17 #ifndef BT_MLCP_SOLVER_H 18 #define BT_MLCP_SOLVER_H 94 #endif //BT_MLCP_SOLVER_H btMatrixXu m_scratchJTranspose
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
int getNumFallbacks() const
virtual void createMLCP(const btContactSolverInfo &infoGlobal)
btMatrixXu m_scratchJ3
The following scratch variables are not stateful – contents are cleared prior to each use...
btConstraintSolverType
btConstraintSolver provides solver interface
btMLCPSolver(btMLCPSolverInterface *solver)
original version written by Erwin Coumans, October 2013
void setNumFallbacks(int num)
btAlignedObjectArray< btSolverConstraint * > m_allConstraintPtrArray
original version written by Erwin Coumans, October 2013
btCollisionObject can be used to manage collision detection objects.
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
btAlignedObjectArray< int > m_scratchOfs
virtual btConstraintSolverType getSolverType() const
btVectorXu m_bSplit
when using 'split impulse' we solve two separate (M)LCPs
virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer)
The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (...
btMLCPSolverInterface * m_solver
void setMLCPSolver(btMLCPSolverInterface *solver)
virtual btScalar solveGroupCacheFriendlySetup(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 bool solveMLCP(const btContactSolverInfo &infoGlobal)
btAlignedObjectArray< int > m_limitDependencies
original version written by Erwin Coumans, October 2013
virtual void createMLCPFast(const btContactSolverInfo &infoGlobal)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btMatrixXu m_scratchJInvM3