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

Bullet Collision Detection & Physics Library

btSolverConstraint.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://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_SOLVER_CONSTRAINT_H
17#define BT_SOLVER_CONSTRAINT_H
18
19class btRigidBody;
20#include "LinearMath/btVector3.h"
21#include "LinearMath/btMatrix3x3.h"
22#include "btJacobianEntry.h"
23#include "LinearMath/btAlignedObjectArray.h"
24
25//#define NO_FRICTION_TANGENTIALS 1
26#include "btSolverBody.h"
27
29 ATTRIBUTE_ALIGNED16(struct)
30 btSolverConstraint
31{
32 BT_DECLARE_ALIGNED_ALLOCATOR();
33
34 btVector3 m_relpos1CrossNormal;
35 btVector3 m_contactNormal1;
36
37 btVector3 m_relpos2CrossNormal;
38 btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
39
40 btVector3 m_angularComponentA;
41 btVector3 m_angularComponentB;
42
43 mutable btSimdScalar m_appliedPushImpulse;
44 mutable btSimdScalar m_appliedImpulse;
45
46 btScalar m_friction;
47 btScalar m_jacDiagABInv;
48 btScalar m_rhs;
49 btScalar m_cfm;
50
51 btScalar m_lowerLimit;
52 btScalar m_upperLimit;
53 btScalar m_rhsPenetration;
54 union {
55 void* m_originalContactPoint;
56 btScalar m_unusedPadding4;
57 int m_numRowsForNonContactConstraint;
58 };
59
60 int m_overrideNumSolverIterations;
61 int m_frictionIndex;
62 int m_solverBodyIdA;
63 int m_solverBodyIdB;
64
65 enum btSolverConstraintType
66 {
67 BT_SOLVER_CONTACT_1D = 0,
68 BT_SOLVER_FRICTION_1D
69 };
70};
71
72 typedef btAlignedObjectArray<btSolverConstraint> btConstraintArray;
73
74#endif //BT_SOLVER_CONSTRAINT_H
btAlignedObjectArray.h
btJacobianEntry.h
btMatrix3x3.h
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
btConstraintArray
btAlignedObjectArray< btSolverConstraint > btConstraintArray
Definition btSolverConstraint.h:72
btVector3.h
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btSolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition btSolverConstraint.h:31
btSolverConstraint::m_solverBodyIdA
int m_solverBodyIdA
Definition btSolverConstraint.h:62
btSolverConstraint::m_originalContactPoint
void * m_originalContactPoint
Definition btSolverConstraint.h:55
btSolverConstraint::m_lowerLimit
btScalar m_lowerLimit
Definition btSolverConstraint.h:51
btSolverConstraint::m_contactNormal2
btVector3 m_contactNormal2
Definition btSolverConstraint.h:38
btSolverConstraint::m_relpos1CrossNormal
btVector3 m_relpos1CrossNormal
Definition btSolverConstraint.h:34
btSolverConstraint::m_rhs
btScalar m_rhs
Definition btSolverConstraint.h:48
btSolverConstraint::btSolverConstraintType
btSolverConstraintType
Definition btSolverConstraint.h:66
btSolverConstraint::BT_SOLVER_FRICTION_1D
@ BT_SOLVER_FRICTION_1D
Definition btSolverConstraint.h:68
btSolverConstraint::BT_SOLVER_CONTACT_1D
@ BT_SOLVER_CONTACT_1D
Definition btSolverConstraint.h:67
btSolverConstraint::m_angularComponentB
btVector3 m_angularComponentB
Definition btSolverConstraint.h:41
btSolverConstraint::m_friction
btScalar m_friction
Definition btSolverConstraint.h:46
btSolverConstraint::m_frictionIndex
int m_frictionIndex
Definition btSolverConstraint.h:61
btSolverConstraint::m_appliedImpulse
btSimdScalar m_appliedImpulse
Definition btSolverConstraint.h:44
btSolverConstraint::m_cfm
btScalar m_cfm
Definition btSolverConstraint.h:49
btSolverConstraint::m_overrideNumSolverIterations
int m_overrideNumSolverIterations
Definition btSolverConstraint.h:60
btSolverConstraint::m_rhsPenetration
btScalar m_rhsPenetration
Definition btSolverConstraint.h:53
btSolverConstraint::m_upperLimit
btScalar m_upperLimit
Definition btSolverConstraint.h:52
btSolverConstraint::m_angularComponentA
btVector3 m_angularComponentA
Definition btSolverConstraint.h:40
btSolverConstraint::m_unusedPadding4
btScalar m_unusedPadding4
Definition btSolverConstraint.h:56
btSolverConstraint::m_appliedPushImpulse
btSimdScalar m_appliedPushImpulse
Definition btSolverConstraint.h:43
btSolverConstraint::m_relpos2CrossNormal
btVector3 m_relpos2CrossNormal
Definition btSolverConstraint.h:37
btSolverConstraint::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btSolverConstraint::m_contactNormal1
btVector3 m_contactNormal1
Definition btSolverConstraint.h:35
btSolverConstraint::m_solverBodyIdB
int m_solverBodyIdB
Definition btSolverConstraint.h:63
btSolverConstraint::m_numRowsForNonContactConstraint
int m_numRowsForNonContactConstraint
Definition btSolverConstraint.h:57
btSolverConstraint::m_jacDiagABInv
btScalar m_jacDiagABInv
Definition btSolverConstraint.h:47