#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"

Classes
struct	btJointNode1

Macros
#define	DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

Functions
static btScalar	computeDeltaVelocityInConstraintSpace (const btVector3 &angularDeltaVelocity, const btVector3 &contactNormal, btScalar invMass, const btVector3 &angularJacobian, const btVector3 &linearJacobian)
static btScalar	computeDeltaVelocityInConstraintSpace (const btVector3 &angularDeltaVelocity, btScalar invMass, const btVector3 &angularJacobian)
static btScalar	computeDeltaVelocityInConstraintSpace (const btScalar deltaVelocity, const btScalar jacobian, int size)
static btScalar	computeConstraintMatrixDiagElementMultiBody (const btAlignedObjectArray< btSolverBody > &solverBodyPool, const btMultiBodyJacobianData &data, const btMultiBodySolverConstraint &constraint)
static btScalar	computeConstraintMatrixOffDiagElementMultiBody (const btAlignedObjectArray< btSolverBody > &solverBodyPool, const btMultiBodyJacobianData &data, const btMultiBodySolverConstraint &constraint, const btMultiBodySolverConstraint &offDiagConstraint)

Variables
static bool	interleaveContactAndFriction1 = false

Macro Definition Documentation

◆ DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

Definition at line 23 of file btMultiBodyMLCPConstraintSolver.cpp.

Function Documentation

◆ computeConstraintMatrixDiagElementMultiBody()

btScalar computeConstraintMatrixDiagElementMultiBody	(	const btAlignedObjectArray< btSolverBody > &	solverBodyPool,
		const btMultiBodyJacobianData &	data,
		const btMultiBodySolverConstraint &	constraint )

static

Definition at line 66 of file btMultiBodyMLCPConstraintSolver.cpp.

References btAssert, btMultiBody, btMultiBodySolverConstraint, btSolverBody, computeConstraintMatrixDiagElementMultiBody(), computeDeltaVelocityInConstraintSpace(), data, and ret.

Referenced by computeConstraintMatrixDiagElementMultiBody(), and btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody().

◆ computeConstraintMatrixOffDiagElementMultiBody()

btScalar computeConstraintMatrixOffDiagElementMultiBody	(	const btAlignedObjectArray< btSolverBody > &	solverBodyPool,
		const btMultiBodyJacobianData &	data,
		const btMultiBodySolverConstraint &	constraint,
		const btMultiBodySolverConstraint &	offDiagConstraint )

static

Definition at line 117 of file btMultiBodyMLCPConstraintSolver.cpp.

References btAssert, btMultiBody, btMultiBodySolverConstraint, btSolverBody, computeConstraintMatrixOffDiagElementMultiBody(), computeDeltaVelocityInConstraintSpace(), and data.

Referenced by computeConstraintMatrixOffDiagElementMultiBody(), and btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody().

◆ computeDeltaVelocityInConstraintSpace() [1/3]

btScalar computeDeltaVelocityInConstraintSpace	(	const btScalar *	deltaVelocity,
		const btScalar *	jacobian,
		int	size )

static

Definition at line 57 of file btMultiBodyMLCPConstraintSolver.cpp.

References computeDeltaVelocityInConstraintSpace(), i, result, and size().

◆ computeDeltaVelocityInConstraintSpace() [2/3]

btScalar computeDeltaVelocityInConstraintSpace	(	const btVector3 &	angularDeltaVelocity,
		btScalar	invMass,
		const btVector3 &	angularJacobian )

static

Definition at line 48 of file btMultiBodyMLCPConstraintSolver.cpp.

References btVector3, and computeDeltaVelocityInConstraintSpace().

◆ computeDeltaVelocityInConstraintSpace() [3/3]

btScalar computeDeltaVelocityInConstraintSpace	(	const btVector3 &	angularDeltaVelocity,
		const btVector3 &	contactNormal,
		btScalar	invMass,
		const btVector3 &	angularJacobian,
		const btVector3 &	linearJacobian )