#include <btNNCGConstraintSolver.h>

Inheritance diagram for btNNCGConstraintSolver:

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Collaboration diagram for btNNCGConstraintSolver:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btNNCGConstraintSolver ()
virtual btConstraintSolverType	getSolverType () const
Public Member Functions inherited from btSequentialImpulseConstraintSolver
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btSequentialImpulseConstraintSolver ()
virtual	~btSequentialImpulseConstraintSolver ()
virtual btScalar	solveGroup (btCollisionObject bodies, int numBodies, btPersistentManifold manifold, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &info, btIDebugDraw debugDrawer, btDispatcher *dispatcher)
	btSequentialImpulseConstraintSolver Sequentially applies impulses
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
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 *)

Public Attributes
bool	m_onlyForNoneContact
Public Attributes inherited from btSequentialImpulseConstraintSolver
btSolverAnalyticsData	m_analyticsData

Protected Member Functions
virtual btScalar	solveGroupCacheFriendlyFinish (btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
virtual btScalar	solveSingleIteration (int iteration, btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer)
virtual btScalar	solveGroupCacheFriendlySetup (btCollisionObject bodies, int numBodies, btPersistentManifold manifoldPtr, int numManifolds, btTypedConstraint *constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw debugDrawer)
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)
virtual void	convertContacts (btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
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)

Protected Attributes
btScalar	m_deltafLengthSqrPrev
btAlignedObjectArray< btScalar >	m_pNC
btAlignedObjectArray< btScalar >	m_pC
btAlignedObjectArray< btScalar >	m_pCF
btAlignedObjectArray< btScalar >	m_pCRF
btAlignedObjectArray< btScalar >	m_deltafNC
btAlignedObjectArray< btScalar >	m_deltafC
btAlignedObjectArray< btScalar >	m_deltafCF
btAlignedObjectArray< btScalar >	m_deltafCRF
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

Additional Inherited Members
Static Protected Member Functions inherited from btSequentialImpulseConstraintSolver
static void	applyAnisotropicFriction (btCollisionObject *colObj, btVector3 &frictionDirection, int frictionMode)

Detailed Description

Definition at line 21 of file btNNCGConstraintSolver.h.

Constructor & Destructor Documentation

◆ btNNCGConstraintSolver()

btNNCGConstraintSolver::btNNCGConstraintSolver ( )

inline

Definition at line 47 of file btNNCGConstraintSolver.h.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btNNCGConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ getSolverType()

virtual btConstraintSolverType btNNCGConstraintSolver::getSolverType ( ) const

inlinevirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 49 of file btNNCGConstraintSolver.h.

◆ solveGroupCacheFriendlyFinish()

btScalar btNNCGConstraintSolver::solveGroupCacheFriendlyFinish	(	btCollisionObject **	bodies,
		int	numBodies,
		const btContactSolverInfo &	infoGlobal )

protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 355 of file btNNCGConstraintSolver.cpp.

◆ solveGroupCacheFriendlySetup()

btScalar btNNCGConstraintSolver::solveGroupCacheFriendlySetup	(	btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer )

protectedvirtual

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 18 of file btNNCGConstraintSolver.cpp.

◆ solveSingleIteration()

btScalar btNNCGConstraintSolver::solveSingleIteration	(	int	iteration,
		btCollisionObject **	bodies,
		int	numBodies,
		btPersistentManifold **	manifoldPtr,
		int	numManifolds,
		btTypedConstraint **	constraints,
		int	numConstraints,
		const btContactSolverInfo &	infoGlobal,
		btIDebugDraw *	debugDrawer )

protectedvirtual

solve all contact constraints

solve all friction constraints

Reimplemented from btSequentialImpulseConstraintSolver.

Definition at line 35 of file btNNCGConstraintSolver.cpp.

Member Data Documentation

◆ m_deltafC

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_deltafC

protected

Definition at line 34 of file btNNCGConstraintSolver.h.

◆ m_deltafCF

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_deltafCF

protected

Definition at line 35 of file btNNCGConstraintSolver.h.

◆ m_deltafCRF

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_deltafCRF

protected

Definition at line 36 of file btNNCGConstraintSolver.h.

◆ m_deltafLengthSqrPrev

btScalar btNNCGConstraintSolver::m_deltafLengthSqrPrev

protected

Definition at line 25 of file btNNCGConstraintSolver.h.

◆ m_deltafNC

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_deltafNC

protected

Definition at line 33 of file btNNCGConstraintSolver.h.

◆ m_onlyForNoneContact

bool btNNCGConstraintSolver::m_onlyForNoneContact

Definition at line 54 of file btNNCGConstraintSolver.h.

◆ m_pC

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_pC

protected

Definition at line 28 of file btNNCGConstraintSolver.h.

◆ m_pCF

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_pCF

protected

Definition at line 29 of file btNNCGConstraintSolver.h.

◆ m_pCRF

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_pCRF

protected

Definition at line 30 of file btNNCGConstraintSolver.h.

◆ m_pNC

btAlignedObjectArray<btScalar> btNNCGConstraintSolver::m_pNC

protected

Definition at line 27 of file btNNCGConstraintSolver.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btNNCGConstraintSolver()

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ getSolverType()

◆ solveGroupCacheFriendlyFinish()

◆ solveGroupCacheFriendlySetup()

◆ solveSingleIteration()

Member Data Documentation

◆ m_deltafC

◆ m_deltafCF

◆ m_deltafCRF

◆ m_deltafLengthSqrPrev

◆ m_deltafNC

◆ m_onlyForNoneContact

◆ m_pC

◆ m_pCF

◆ m_pCRF

◆ m_pNC