52 for (
int j=0; j<numNonContactPool; ++j) {
62 for (
int j=0; j<numConstraintPool; ++j) {
69 for (
int j=0; j<numFrictionPool; ++j) {
91 deltaflengthsqr += deltaf * deltaf;
103 deltaflengthsqr += deltaf * deltaf;
149 for (
int j=0;j<numConstraints;j++)
151 if (constraints[j]->isEnabled())
167 for (
int c=0;c<numPoolConstraints;c++)
175 deltaflengthsqr += deltaf*deltaf;
178 bool applyFriction =
true;
191 deltaflengthsqr += deltaf*deltaf;
208 deltaflengthsqr += deltaf*deltaf;
223 for (j=0;j<numPoolConstraints;j++)
229 deltaflengthsqr += deltaf*deltaf;
237 for (j=0;j<numFrictionPoolConstraints;j++)
250 deltaflengthsqr += deltaf*deltaf;
258 for (j=0;j<numRollingFrictionPoolConstraints;j++)
265 btScalar rollingFrictionMagnitude = rollingFrictionConstraint.
m_friction*totalImpulse;
266 if (rollingFrictionMagnitude>rollingFrictionConstraint.
m_friction)
267 rollingFrictionMagnitude = rollingFrictionConstraint.
m_friction;
269 rollingFrictionConstraint.
m_lowerLimit = -rollingFrictionMagnitude;
270 rollingFrictionConstraint.
m_upperLimit = rollingFrictionMagnitude;
274 deltaflengthsqr += deltaf*deltaf;
291 for (
int j=0;j<numConstraints;j++)
293 if (constraints[j]->isEnabled())
304 for (
int j=0;j<numPoolConstraints;j++)
309 deltaflengthsqr += deltaf*deltaf;
313 for (
int j=0;j<numFrictionPoolConstraints;j++)
325 deltaflengthsqr += deltaf*deltaf;
332 for (
int j=0;j<numRollingFrictionPoolConstraints;j++)
338 btScalar rollingFrictionMagnitude = rollingFrictionConstraint.
m_friction*totalImpulse;
339 if (rollingFrictionMagnitude>rollingFrictionConstraint.
m_friction)
340 rollingFrictionMagnitude = rollingFrictionConstraint.
m_friction;
342 rollingFrictionConstraint.
m_lowerLimit = -rollingFrictionMagnitude;
343 rollingFrictionConstraint.
m_upperLimit = rollingFrictionMagnitude;
347 deltaflengthsqr += deltaf*deltaf;
444 return deltaflengthsqr;
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
int m_overrideNumSolverIterations
btConstraintArray m_tmpSolverContactFrictionConstraintPool
btConstraintArray m_tmpSolverContactRollingFrictionConstraintPool
void internalApplyImpulse(const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
btAlignedObjectArray< btScalar > m_pCRF
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
void resizeNoInitialize(int newsize)
resize changes the number of elements in the array.
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal)
const btVector3 & internalGetInvMass() const
btSimdScalar resolveSingleConstraintRowLowerLimit(btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btAlignedObjectArray< btScalar > m_pNC
btAlignedObjectArray< int > m_orderTmpConstraintPool
btScalar m_deltafLengthSqrPrev
bool m_onlyForNoneContact
int getOrInitSolverBody(btCollisionObject &body, btScalar timeStep)
btVector3 m_angularComponentA
btAlignedObjectArray< btSolverBody > m_tmpSolverBodyPool
btAlignedObjectArray< btScalar > m_deltafCRF
btSimdScalar resolveSingleConstraintRowGeneric(btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btConstraintArray m_tmpSolverContactConstraintPool
btCollisionObject can be used to manage collision detection objects.
btAlignedObjectArray< btScalar > m_deltafC
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
btVector3 m_angularComponentB
btSimdScalar resolveSingleConstraintRowGenericSIMD(btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
int size() const
return the number of elements in the array
virtual void solveConstraintObsolete(btSolverBody &, btSolverBody &, btScalar)
internal method used by the constraint solver, don't use them directly
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
virtual btScalar solveSingleIteration(int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
TypedConstraint is the baseclass for Bullet constraints and vehicles.
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
btAlignedObjectArray< btScalar > m_deltafCF
btAlignedObjectArray< btScalar > m_deltafNC
btVector3 m_contactNormal1
btAlignedObjectArray< int > m_orderFrictionConstraintPool
btAlignedObjectArray< btScalar > m_pC
btAlignedObjectArray< int > m_orderNonContactConstraintPool
btSimdScalar resolveSingleConstraintRowLowerLimitSIMD(btSolverBody &bodyA, btSolverBody &bodyB, const btSolverConstraint &contactConstraint)
btAlignedObjectArray< btScalar > m_pCF
btSimdScalar m_appliedImpulse
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
btConstraintArray m_tmpSolverNonContactConstraintPool
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btVector3 m_contactNormal2