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

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btMLCPSolver.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
16
17#ifndef BT_MLCP_SOLVER_H
18#define BT_MLCP_SOLVER_H
19
20#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
21#include "LinearMath/btMatrixX.h"
22#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"
23
24 class btMLCPSolver : public btSequentialImpulseConstraintSolver
25{
26protected:
27 btMatrixXu m_A;
28 btVectorXu m_b;
29 btVectorXu m_x;
30 btVectorXu m_lo;
31 btVectorXu m_hi;
32
34 btVectorXu m_bSplit;
35 btVectorXu m_xSplit;
36 btVectorXu m_bSplit1;
37 btVectorXu m_xSplit2;
38
39 btAlignedObjectArray<int> m_limitDependencies;
40 btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
41 btMLCPSolverInterface* m_solver;
42 int m_fallback;
43
47 btMatrixXu m_scratchJ3;
48 btMatrixXu m_scratchJInvM3;
49 btAlignedObjectArray<int> m_scratchOfs;
50 btMatrixXu m_scratchMInv;
51 btMatrixXu m_scratchJ;
52 btMatrixXu m_scratchJTranspose;
53 btMatrixXu m_scratchTmp;
54
55 virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
56 virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
57
58 virtual void createMLCP(const btContactSolverInfo& infoGlobal);
59 virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
60
61 //return true is it solves the problem successfully
62 virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
63
64public:
65 btMLCPSolver(btMLCPSolverInterface* solver);
66 virtual ~btMLCPSolver();
67
68 void setMLCPSolver(btMLCPSolverInterface* solver)
69 {
70 m_solver = solver;
71 }
72
73 int getNumFallbacks() const
74 {
75 return m_fallback;
76 }
77 void setNumFallbacks(int num)
78 {
79 m_fallback = num;
80 }
81
82 virtual btConstraintSolverType getSolverType() const
83 {
84 return BT_MLCP_SOLVER;
85 }
86};
87
88#endif //BT_MLCP_SOLVER_H
btConstraintSolverType
btConstraintSolverType
btConstraintSolver provides solver interface
Definition: btConstraintSolver.h:33
BT_MLCP_SOLVER
@ BT_MLCP_SOLVER
Definition: btConstraintSolver.h:35
btMLCPSolverInterface.h
btMatrixX.h
btMatrixXu
#define btMatrixXu
Definition: btMatrixX.h:529
btVectorXu
#define btVectorXu
Definition: btMatrixX.h:528
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSequentialImpulseConstraintSolver.h
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:51
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btMLCPSolverInterface
original version written by Erwin Coumans, October 2013
Definition: btMLCPSolverInterface.h:23
btMLCPSolver
original version written by Erwin Coumans, October 2013
Definition: btMLCPSolver.h:25
btMLCPSolver::m_scratchTmp
btMatrixXu m_scratchTmp
Definition: btMLCPSolver.h:53
btMLCPSolver::m_b
btVectorXu m_b
Definition: btMLCPSolver.h:28
btMLCPSolver::m_bSplit1
btVectorXu m_bSplit1
Definition: btMLCPSolver.h:36
btMLCPSolver::m_scratchJTranspose
btMatrixXu m_scratchJTranspose
Definition: btMLCPSolver.h:52
btMLCPSolver::~btMLCPSolver
virtual ~btMLCPSolver()
Definition: btMLCPSolver.cpp:28
btMLCPSolver::m_scratchMInv
btMatrixXu m_scratchMInv
Definition: btMLCPSolver.h:50
btMLCPSolver::m_limitDependencies
btAlignedObjectArray< int > m_limitDependencies
Definition: btMLCPSolver.h:39
btMLCPSolver::m_scratchJ
btMatrixXu m_scratchJ
Definition: btMLCPSolver.h:51
btMLCPSolver::m_x
btVectorXu m_x
Definition: btMLCPSolver.h:29
btMLCPSolver::createMLCP
virtual void createMLCP(const btContactSolverInfo &infoGlobal)
Definition: btMLCPSolver.cpp:458
btMLCPSolver::m_scratchJ3
btMatrixXu m_scratchJ3
The following scratch variables are not stateful – contents are cleared prior to each use.
Definition: btMLCPSolver.h:47
btMLCPSolver::m_xSplit
btVectorXu m_xSplit
Definition: btMLCPSolver.h:35
btMLCPSolver::solveMLCP
virtual bool solveMLCP(const btContactSolverInfo &infoGlobal)
Definition: btMLCPSolver.cpp:116
btMLCPSolver::m_bSplit
btVectorXu m_bSplit
when using 'split impulse' we solve two separate (M)LCPs
Definition: btMLCPSolver.h:34
btMLCPSolver::solveGroupCacheFriendlySetup
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
Definition: btMLCPSolver.cpp:35
btMLCPSolver::m_hi
btVectorXu m_hi
Definition: btMLCPSolver.h:31
btMLCPSolver::m_A
btMatrixXu m_A
Definition: btMLCPSolver.h:27
btMLCPSolver::m_scratchOfs
btAlignedObjectArray< int > m_scratchOfs
Definition: btMLCPSolver.h:49
btMLCPSolver::m_scratchJInvM3
btMatrixXu m_scratchJInvM3
Definition: btMLCPSolver.h:48
btMLCPSolver::createMLCPFast
virtual void createMLCPFast(const btContactSolverInfo &infoGlobal)
Definition: btMLCPSolver.cpp:148
btMLCPSolver::solveGroupCacheFriendlyIterations
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
Definition: btMLCPSolver.cpp:570
btMLCPSolver::m_fallback
int m_fallback
Definition: btMLCPSolver.h:42
btMLCPSolver::getNumFallbacks
int getNumFallbacks() const
Definition: btMLCPSolver.h:73
btMLCPSolver::m_allConstraintPtrArray
btAlignedObjectArray< btSolverConstraint * > m_allConstraintPtrArray
Definition: btMLCPSolver.h:40
btMLCPSolver::m_solver
btMLCPSolverInterface * m_solver
Definition: btMLCPSolver.h:41
btMLCPSolver::setNumFallbacks
void setNumFallbacks(int num)
Definition: btMLCPSolver.h:77
btMLCPSolver::m_xSplit2
btVectorXu m_xSplit2
Definition: btMLCPSolver.h:37
btMLCPSolver::m_lo
btVectorXu m_lo
Definition: btMLCPSolver.h:30
btMLCPSolver::getSolverType
virtual btConstraintSolverType getSolverType() const
Definition: btMLCPSolver.h:82
btMLCPSolver::setMLCPSolver
void setMLCPSolver(btMLCPSolverInterface *solver)
Definition: btMLCPSolver.h:68
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:65
btSequentialImpulseConstraintSolver
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
Definition: btSequentialImpulseConstraintSolver.h:52
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:76
btContactSolverInfo
Definition: btContactSolverInfo.h:76