| virtual void | solveGroupCacheFriendlySplitImpulseIterations (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) |
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| virtual btScalar | solveGroupCacheFriendlyIterations (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) |
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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 every frame based on the relative linear velocity. If the relative velocity is 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 1172 of file btMultiBodyConstraintSolver.cpp.