Bullet Collision Detection & Physics Library
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13 m_isUnilateral(isUnilateral),
14 m_numDofsFinalized(-1),
15 m_maxAppliedImpulse(100)
48 for (
int i = 0; i < ndof; ++i)
87 if (solverConstraint.
m_linkA < 0)
89 rel_pos1 = posAworld - multiBodyA->
getBasePos();
96 const int ndofA = multiBodyA->
getNumDofs() + 6;
118 for (
int i = 0; i < ndofA; i++)
139 torqueAxis0 = constraintNormalAng;
143 torqueAxis0 = rel_pos1.
cross(constraintNormalLin);
153 torqueAxis0 = constraintNormalAng;
157 torqueAxis0 = rel_pos1.
cross(constraintNormalLin);
166 if (solverConstraint.
m_linkB < 0)
168 rel_pos2 = posBworld - multiBodyB->
getBasePos();
175 const int ndofB = multiBodyB->
getNumDofs() + 6;
192 for (
int i = 0; i < ndofB; i++)
212 torqueAxis1 = constraintNormalAng;
216 torqueAxis1 = rel_pos2.
cross(constraintNormalLin);
226 torqueAxis1 = constraintNormalAng;
230 torqueAxis1 = rel_pos2.
cross(constraintNormalLin);
251 for (
int i = 0; i < ndofA; ++i)
273 const int ndofB = multiBodyB->
getNumDofs() + 6;
276 for (
int i = 0; i < ndofB; ++i)
310 btScalar penetration = isFriction ? 0 : posError;
321 for (
int i = 0; i < ndofA; ++i)
333 for (
int i = 0; i < ndofB; ++i)
350 btScalar velocityError = desiredVelocity - rel_vel;
357 erp = infoGlobal.
m_erp;
360 positionalError = -penetration * erp / infoGlobal.
m_timeStep;
370 solverConstraint.
m_rhs = penetrationImpulse + velocityImpulse;
381 solverConstraint.
m_cfm = 0.f;
btVector3 m_relpos1CrossNormal
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
btAlignedObjectArray< btVector3 > scratch_v
btSimdScalar m_appliedPushImpulse
btRigidBody * m_originalBody
The btRigidBody is the main class for rigid body objects.
btVector3 m_angularComponentB
btMultiBodyConstraint(btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral)
int getCompanionId() const
const btVector3 & getAngularVelocity() const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btAlignedObjectArray< btScalar > m_jacobians
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
btScalar m_rhsPenetration
btVector3 m_angularComponentA
btScalar dot(const btVector3 &v) const
Return the dot product.
virtual ~btMultiBodyConstraint()
btTransform m_cachedWorldTransform
btMultiBody * m_multiBodyB
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const
stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instea...
void resize(int newsize, const T &fillData=T())
const btVector3 & getAngularFactor() const
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)
btScalar getInvMass() const
btAlignedObjectArray< btScalar > scratch_r
const btMultibodyLink & getLink(int index) const
btVector3 can be used to represent 3D points and vectors.
const btVector3 & getLinearVelocity() const
void setCompanionId(int id)
btMultiBody * m_multiBodyA
void allocateJacobiansMultiDof()
btAlignedObjectArray< btScalar > m_deltaVelocities
btAlignedObjectArray< btSolverBody > * m_solverBodyPool
btSimdScalar m_appliedImpulse
btVector3 m_contactNormal1
const btTransform & getWorldTransform() const
const btScalar * getVelocityVector() const
const btMatrix3x3 & getInvInertiaTensorWorld() const
btAlignedObjectArray< btScalar > m_data
void updateJacobianSizes()
btVector3 m_relpos2CrossNormal
const btVector3 & getBasePos() const
btVector3 m_contactNormal2
btAlignedObjectArray< btMatrix3x3 > scratch_m
btAlignedObjectArray< btScalar > m_deltaVelocitiesUnitImpulse
const T & at(int n) const
void applyDeltaVee(btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof)
void fillConstraintJacobianMultiDof(int link, const btVector3 &contact_point, const btVector3 &normal_ang, const btVector3 &normal_lin, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const
int size() const
return the number of elements in the array