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Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h

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extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h

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*/ */
#ifndef BT_MULTIBODY_CONSTRAINT_SOLVER_H #ifndef BT_MULTIBODY_CONSTRAINT_SOLVER_H
#define BT_MULTIBODY_CONSTRAINT_SOLVER_H #define BT_MULTIBODY_CONSTRAINT_SOLVER_H
#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
#include "btMultiBodySolverConstraint.h" #include "btMultiBodySolverConstraint.h"
#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS
class btMultiBody; class btMultiBody;
#include "btMultiBodyConstraint.h" #include "btMultiBodyConstraint.h"
ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
{ {
protected: protected:
btMultiBodyConstraintArray m_multiBodyNonContactConstraints; btMultiBodyConstraintArray m_multiBodyNonContactConstraints;
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints; btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints; btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
btMultiBodyJacobianData m_data; btMultiBodyJacobianData m_data;
//temp storage for multi body constraints for a specific island/group called by 'solveGroup' //temp storage for multi body constraints for a specific island/group called by 'solveGroup'
btMultiBodyConstraint** m_tmpMultiBodyConstraints; btMultiBodyConstraint** m_tmpMultiBodyConstraints;
int m_tmpNumMultiBodyConstraints; int m_tmpNumMultiBodyConstraints;
void resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c); void resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
void resolveSingleConstraintRowGenericMultiBody(const btMultiBodySolverConstraint& c);
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal); void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);
btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0); btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint& constraintRow, void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint& constraintRow,
btScalar* jacA,btScalar* jacB, btScalar* jacA,btScalar* jacB,
btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
const btContactSolverInfo& infoGlobal); const btContactSolverInfo& infoGlobal);
void setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint, void setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
const btVector3& contactNormal, const btVector3& contactNormal,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal, btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
btScalar& relaxation, btScalar& relaxation,
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0); bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
void convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal); void convertMultiBodyContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
// virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); // virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
void applyDeltaVee(btScalar* deltaV, btScalar impulse, int velocityIndex, int ndof); void applyDeltaVee(btScalar* deltaV, btScalar impulse, int velocityIndex, int ndof);
void writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& constraint, btScalar deltaTime);
public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints) ///this method should not be called, it was just used during porting/integration of Featherstone btMultiBody, providing backwards compatibility but no support for btMultiBodyConstraint (only contact constraints)
virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies,int numBodies,const btContactSolverInfo& infoGlobal);
virtual void solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher); virtual void solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher);
}; };
#endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H #endif //BT_MULTIBODY_CONSTRAINT_SOLVER_H