Bullet Collision Detection & Physics Library
btMultiBodyMLCPConstraintSolver.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2018 Google Inc. http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
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11 1. 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
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15 
16 #ifndef BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
17 #define BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
18 
19 #include "LinearMath/btMatrixX.h"
20 #include "LinearMath/btThreads.h"
22 
24 class btMultiBody;
25 
27 {
28 protected:
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128  virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
129 
131  void createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal);
132 
134  void createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal);
135 
137  virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
138 
139  // Documentation inherited
141  btCollisionObject** bodies,
142  int numBodies,
143  btPersistentManifold** manifoldPtr,
144  int numManifolds,
145  btTypedConstraint** constraints,
146  int numConstraints,
147  const btContactSolverInfo& infoGlobal,
148  btIDebugDraw* debugDrawer) BT_OVERRIDE;
149 
150  // Documentation inherited
152  btCollisionObject** bodies,
153  int numBodies,
154  btPersistentManifold** manifoldPtr,
155  int numManifolds,
156  btTypedConstraint** constraints,
157  int numConstraints,
158  const btContactSolverInfo& infoGlobal,
159  btIDebugDraw* debugDrawer) BT_OVERRIDE;
160 
161 public:
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174  void setMLCPSolver(btMLCPSolverInterface* solver);
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178  int getNumFallbacks() const;
179 
181  void setNumFallbacks(int num);
182 
184  virtual btConstraintSolverType getSolverType() const;
185 };
186 
187 #endif // BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:74
btMultiBodyMLCPConstraintSolver::m_multiBodyHi
btVectorXu m_multiBodyHi
Upper bound of constraint impulse, m_x.
Definition: btMultiBodyMLCPConstraintSolver.h:77
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btMultiBodyMLCPConstraintSolver::m_multiBodyLo
btVectorXu m_multiBodyLo
Lower bound of constraint impulse, m_x.
Definition: btMultiBodyMLCPConstraintSolver.h:74
btMultiBodyMLCPConstraintSolver::setMLCPSolver
void setMLCPSolver(btMLCPSolverInterface *solver)
Sets MLCP solver. Assumed it's not null.
Definition: btMultiBodyMLCPConstraintSolver.cpp:948
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btMultiBodyMLCPConstraintSolver::m_lo
btVectorXu m_lo
Lower bound of constraint impulse, m_x.
Definition: btMultiBodyMLCPConstraintSolver.h:42
btMultiBodyMLCPConstraintSolver::m_fallback
int m_fallback
Count of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver f...
Definition: btMultiBodyMLCPConstraintSolver.h:107
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
BT_OVERRIDE
#define BT_OVERRIDE
Definition: btThreads.h:26
btMultiBodyMLCPConstraintSolver::m_scratchJInvM3
btMatrixXu m_scratchJInvM3
Cache variable for constraint Jacobian times inverse mass matrix.
Definition: btMultiBodyMLCPConstraintSolver.h:120
btMultiBodyMLCPConstraintSolver::m_x
btVectorXu m_x
Constraint impulse, which is an output of MLCP solving.
Definition: btMultiBodyMLCPConstraintSolver.h:39
btMultiBodyMLCPConstraintSolver::m_limitDependencies
btAlignedObjectArray< int > m_limitDependencies
Indices of normal contact constraint associated with frictional contact constraint for rigid bodies.
Definition: btMultiBodyMLCPConstraintSolver.h:87
btMultiBodyConstraintSolver.h
btMultiBodyMLCPConstraintSolver::m_scratchJ3
btMatrixXu m_scratchJ3
Cache variable for constraint Jacobian matrix.
Definition: btMultiBodyMLCPConstraintSolver.h:117
btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody
void createMLCPFastRigidBody(const btContactSolverInfo &infoGlobal)
Constructs MLCP terms for constraints of two rigid bodies.
Definition: btMultiBodyMLCPConstraintSolver.cpp:242
btMultiBodyMLCPConstraintSolver::m_hi
btVectorXu m_hi
Upper bound of constraint impulse, m_x.
Definition: btMultiBodyMLCPConstraintSolver.h:45
btMultiBodyMLCPConstraintSolver
Definition: btMultiBodyMLCPConstraintSolver.h:26
btThreads.h
btMatrixX.h
btMultiBodyMLCPConstraintSolver::m_xSplit
btVectorXu m_xSplit
Split impulse cache vector corresponding to m_x.
Definition: btMultiBodyMLCPConstraintSolver.h:57
btMultiBodyMLCPConstraintSolver::m_b
btVectorXu m_b
b vector in the MLCP formulation.
Definition: btMultiBodyMLCPConstraintSolver.h:36
btMultiBodyMLCPConstraintSolver::m_multiBodyB
btVectorXu m_multiBodyB
b vector in the MLCP formulation.
Definition: btMultiBodyMLCPConstraintSolver.h:68
btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations
btScalar solveGroupCacheFriendlyIterations(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
Definition: btMultiBodyMLCPConstraintSolver.cpp:846
btMultiBodyMLCPConstraintSolver::m_multiBodyAllConstraintPtrArray
btAlignedObjectArray< btMultiBodySolverConstraint * > m_multiBodyAllConstraintPtrArray
Array of all the multibody constraints.
Definition: btMultiBodyMLCPConstraintSolver.h:101
btMultiBodyMLCPConstraintSolver::m_scratchOfs
btAlignedObjectArray< int > m_scratchOfs
Cache variable for offsets.
Definition: btMultiBodyMLCPConstraintSolver.h:123
btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup
btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
Definition: btMultiBodyMLCPConstraintSolver.cpp:691
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btMLCPSolverInterface
original version written by Erwin Coumans, October 2013
Definition: btMLCPSolverInterface.h:22
btMultiBodyMLCPConstraintSolver::setNumFallbacks
void setNumFallbacks(int num)
Sets the number of fallbacks. This function may be used to reset the number to zero.
Definition: btMultiBodyMLCPConstraintSolver.cpp:958
btMultiBodyConstraintSolver
Definition: btMultiBodyConstraintSolver.h:28
btMultiBodyMLCPConstraintSolver::createMLCPFast
virtual void createMLCPFast(const btContactSolverInfo &infoGlobal)
Constructs MLCP terms, which are m_A, m_b, m_lo, and m_hi.
Definition: btMultiBodyMLCPConstraintSolver.cpp:236
btMultiBodyMLCPConstraintSolver::m_multiBodyA
btMatrixXu m_multiBodyA
A matrix in the MLCP formulation.
Definition: btMultiBodyMLCPConstraintSolver.h:65
btMatrixXu
#define btMatrixXu
Definition: btMatrixX.h:528
btMultiBodyMLCPConstraintSolver::m_allConstraintPtrArray
btAlignedObjectArray< btSolverConstraint * > m_allConstraintPtrArray
Array of all the rigid body constraints.
Definition: btMultiBodyMLCPConstraintSolver.h:98
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btMultiBodyMLCPConstraintSolver::m_bSplit
btVectorXu m_bSplit
Split impulse Cache vector corresponding to m_b.
Definition: btMultiBodyMLCPConstraintSolver.h:54
btMultiBody
Definition: btMultiBody.h:49
btMultiBodyMLCPConstraintSolver::solveMLCP
virtual bool solveMLCP(const btContactSolverInfo &infoGlobal)
Solves MLCP and returns the success.
Definition: btMultiBodyMLCPConstraintSolver.cpp:657
btAlignedObjectArray< int >
btMultiBodyMLCPConstraintSolver::m_A
btMatrixXu m_A
A matrix in the MLCP formulation.
Definition: btMultiBodyMLCPConstraintSolver.h:33
btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody
void createMLCPFastMultiBody(const btContactSolverInfo &infoGlobal)
Constructs MLCP terms for constraints of two multi-bodies or one rigid body and one multibody.
Definition: btMultiBodyMLCPConstraintSolver.cpp:556
btMultiBodyMLCPConstraintSolver::m_multiBodyX
btVectorXu m_multiBodyX
Constraint impulse, which is an output of MLCP solving.
Definition: btMultiBodyMLCPConstraintSolver.h:71
btMultiBodyMLCPConstraintSolver::m_multiBodyLimitDependencies
btAlignedObjectArray< int > m_multiBodyLimitDependencies
Indices of normal contact constraint associated with frictional contact constraint for multibodies.
Definition: btMultiBodyMLCPConstraintSolver.h:95
btConstraintSolverType
btConstraintSolverType
btConstraintSolver provides solver interface
Definition: btConstraintSolver.h:32
btMultiBodyMLCPConstraintSolver::m_solver
btMLCPSolverInterface * m_solver
MLCP solver.
Definition: btMultiBodyMLCPConstraintSolver.h:104
btMultiBodyConstraintSolver::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btVectorXu
#define btVectorXu
Definition: btMatrixX.h:527
btMultiBodyMLCPConstraintSolver::getNumFallbacks
int getNumFallbacks() const
Returns the number of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the ...
Definition: btMultiBodyMLCPConstraintSolver.cpp:953
btMultiBodyMLCPConstraintSolver::getSolverType
virtual btConstraintSolverType getSolverType() const
Returns the constraint solver type.
Definition: btMultiBodyMLCPConstraintSolver.cpp:963