Bullet Collision Detection & Physics Library: btMLCPSolver.h Source File

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btMLCPSolver.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
16
17#ifndef BT_MLCP_SOLVER_H
18#define BT_MLCP_SOLVER_H
19
20#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
21#include "LinearMath/btMatrixX.h"
22#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"
23
24 class btMLCPSolver : public btSequentialImpulseConstraintSolver
25{
26protected:
27 btMatrixXu m_A;
28 btVectorXu m_b;
29 btVectorXu m_x;
30 btVectorXu m_lo;
31 btVectorXu m_hi;
32
34 btVectorXu m_bSplit;
35 btVectorXu m_xSplit;
36 btVectorXu m_bSplit1;
37 btVectorXu m_xSplit2;
38
39 btAlignedObjectArray<int> m_limitDependencies;
40 btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
41 btMLCPSolverInterface* m_solver;
42 int m_fallback;
43
47 btMatrixXu m_scratchJ3;
48 btMatrixXu m_scratchJInvM3;
49 btAlignedObjectArray<int> m_scratchOfs;
50 btMatrixXu m_scratchMInv;
51 btMatrixXu m_scratchJ;
52 btMatrixXu m_scratchJTranspose;
53 btMatrixXu m_scratchTmp;
54
55 virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
56 virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer);
57
58 virtual void createMLCP(const btContactSolverInfo& infoGlobal);
59 virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
60
61 //return true is it solves the problem successfully
62 virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
63
64public:
65 btMLCPSolver(btMLCPSolverInterface* solver);
66 virtual ~btMLCPSolver();
67
68 void setMLCPSolver(btMLCPSolverInterface* solver)
69 {
70 m_solver = solver;
71 }
72
73 int getNumFallbacks() const
74 {
75 return m_fallback;
76 }
77 void setNumFallbacks(int num)
78 {
79 m_fallback = num;
80 }
81
82 virtual btConstraintSolverType getSolverType() const
83 {
84 return BT_MLCP_SOLVER;
85 }
86};
87
88#endif //BT_MLCP_SOLVER_H
btConstraintSolverType
btConstraintSolverType
btConstraintSolver provides solver interface
Definition btConstraintSolver.h:33
BT_MLCP_SOLVER
@ BT_MLCP_SOLVER
Definition btConstraintSolver.h:35
btMLCPSolverInterface.h
btMatrixX.h
btMatrixXu
#define btMatrixXu
Definition btMatrixX.h:529
btVectorXu
#define btVectorXu
Definition btMatrixX.h:528
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btSequentialImpulseConstraintSolver.h
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition btIDebugDraw.h:27
btMLCPSolverInterface
original version written by Erwin Coumans, October 2013
Definition btMLCPSolverInterface.h:23
btMLCPSolver
original version written by Erwin Coumans, October 2013
Definition btMLCPSolver.h:25
btMLCPSolver::m_scratchTmp
btMatrixXu m_scratchTmp
Definition btMLCPSolver.h:53
btMLCPSolver::m_b
btVectorXu m_b
Definition btMLCPSolver.h:28
btMLCPSolver::m_bSplit1
btVectorXu m_bSplit1
Definition btMLCPSolver.h:36
btMLCPSolver::m_scratchJTranspose
btMatrixXu m_scratchJTranspose
Definition btMLCPSolver.h:52
btMLCPSolver::~btMLCPSolver
virtual ~btMLCPSolver()
Definition btMLCPSolver.cpp:28
btMLCPSolver::m_scratchMInv
btMatrixXu m_scratchMInv
Definition btMLCPSolver.h:50
btMLCPSolver::m_limitDependencies
btAlignedObjectArray< int > m_limitDependencies
Definition btMLCPSolver.h:39
btMLCPSolver::m_scratchJ
btMatrixXu m_scratchJ
Definition btMLCPSolver.h:51
btMLCPSolver::m_x
btVectorXu m_x
Definition btMLCPSolver.h:29
btMLCPSolver::createMLCP
virtual void createMLCP(const btContactSolverInfo &infoGlobal)
Definition btMLCPSolver.cpp:458
btMLCPSolver::m_scratchJ3
btMatrixXu m_scratchJ3
The following scratch variables are not stateful – contents are cleared prior to each use.
Definition btMLCPSolver.h:47
btMLCPSolver::m_xSplit
btVectorXu m_xSplit
Definition btMLCPSolver.h:35
btMLCPSolver::solveMLCP
virtual bool solveMLCP(const btContactSolverInfo &infoGlobal)
Definition btMLCPSolver.cpp:116
btMLCPSolver::m_bSplit
btVectorXu m_bSplit
when using 'split impulse' we solve two separate (M)LCPs
Definition btMLCPSolver.h:34
btMLCPSolver::solveGroupCacheFriendlySetup
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
Definition btMLCPSolver.cpp:35
btMLCPSolver::m_hi
btVectorXu m_hi
Definition btMLCPSolver.h:31
btMLCPSolver::m_A
btMatrixXu m_A
Definition btMLCPSolver.h:27
btMLCPSolver::m_scratchOfs
btAlignedObjectArray< int > m_scratchOfs
Definition btMLCPSolver.h:49
btMLCPSolver::m_scratchJInvM3
btMatrixXu m_scratchJInvM3
Definition btMLCPSolver.h:48
btMLCPSolver::createMLCPFast
virtual void createMLCPFast(const btContactSolverInfo &infoGlobal)
Definition btMLCPSolver.cpp:148
btMLCPSolver::solveGroupCacheFriendlyIterations
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
Definition btMLCPSolver.cpp:570
btMLCPSolver::m_fallback
int m_fallback
Definition btMLCPSolver.h:42
btMLCPSolver::btMLCPSolver
btMLCPSolver(btMLCPSolverInterface *solver)
original version written by Erwin Coumans, October 2013
Definition btMLCPSolver.cpp:22
btMLCPSolver::getNumFallbacks
int getNumFallbacks() const
Definition btMLCPSolver.h:73
btMLCPSolver::m_allConstraintPtrArray
btAlignedObjectArray< btSolverConstraint * > m_allConstraintPtrArray
Definition btMLCPSolver.h:40
btMLCPSolver::m_solver
btMLCPSolverInterface * m_solver
Definition btMLCPSolver.h:41
btMLCPSolver::setNumFallbacks
void setNumFallbacks(int num)
Definition btMLCPSolver.h:77
btMLCPSolver::m_xSplit2
btVectorXu m_xSplit2
Definition btMLCPSolver.h:37
btMLCPSolver::m_lo
btVectorXu m_lo
Definition btMLCPSolver.h:30
btMLCPSolver::getSolverType
virtual btConstraintSolverType getSolverType() const
Definition btMLCPSolver.h:82
btMLCPSolver::setMLCPSolver
void setMLCPSolver(btMLCPSolverInterface *solver)
Definition btMLCPSolver.h:68
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition btPersistentManifold.h:65
btSequentialImpulseConstraintSolver
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
Definition btSequentialImpulseConstraintSolver.h:52
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition btTypedConstraint.h:76
btContactSolverInfo
Definition btContactSolverInfo.h:76