Bullet Collision Detection & Physics Library
btMultiBodySolverConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans 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:
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_MULTIBODY_SOLVER_CONSTRAINT_H
17 #define BT_MULTIBODY_SOLVER_CONSTRAINT_H
18 
19 #include "LinearMath/btVector3.h"
21 
22 class btMultiBody;
26 
30 {
32 
33  btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1), m_orgConstraint(0), m_orgDofIndex(-1)
34  {
35  }
36 
37  int m_deltaVelAindex; //more generic version of m_relpos1CrossNormal/m_contactNormal1
41 
45  btVector3 m_contactNormal2; //usually m_contactNormal2 == -m_contactNormal1, but not always
46 
49 
52 
57 
61  union {
64  };
65 
68 
71  int m_linkA;
72 
75  int m_linkB;
76 
77  //for writing back applied impulses
80 
82  {
83  BT_SOLVER_CONTACT_1D = 0,
84  BT_SOLVER_FRICTION_1D
85  };
86 };
87 
89 
90 #endif //BT_MULTIBODY_SOLVER_CONSTRAINT_H
btMultiBodySolverConstraint::m_relpos1CrossNormal
btVector3 m_relpos1CrossNormal
Definition: btMultiBodySolverConstraint.h:42
btMultiBodySolverConstraint::m_overrideNumSolverIterations
int m_overrideNumSolverIterations
Definition: btMultiBodySolverConstraint.h:66
btMultiBodySolverConstraint::m_appliedPushImpulse
btSimdScalar m_appliedPushImpulse
Definition: btMultiBodySolverConstraint.h:50
btMultiBodySolverConstraint::btMultiBodySolverConstraint
btMultiBodySolverConstraint()
Definition: btMultiBodySolverConstraint.h:33
btMultiBodySolverConstraint::m_angularComponentB
btVector3 m_angularComponentB
Definition: btMultiBodySolverConstraint.h:48
btMultiBodySolverConstraint::m_orgConstraint
btMultiBodyConstraint * m_orgConstraint
Definition: btMultiBodySolverConstraint.h:78
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btMultiBodySolverConstraint::m_unusedPadding4
btScalar m_unusedPadding4
Definition: btMultiBodySolverConstraint.h:63
btMultiBodySolverConstraint::m_deltaVelBindex
int m_deltaVelBindex
Definition: btMultiBodySolverConstraint.h:39
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:40
btMultiBodySolverConstraint::m_rhsPenetration
btScalar m_rhsPenetration
Definition: btMultiBodySolverConstraint.h:60
btMultiBodySolverConstraint::btSolverConstraintType
btSolverConstraintType
Definition: btMultiBodySolverConstraint.h:81
btMultiBodySolverConstraint::m_angularComponentA
btVector3 m_angularComponentA
Definition: btMultiBodySolverConstraint.h:47
btMultiBodyConstraint::m_linkA
int m_linkA
Definition: btMultiBodyConstraint.h:46
btMultiBodySolverConstraint::m_deltaVelAindex
int m_deltaVelAindex
Definition: btMultiBodySolverConstraint.h:37
btSolverBody.h
btVector3.h
btMultiBodySolverConstraint::m_multiBodyB
btMultiBody * m_multiBodyB
Definition: btMultiBodySolverConstraint.h:74
btMultiBodySolverConstraint
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
Definition: btMultiBodySolverConstraint.h:28
btSimdScalar
#define btSimdScalar
Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later,...
Definition: btSolverBody.h:99
btMultiBodySolverConstraint::m_linkA
int m_linkA
Definition: btMultiBodySolverConstraint.h:71
btMultiBodyConstraint::m_linkB
int m_linkB
Definition: btMultiBodyConstraint.h:47
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btMultiBodySolverConstraint::m_jacBindex
int m_jacBindex
Definition: btMultiBodySolverConstraint.h:40
btMultiBody
Definition: btMultiBody.h:49
btMultiBodySolverConstraint::m_multiBodyA
btMultiBody * m_multiBodyA
Definition: btMultiBodySolverConstraint.h:70
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btAlignedObjectArray< btMultiBodySolverConstraint >
btMultiBodyConstraintArray
btAlignedObjectArray< btMultiBodySolverConstraint > btMultiBodyConstraintArray
Definition: btMultiBodySolverConstraint.h:88
btMultiBodySolverConstraint::m_originalContactPoint
void * m_originalContactPoint
Definition: btMultiBodySolverConstraint.h:62
btContactSolverInfo.h
btMultiBodySolverConstraint::m_orgDofIndex
int m_orgDofIndex
Definition: btMultiBodySolverConstraint.h:79
btMultiBodySolverConstraint::m_linkB
int m_linkB
Definition: btMultiBodySolverConstraint.h:75
btMultiBodySolverConstraint::m_jacDiagABInv
btScalar m_jacDiagABInv
Definition: btMultiBodySolverConstraint.h:54
btMultiBodySolverConstraint::m_solverBodyIdA
int m_solverBodyIdA
Definition: btMultiBodySolverConstraint.h:69
btMultiBodySolverConstraint::m_appliedImpulse
btSimdScalar m_appliedImpulse
Definition: btMultiBodySolverConstraint.h:51
btMultiBodySolverConstraint::m_jacAindex
int m_jacAindex
Definition: btMultiBodySolverConstraint.h:38
btMultiBodySolverConstraint::m_contactNormal1
btVector3 m_contactNormal1
Definition: btMultiBodySolverConstraint.h:43
btMultiBodySolverConstraint::m_rhs
btScalar m_rhs
Definition: btMultiBodySolverConstraint.h:55
btMultiBodySolverConstraint::m_friction
btScalar m_friction
Definition: btMultiBodySolverConstraint.h:53
btMultiBodySolverConstraint::m_solverBodyIdB
int m_solverBodyIdB
Definition: btMultiBodySolverConstraint.h:73
btAlignedObjectArray.h
btMultiBodySolverConstraint::m_upperLimit
btScalar m_upperLimit
Definition: btMultiBodySolverConstraint.h:59
btMultiBodySolverConstraint::m_relpos2CrossNormal
btVector3 m_relpos2CrossNormal
Definition: btMultiBodySolverConstraint.h:44
btMultiBodySolverConstraint::m_lowerLimit
btScalar m_lowerLimit
Definition: btMultiBodySolverConstraint.h:58
btMultiBodySolverConstraint::m_contactNormal2
btVector3 m_contactNormal2
Definition: btMultiBodySolverConstraint.h:45
btMultiBodySolverConstraint::m_cfm
btScalar m_cfm
Definition: btMultiBodySolverConstraint.h:56
btMultiBodySolverConstraint::m_frictionIndex
int m_frictionIndex
Definition: btMultiBodySolverConstraint.h:67