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

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btMultiBodySolverConstraint.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 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*/
15
16#ifndef BT_MULTIBODY_SOLVER_CONSTRAINT_H
17#define BT_MULTIBODY_SOLVER_CONSTRAINT_H
18
19#include "LinearMath/btVector3.h"
20#include "LinearMath/btAlignedObjectArray.h"
21
22class btMultiBody;
23class btMultiBodyConstraint;
24#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
25#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
26
28 ATTRIBUTE_ALIGNED16(struct)
29 btMultiBodySolverConstraint
30{
31 BT_DECLARE_ALIGNED_ALLOCATOR();
32
33 btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1), m_orgConstraint(0), m_orgDofIndex(-1)
34 {
35 }
36
37 int m_deltaVelAindex; //more generic version of m_relpos1CrossNormal/m_contactNormal1
38 int m_jacAindex;
39 int m_deltaVelBindex;
40 int m_jacBindex;
41
42 btVector3 m_relpos1CrossNormal;
43 btVector3 m_contactNormal1;
44 btVector3 m_relpos2CrossNormal;
45 btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
46
47 btVector3 m_angularComponentA;
48 btVector3 m_angularComponentB;
49
50 mutable btSimdScalar m_appliedPushImpulse;
51 mutable btSimdScalar m_appliedImpulse;
52
53 btScalar m_friction;
54 btScalar m_jacDiagABInv;
55 btScalar m_rhs;
56 btScalar m_cfm;
57
58 btScalar m_lowerLimit;
59 btScalar m_upperLimit;
60 btScalar m_rhsPenetration;
61 union {
62 void* m_originalContactPoint;
63 btScalar m_unusedPadding4;
64 };
65
66 int m_overrideNumSolverIterations;
67 int m_frictionIndex;
68
69 int m_solverBodyIdA;
70 btMultiBody* m_multiBodyA;
71 int m_linkA;
72
73 int m_solverBodyIdB;
74 btMultiBody* m_multiBodyB;
75 int m_linkB;
76
77 //for writing back applied impulses
78 btMultiBodyConstraint* m_orgConstraint;
79 int m_orgDofIndex;
80
81 enum btSolverConstraintType
82 {
83 BT_SOLVER_CONTACT_1D = 0,
84 BT_SOLVER_FRICTION_1D
85 };
86};
87
88 typedef btAlignedObjectArray<btMultiBodySolverConstraint> btMultiBodyConstraintArray;
89
90#endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H
btAlignedObjectArray.h
btContactSolverInfo.h
btMultiBodyConstraintArray
btAlignedObjectArray< btMultiBodySolverConstraint > btMultiBodyConstraintArray
Definition: btMultiBodySolverConstraint.h:88
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btSolverBody.h
btSimdScalar
#define btSimdScalar
Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later,...
Definition: btSolverBody.h:99
btVector3.h
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition: btAlignedObjectArray.h:46
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:57
btMultiBodyConstraint::m_linkB
int m_linkB
Definition: btMultiBodyConstraint.h:62
btMultiBodyConstraint::m_linkA
int m_linkA
Definition: btMultiBodyConstraint.h:61
btMultiBody
Definition: btMultiBody.h:51
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition: btMultiBodySolverConstraint.h:30
btMultiBodySolverConstraint::m_deltaVelAindex
int m_deltaVelAindex
Definition: btMultiBodySolverConstraint.h:37
btMultiBodySolverConstraint::m_deltaVelBindex
int m_deltaVelBindex
Definition: btMultiBodySolverConstraint.h:39
btMultiBodySolverConstraint::m_unusedPadding4
btScalar m_unusedPadding4
Definition: btMultiBodySolverConstraint.h:63
btMultiBodySolverConstraint::m_orgConstraint
btMultiBodyConstraint * m_orgConstraint
Definition: btMultiBodySolverConstraint.h:78
btMultiBodySolverConstraint::m_relpos1CrossNormal
btVector3 m_relpos1CrossNormal
Definition: btMultiBodySolverConstraint.h:42
btMultiBodySolverConstraint::m_originalContactPoint
void * m_originalContactPoint
Definition: btMultiBodySolverConstraint.h:62
btMultiBodySolverConstraint::m_solverBodyIdA
int m_solverBodyIdA
Definition: btMultiBodySolverConstraint.h:69
btMultiBodySolverConstraint::m_rhs
btScalar m_rhs
Definition: btMultiBodySolverConstraint.h:55
btMultiBodySolverConstraint::m_frictionIndex
int m_frictionIndex
Definition: btMultiBodySolverConstraint.h:67
btMultiBodySolverConstraint::m_jacDiagABInv
btScalar m_jacDiagABInv
Definition: btMultiBodySolverConstraint.h:54
btMultiBodySolverConstraint::m_contactNormal2
btVector3 m_contactNormal2
Definition: btMultiBodySolverConstraint.h:45
btMultiBodySolverConstraint::m_orgDofIndex
int m_orgDofIndex
Definition: btMultiBodySolverConstraint.h:79
btMultiBodySolverConstraint::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btMultiBodySolverConstraint::m_contactNormal1
btVector3 m_contactNormal1
Definition: btMultiBodySolverConstraint.h:43
btMultiBodySolverConstraint::m_multiBodyB
btMultiBody * m_multiBodyB
Definition: btMultiBodySolverConstraint.h:74
btMultiBodySolverConstraint::m_linkA
int m_linkA
Definition: btMultiBodySolverConstraint.h:71
btMultiBodySolverConstraint::m_lowerLimit
btScalar m_lowerLimit
Definition: btMultiBodySolverConstraint.h:58
btMultiBodySolverConstraint::m_angularComponentA
btVector3 m_angularComponentA
Definition: btMultiBodySolverConstraint.h:47
btMultiBodySolverConstraint::m_relpos2CrossNormal
btVector3 m_relpos2CrossNormal
Definition: btMultiBodySolverConstraint.h:44
btMultiBodySolverConstraint::m_upperLimit
btScalar m_upperLimit
Definition: btMultiBodySolverConstraint.h:59
btMultiBodySolverConstraint::m_overrideNumSolverIterations
int m_overrideNumSolverIterations
Definition: btMultiBodySolverConstraint.h:66
btMultiBodySolverConstraint::m_jacBindex
int m_jacBindex
Definition: btMultiBodySolverConstraint.h:40
btMultiBodySolverConstraint::m_friction
btScalar m_friction
Definition: btMultiBodySolverConstraint.h:53
btMultiBodySolverConstraint::m_appliedImpulse
btSimdScalar m_appliedImpulse
Definition: btMultiBodySolverConstraint.h:51
btMultiBodySolverConstraint::m_appliedPushImpulse
btSimdScalar m_appliedPushImpulse
Definition: btMultiBodySolverConstraint.h:50
btMultiBodySolverConstraint::m_cfm
btScalar m_cfm
Definition: btMultiBodySolverConstraint.h:56
btMultiBodySolverConstraint::btMultiBodySolverConstraint
btMultiBodySolverConstraint()
Definition: btMultiBodySolverConstraint.h:33
btMultiBodySolverConstraint::m_linkB
int m_linkB
Definition: btMultiBodySolverConstraint.h:75
btMultiBodySolverConstraint::m_rhsPenetration
btScalar m_rhsPenetration
Definition: btMultiBodySolverConstraint.h:60
btMultiBodySolverConstraint::btSolverConstraintType
btSolverConstraintType
Definition: btMultiBodySolverConstraint.h:82
btMultiBodySolverConstraint::m_multiBodyA
btMultiBody * m_multiBodyA
Definition: btMultiBodySolverConstraint.h:70
btMultiBodySolverConstraint::m_jacAindex
int m_jacAindex
Definition: btMultiBodySolverConstraint.h:38
btMultiBodySolverConstraint::m_solverBodyIdB
int m_solverBodyIdB
Definition: btMultiBodySolverConstraint.h:73
btMultiBodySolverConstraint::m_angularComponentB
btVector3 m_angularComponentB
Definition: btMultiBodySolverConstraint.h:48