Bullet Collision Detection & Physics Library
btNNCGConstraintSolver.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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:
10 
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.
14 */
15 
16 #ifndef BT_NNCG_CONSTRAINT_SOLVER_H
17 #define BT_NNCG_CONSTRAINT_SOLVER_H
18 
20 
23 {
24 protected:
26 
27  btAlignedObjectArray<btScalar> m_pNC; // p for None Contact constraints
28  btAlignedObjectArray<btScalar> m_pC; // p for Contact constraints
29  btAlignedObjectArray<btScalar> m_pCF; // p for ContactFriction constraints
30  btAlignedObjectArray<btScalar> m_pCRF; // p for ContactRollingFriction constraints
31 
32  //These are recalculated in every iterations. We just keep these to prevent reallocation in each iteration.
33  btAlignedObjectArray<btScalar> m_deltafNC; // deltaf for NoneContact constraints
34  btAlignedObjectArray<btScalar> m_deltafC; // deltaf for Contact constraints
35  btAlignedObjectArray<btScalar> m_deltafCF; // deltaf for ContactFriction constraints
36  btAlignedObjectArray<btScalar> m_deltafCRF; // deltaf for ContactRollingFriction constraints
37 
38 protected:
39  virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal);
40  virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
41 
42  virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
43 
44 public:
46 
47  btNNCGConstraintSolver() : btSequentialImpulseConstraintSolver(), m_onlyForNoneContact(false) {}
48 
50  {
51  return BT_NNCG_SOLVER;
52  }
53 
55 };
56 
57 #endif //BT_NNCG_CONSTRAINT_SOLVER_H
BT_NNCG_SOLVER
Definition: btConstraintSolver.h:36
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:74
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btNNCGConstraintSolver
Definition: btNNCGConstraintSolver.h:21
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btNNCGConstraintSolver::m_deltafCF
btAlignedObjectArray< btScalar > m_deltafCF
Definition: btNNCGConstraintSolver.h:35
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btNNCGConstraintSolver::m_pCRF
btAlignedObjectArray< btScalar > m_pCRF
Definition: btNNCGConstraintSolver.h:30
btNNCGConstraintSolver::getSolverType
virtual btConstraintSolverType getSolverType() const
Definition: btNNCGConstraintSolver.h:49
btNNCGConstraintSolver::m_onlyForNoneContact
bool m_onlyForNoneContact
Definition: btNNCGConstraintSolver.h:54
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btNNCGConstraintSolver::m_pC
btAlignedObjectArray< btScalar > m_pC
Definition: btNNCGConstraintSolver.h:28
btNNCGConstraintSolver::btNNCGConstraintSolver
btNNCGConstraintSolver()
Definition: btNNCGConstraintSolver.h:47
btNNCGConstraintSolver::m_pNC
btAlignedObjectArray< btScalar > m_pNC
Definition: btNNCGConstraintSolver.h:27
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition: btPersistentManifold.h:63
btNNCGConstraintSolver::m_deltafLengthSqrPrev
btScalar m_deltafLengthSqrPrev
Definition: btNNCGConstraintSolver.h:25
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btNNCGConstraintSolver::m_deltafC
btAlignedObjectArray< btScalar > m_deltafC
Definition: btNNCGConstraintSolver.h:34
btAlignedObjectArray< btScalar >
btSequentialImpulseConstraintSolver.h
btSequentialImpulseConstraintSolver
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
Definition: btSequentialImpulseConstraintSolver.h:33
btNNCGConstraintSolver::m_deltafCRF
btAlignedObjectArray< btScalar > m_deltafCRF
Definition: btNNCGConstraintSolver.h:36
btConstraintSolverType
btConstraintSolverType
btConstraintSolver provides solver interface
Definition: btConstraintSolver.h:32
btNNCGConstraintSolver::m_pCF
btAlignedObjectArray< btScalar > m_pCF
Definition: btNNCGConstraintSolver.h:29
btNNCGConstraintSolver::m_deltafNC
btAlignedObjectArray< btScalar > m_deltafNC
Definition: btNNCGConstraintSolver.h:33