Bullet Collision Detection & Physics Library: btDeformableMultiBodyConstraintSolver Class Reference

Bullet Collision Detection & Physics Library

Public Member Functions | Protected Member Functions | Private Attributes | List of all members
btDeformableMultiBodyConstraintSolver Class Reference

`#include <btDeformableMultiBodyConstraintSolver.h>`

Inheritance diagram for btDeformableMultiBodyConstraintSolver:
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Collaboration diagram for btDeformableMultiBodyConstraintSolver:
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## Public Member Functions
| BT_DECLARE_ALIGNED_ALLOCATOR ()
void | setDeformableSolver (btDeformableBodySolver *deformableSolver)
virtual void | solveDeformableBodyGroup (btCollisionObject **bodies, int numBodies, btCollisionObject **deformableBodies, int numDeformableBodies, btPersistentManifold **manifold, int numManifolds, btTypedConstraint **constraints, int numConstraints, btMultiBodyConstraint **multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo &info, btIDebugDraw *debugDrawer, btDispatcher *dispatcher)
Public Member Functions inherited from btMultiBodyConstraintSolver
| BT_DECLARE_ALIGNED_ALLOCATOR ()
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)
virtual btScalar | solveGroupCacheFriendlyFinish (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
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)
Public Member Functions inherited from btSequentialImpulseConstraintSolver
| BT_DECLARE_ALIGNED_ALLOCATOR ()
| btSequentialImpulseConstraintSolver ()
virtual | ~btSequentialImpulseConstraintSolver ()
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 | solverBodyWriteBack (const btContactSolverInfo &infoGlobal)
void | writeToSolverBody (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
void | pairDeformableAndSolverBody (btCollisionObject **bodies, int numBodies, int numDeformableBodies, const btContactSolverInfo &infoGlobal)
virtual void | solveGroupCacheFriendlySplitImpulseIterations (btCollisionObject **bodies, int numBodies, btCollisionObject **deformableBodies, int numDeformableBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
virtual btScalar | solveDeformableGroupIterations (btCollisionObject **bodies, int numBodies, btCollisionObject **deformableBodies, int numDeformableBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
Protected Member Functions inherited from btMultiBodyConstraintSolver
btScalar | resolveSingleConstraintRowGeneric (const btMultiBodySolverConstraint &c)
btScalar | resolveConeFrictionConstraintRows (const btMultiBodySolverConstraint &cA1, const btMultiBodySolverConstraint &cB)
void | convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
btMultiBodySolverConstraint & | addMultiBodyFrictionConstraint (const btVector3 &normalAxis, const btScalar &appliedImpulse, btPersistentManifold *manifold, int frictionIndex, btManifoldPoint &cp, btCollisionObject *colObj0, btCollisionObject *colObj1, btScalar relaxation, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0)
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)
btMultiBodySolverConstraint & | addMultiBodySpinningFrictionConstraint (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)
void | setupMultiBodyJointLimitConstraint (btMultiBodySolverConstraint &constraintRow, btScalar *jacA, btScalar *jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, const btContactSolverInfo &infoGlobal)
void | setupMultiBodyContactConstraint (btMultiBodySolverConstraint &solverConstraint, const btVector3 &contactNormal, const btScalar &appliedImpulse, btManifoldPoint &cp, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)
void | setupMultiBodyTorsionalFrictionConstraint (btMultiBodySolverConstraint &solverConstraint, const btVector3 &contactNormal, btManifoldPoint &cp, btScalar combinedTorsionalFriction, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)
void | convertMultiBodyContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
virtual btScalar | solveGroupCacheFriendlySetup (btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
virtual btScalar | solveSingleIteration (int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
void | applyDeltaVee (btScalar *deltaV, btScalar impulse, int velocityIndex, int ndof)
void | writeBackSolverBodyToMultiBody (btMultiBodySolverConstraint &constraint, btScalar deltaTime)
Protected Member Functions inherited from btSequentialImpulseConstraintSolver
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)
void | convertContact (btPersistentManifold *manifold, const btContactSolverInfo &infoGlobal)
virtual void | convertJoints (btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal)
void | convertJoint (btSolverConstraint *currentConstraintRow, btTypedConstraint *constraint, const btTypedConstraint::btConstraintInfo1 &info1, int solverBodyIdA, int solverBodyIdB, const btContactSolverInfo &infoGlobal)
virtual void | convertBodies (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
btScalar | resolveSplitPenetrationSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btScalar | resolveSplitPenetrationImpulseCacheFriendly (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
int | getOrInitSolverBody (btCollisionObject &body, btScalar timeStep)
void | initSolverBody (btSolverBody *solverBody, btCollisionObject *collisionObject, btScalar timeStep)
btScalar | resolveSingleConstraintRowGeneric (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btScalar | resolveSingleConstraintRowGenericSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btScalar | resolveSingleConstraintRowLowerLimit (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btScalar | resolveSingleConstraintRowLowerLimitSIMD (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btScalar | resolveSplitPenetrationImpulse (btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
void | writeBackContacts (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
void | writeBackJoints (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
void | writeBackBodies (int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
virtual void | solveGroupCacheFriendlySplitImpulseIterations (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)

## Private Attributes
btDeformableBodySolver * | m_deformableSolver

## Additional Inherited Members
Public Attributes inherited from btSequentialImpulseConstraintSolver
btSolverAnalyticsData | m_analyticsData
Static Protected Member Functions inherited from btSequentialImpulseConstraintSolver
static void | applyAnisotropicFriction (btCollisionObject *colObj, btVector3 &frictionDirection, int frictionMode)
Protected Attributes inherited from btMultiBodyConstraintSolver
btMultiBodyConstraintArray | m_multiBodyNonContactConstraints
btMultiBodyConstraintArray | m_multiBodyNormalContactConstraints
btMultiBodyConstraintArray | m_multiBodyFrictionContactConstraints
btMultiBodyConstraintArray | m_multiBodyTorsionalFrictionContactConstraints
btMultiBodyConstraintArray | m_multiBodySpinningFrictionContactConstraints
btMultiBodyJacobianData | m_data
btMultiBodyConstraint ** | m_tmpMultiBodyConstraints
int | m_tmpNumMultiBodyConstraints
Protected Attributes inherited from btSequentialImpulseConstraintSolver
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

Definition at line 31 of file btDeformableMultiBodyConstraintSolver.h.

## Member Function Documentation

## ◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btDeformableMultiBodyConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR | ( |  | ) |

## ◆ pairDeformableAndSolverBody()

void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody | ( | btCollisionObject ** | bodies,
|  | int | numBodies,
|  | int | numDeformableBodies,
|  | const btContactSolverInfo & | infoGlobal )
| protected

Definition at line 133 of file btDeformableMultiBodyConstraintSolver.cpp.

## ◆ setDeformableSolver()

void btDeformableMultiBodyConstraintSolver::setDeformableSolver | ( | btDeformableBodySolver * | deformableSolver | ) |
| inline

Definition at line 56 of file btDeformableMultiBodyConstraintSolver.h.

## ◆ solveDeformableBodyGroup()

void btDeformableMultiBodyConstraintSolver::solveDeformableBodyGroup | ( | btCollisionObject ** | bodies,
|  | int | numBodies,
|  | btCollisionObject ** | deformableBodies,
|  | int | numDeformableBodies,
|  | btPersistentManifold ** | manifold,
|  | int | numManifolds,
|  | btTypedConstraint ** | constraints,
|  | int | numConstraints,
|  | btMultiBodyConstraint ** | multiBodyConstraints,
|  | int | numMultiBodyConstraints,
|  | const btContactSolverInfo & | info,
|  | btIDebugDraw * | debugDrawer,
|  | btDispatcher * | dispatcher )
| virtual

Definition at line 73 of file btDeformableMultiBodyConstraintSolver.cpp.

## ◆ solveDeformableGroupIterations()

btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations | ( | btCollisionObject ** | bodies,
|  | int | numBodies,
|  | btCollisionObject ** | deformableBodies,
|  | int | numDeformableBodies,
|  | 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)

Definition at line 21 of file btDeformableMultiBodyConstraintSolver.cpp.

## ◆ solveGroupCacheFriendlySplitImpulseIterations()

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

Definition at line 179 of file btDeformableMultiBodyConstraintSolver.cpp.

## ◆ solverBodyWriteBack()

void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack | ( | const btContactSolverInfo & | infoGlobal | ) |
| protected

Definition at line 113 of file btDeformableMultiBodyConstraintSolver.cpp.

## ◆ writeToSolverBody()

void btDeformableMultiBodyConstraintSolver::writeToSolverBody | ( | btCollisionObject ** | bodies,
|  | int | numBodies,
|  | const btContactSolverInfo & | infoGlobal )
| protected

Definition at line 91 of file btDeformableMultiBodyConstraintSolver.cpp.

## Member Data Documentation

## ◆ m_deformableSolver

btDeformableBodySolver* btDeformableMultiBodyConstraintSolver::m_deformableSolver
| private

Definition at line 34 of file btDeformableMultiBodyConstraintSolver.h.

The documentation for this class was generated from the following files:

- btDeformableMultiBodyConstraintSolver.h
- btDeformableMultiBodyConstraintSolver.cpp