Bullet Collision Detection & Physics Library
btMultiBodyMLCPConstraintSolver.cpp File Reference
Include dependency graph for btMultiBodyMLCPConstraintSolver.cpp:

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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()

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

Definition at line 66 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ computeConstraintMatrixOffDiagElementMultiBody()

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

Definition at line 117 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ computeDeltaVelocityInConstraintSpace() [1/3]

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

Definition at line 57 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ computeDeltaVelocityInConstraintSpace() [2/3]

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

Definition at line 48 of file btMultiBodyMLCPConstraintSolver.cpp.

◆ computeDeltaVelocityInConstraintSpace() [3/3]

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

Definition at line 36 of file btMultiBodyMLCPConstraintSolver.cpp.

Variable Documentation

◆ interleaveContactAndFriction1

bool interleaveContactAndFriction1 = false
static

Definition at line 25 of file btMultiBodyMLCPConstraintSolver.cpp.