Blender V4.5
Classes | Enumerations | Functions | Variables
btMultiBodyConstraint.h File Reference
#include "LinearMath/btScalar.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btMultiBody.h"
#include "btMultiBodySolverConstraint.h"

Go to the source code of this file.

Classes

struct  btMultiBodyJacobianData

Enumerations

enum  btTypedMultiBodyConstraintType {
  MULTIBODY_CONSTRAINT_LIMIT =3 , MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR , MULTIBODY_CONSTRAINT_GEAR , MULTIBODY_CONSTRAINT_POINT_TO_POINT ,
  MULTIBODY_CONSTRAINT_SLIDER , MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR , MULTIBODY_CONSTRAINT_FIXED , MAX_MULTIBODY_CONSTRAINT_TYPE
}

Functions

void applyDeltaVee (btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof)
btScalar fillMultiBodyConstraint (btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type)
virtual ~btMultiBodyConstraint ()
void updateJacobianSizes ()
void allocateJacobiansMultiDof ()
int getConstraintType () const
virtual void setFrameInB (const btMatrix3x3 &frameInB)
virtual void setPivotInB (const btVector3 &pivotInB)
virtual void finalizeMultiDof ()=0
virtual int getIslandIdA () const =0
virtual int getIslandIdB () const =0
virtual void createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)=0
int getNumRows () const
btMultiBody * getMultiBodyA ()
btMultiBody * getMultiBodyB ()
int getLinkA () const
int getLinkB () const
void internalSetAppliedImpulse (int dof, btScalar appliedImpulse)
btScalar getAppliedImpulse (int dof)
btScalar getPosition (int row) const
void setPosition (int row, btScalar pos)
bool isUnilateral () const
btScalar * jacobianA (int row)
btScalar * jacobianB (int row)
btScalar getMaxAppliedImpulse () const
void setMaxAppliedImpulse (btScalar maxImp)
virtual void debugDraw (class btIDebugDraw *drawer)=0
virtual void setGearRatio (btScalar ratio)
virtual void setGearAuxLink (int gearAuxLink)
virtual void setRelativePositionTarget (btScalar relPosTarget)
virtual void setErp (btScalar erp)

Variables

 btMultiBodyConstraint
btMultiBody * m_bodyB
int m_linkA
int m_linkB
int m_type
int m_numRows
int m_jacSizeA
int m_jacSizeBoth
int m_posOffset
bool m_isUnilateral
int m_numDofsFinalized
btScalar m_maxAppliedImpulse
btAlignedObjectArray< btScalar > m_data

Enumeration Type Documentation

◆ btTypedMultiBodyConstraintType

enum btTypedMultiBodyConstraintType
Enumerator
MULTIBODY_CONSTRAINT_LIMIT 
MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR 
MULTIBODY_CONSTRAINT_GEAR 
MULTIBODY_CONSTRAINT_POINT_TO_POINT 
MULTIBODY_CONSTRAINT_SLIDER 
MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR 
MULTIBODY_CONSTRAINT_FIXED 
MAX_MULTIBODY_CONSTRAINT_TYPE 

Definition at line 25 of file btMultiBodyConstraint.h.

Function Documentation

◆ allocateJacobiansMultiDof()

void btMultiBodyConstraint::allocateJacobiansMultiDof ( )

Definition at line 35 of file btMultiBodyConstraint.cpp.

References m_data, m_jacSizeBoth, m_numRows, m_posOffset, btAlignedObjectArray< T >::resize(), and updateJacobianSizes().

Referenced by btMultiBodyConstraint(), btMultiBodyGearConstraint::finalizeMultiDof(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), btMultiBodyJointMotor::finalizeMultiDof(), and btMultiBodySphericalJointMotor::finalizeMultiDof().

◆ applyDeltaVee()

void btMultiBodyConstraint::applyDeltaVee ( btMultiBodyJacobianData & data,
btScalar * delta_vee,
btScalar impulse,
int velocityIndex,
int ndof )

Definition at line 47 of file btMultiBodyConstraint.cpp.

References data, and i.

Referenced by resolveConeFrictionConstraintRows(), resolveSingleConstraintRowGeneric(), setupMultiBodyContactConstraint(), btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(), and solveSingleIteration().

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR ( )

References BT_DECLARE_ALIGNED_ALLOCATOR.

◆ btMultiBodyConstraint()

btMultiBodyConstraint ( btMultiBody * bodyA,
btMultiBody * bodyB,
int linkA,
int linkB,
int numRows,
bool isUnilateral,
int type )

References allocateJacobiansMultiDof(), btMultiBody, btMultiBodyConstraint, isUnilateral(), and updateJacobianSizes().

◆ createConstraintRows()

virtual void createConstraintRows ( btMultiBodyConstraintArray & constraintRows,
btMultiBodyJacobianData & data,
const btContactSolverInfo & infoGlobal )
pure virtual

References createConstraintRows(), data, and infoGlobal.

Referenced by createConstraintRows(), and createConstraintRows().

◆ debugDraw()

virtual void debugDraw ( class btIDebugDraw * drawer)
pure virtual

References debugDraw().

◆ fillMultiBodyConstraint()

btScalar btMultiBodyConstraint::fillMultiBodyConstraint ( btMultiBodySolverConstraint & solverConstraint,
btMultiBodyJacobianData & data,
btScalar * jacOrgA,
btScalar * jacOrgB,
const btVector3 & constraintNormalAng,
const btVector3 & constraintNormalLin,
const btVector3 & posAworld,
const btVector3 & posBworld,
btScalar posError,
const btContactSolverInfo & infoGlobal,
btScalar lowerLimit,
btScalar upperLimit,
bool angConstraint = false,
btScalar relaxation = 1.f,
bool isFriction = false,
btScalar desiredVelocity = 0,
btScalar cfmSlip = 0 )

Definition at line 53 of file btMultiBodyConstraint.cpp.

References btAssert, btMultiBody, btMultiBodySolverConstraint, btSolverBody, btVector3, cross, data, btRigidBody::getAngularFactor(), btRigidBody::getAngularVelocity(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), btRigidBody::getLinearVelocity(), i, infoGlobal, l, m_bodyB, m_linkA, m_linkB, and SIMD_EPSILON.

Referenced by btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), and btMultiBodySphericalJointMotor::createConstraintRows().

◆ finalizeMultiDof()

virtual void finalizeMultiDof ( )
pure virtual

References finalizeMultiDof().

◆ getAppliedImpulse()

btScalar getAppliedImpulse ( int dof)

Definition at line 154 of file btMultiBodyConstraint.h.

References btAssert, getAppliedImpulse(), getNumRows(), and m_data.

◆ getConstraintType()

int getConstraintType ( ) const

Definition at line 108 of file btMultiBodyConstraint.h.

References getConstraintType(), and m_type.

◆ getIslandIdA()

virtual int getIslandIdA ( ) const
pure virtual

References getIslandIdA().

Referenced by getIslandIdA(), and getIslandIdA().

◆ getIslandIdB()

virtual int getIslandIdB ( ) const
pure virtual

References getIslandIdB().

Referenced by getIslandIdB(), and getIslandIdB().

◆ getLinkA()

int getLinkA ( ) const

Definition at line 139 of file btMultiBodyConstraint.h.

References getLinkA(), and m_linkA.

Referenced by getLinkA().

◆ getLinkB()

int getLinkB ( ) const

Definition at line 143 of file btMultiBodyConstraint.h.

References getLinkB(), and m_linkB.

Referenced by getLinkB().

◆ getMaxAppliedImpulse()

btScalar getMaxAppliedImpulse ( ) const

Definition at line 198 of file btMultiBodyConstraint.h.

References getMaxAppliedImpulse().

◆ getMultiBodyA()

btMultiBody * getMultiBodyA ( )

Definition at line 130 of file btMultiBodyConstraint.h.

References btMultiBody, and getMultiBodyA().

Referenced by getMultiBodyA().

◆ getMultiBodyB()

btMultiBody * getMultiBodyB ( )

Definition at line 134 of file btMultiBodyConstraint.h.

References btMultiBody, getMultiBodyB(), and m_bodyB.

Referenced by getMultiBodyB().

◆ getNumRows()

int getNumRows ( ) const

Definition at line 125 of file btMultiBodyConstraint.h.

References getNumRows(), and m_numRows.

Referenced by btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySphericalJointMotor::createConstraintRows(), getAppliedImpulse(), getNumRows(), and internalSetAppliedImpulse().

◆ getPosition()

btScalar getPosition ( int row) const

Definition at line 163 of file btMultiBodyConstraint.h.

References getPosition(), m_data, and m_posOffset.

Referenced by btMultiBodyJointLimitConstraint::createConstraintRows(), and getPosition().

◆ internalSetAppliedImpulse()

void internalSetAppliedImpulse ( int dof,
btScalar appliedImpulse )

Definition at line 147 of file btMultiBodyConstraint.h.

References btAssert, getNumRows(), internalSetAppliedImpulse(), and m_data.

◆ isUnilateral()

bool isUnilateral ( ) const

Definition at line 173 of file btMultiBodyConstraint.h.

References isUnilateral(), and m_isUnilateral.

Referenced by btMultiBodyConstraint(), and isUnilateral().

◆ jacobianA()

const btScalar * jacobianA ( int row)

Definition at line 181 of file btMultiBodyConstraint.h.

References jacobianA(), m_data, m_jacSizeBoth, and m_numRows.

Referenced by btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), btMultiBodyJointMotor::finalizeMultiDof(), btMultiBodySphericalJointMotor::finalizeMultiDof(), and jacobianA().

◆ jacobianB()

const btScalar * jacobianB ( int row)

Definition at line 189 of file btMultiBodyConstraint.h.

References jacobianB(), m_data, m_jacSizeA, m_jacSizeBoth, and m_numRows.

Referenced by btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), and jacobianB().

◆ setErp()

virtual void setErp ( btScalar erp)
virtual

Definition at line 212 of file btMultiBodyConstraint.h.

References setErp().

Referenced by setErp().

◆ setFrameInB()

virtual void setFrameInB ( const btMatrix3x3 & frameInB)
virtual

Definition at line 113 of file btMultiBodyConstraint.h.

References btMatrix3x3, frameInB, and setFrameInB().

Referenced by setFrameInB().

◆ setGearAuxLink()

virtual void setGearAuxLink ( int gearAuxLink)
virtual

Definition at line 210 of file btMultiBodyConstraint.h.

References setGearAuxLink().

Referenced by setGearAuxLink().

◆ setGearRatio()

virtual void setGearRatio ( btScalar ratio)
virtual

Definition at line 209 of file btMultiBodyConstraint.h.

References setGearRatio().

Referenced by setGearRatio().

◆ setMaxAppliedImpulse()

void setMaxAppliedImpulse ( btScalar maxImp)

Definition at line 202 of file btMultiBodyConstraint.h.

References setMaxAppliedImpulse().

◆ setPivotInB()

virtual void setPivotInB ( const btVector3 & pivotInB)
virtual

Definition at line 114 of file btMultiBodyConstraint.h.

References btVector3, and setPivotInB().

Referenced by setPivotInB().

◆ setPosition()

void setPosition ( int row,
btScalar pos )

Definition at line 168 of file btMultiBodyConstraint.h.

References m_data, m_posOffset, and setPosition().

Referenced by btMultiBodyJointLimitConstraint::createConstraintRows(), and setPosition().

◆ setRelativePositionTarget()

virtual void setRelativePositionTarget ( btScalar relPosTarget)
virtual

Definition at line 211 of file btMultiBodyConstraint.h.

References setRelativePositionTarget().

Referenced by setRelativePositionTarget().

◆ updateJacobianSizes()

void btMultiBodyConstraint::updateJacobianSizes ( )

Definition at line 20 of file btMultiBodyConstraint.cpp.

References m_bodyB, m_jacSizeA, and m_jacSizeBoth.

Referenced by allocateJacobiansMultiDof(), and btMultiBodyConstraint().

◆ ~btMultiBodyConstraint()

btMultiBodyConstraint::~btMultiBodyConstraint ( )
virtual

Definition at line 43 of file btMultiBodyConstraint.cpp.

Variable Documentation

◆ btMultiBodyConstraint

btMultiBodyConstraint::btMultiBodyConstraint
Initial value:
{
protected:
btMultiBody* m_bodyA
btMultiBody
btMultiBody
Definition btMultiBody.h:51

Definition at line 56 of file btMultiBodyConstraint.h.

Referenced by btMultiBodyDynamicsWorld::addMultiBodyConstraint(), btGetMultiBodyConstraintIslandId(), btMultiBodyConstraint(), btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(), btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(), btMultiBodyGearConstraint::btMultiBodyGearConstraint(), btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint(), btMultiBodyJointMotor::btMultiBodyJointMotor(), btMultiBodyJointMotor::btMultiBodyJointMotor(), btMultiBodyPoint2Point(), btMultiBodyPoint2Point(), btMultiBodySliderConstraint::btMultiBodySliderConstraint(), btMultiBodySliderConstraint::btMultiBodySliderConstraint(), btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor(), btMultiBodyDynamicsWorld::calculateSimulationIslands(), btMultiBodyDynamicsWorld::debugDrawMultiBodyConstraint(), btMultiBodyDynamicsWorld::debugDrawWorld(), btMultiBodyDynamicsWorld::getMultiBodyConstraint(), btMultiBodyDynamicsWorld::getMultiBodyConstraint(), btSortMultiBodyConstraintOnIslandPredicate::operator()(), DeformableBodyInplaceSolverIslandCallback::processConstraints(), MultiBodyInplaceSolverIslandCallback::processConstraints(), MultiBodyInplaceSolverIslandCallback::processIsland(), btMultiBodyDynamicsWorld::removeMultiBodyConstraint(), MultiBodyInplaceSolverIslandCallback::setup(), btDeformableMultiBodyDynamicsWorld::setupConstraints(), solveDeformableBodyGroup(), btMultiBodyDynamicsWorld::solveExternalForces(), solveGroupCacheFriendlyFinish(), and solveMultiBodyGroup().

◆ m_bodyB

btMultiBody* m_bodyB

Definition at line 60 of file btMultiBodyConstraint.h.

Referenced by btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), btMultiBodyFixedConstraint::debugDraw(), btMultiBodySliderConstraint::debugDraw(), fillMultiBodyConstraint(), btMultiBodyFixedConstraint::getIslandIdB(), btMultiBodyGearConstraint::getIslandIdB(), btMultiBodyJointLimitConstraint::getIslandIdB(), btMultiBodyJointMotor::getIslandIdB(), btMultiBodySliderConstraint::getIslandIdB(), btMultiBodySphericalJointMotor::getIslandIdB(), getMultiBodyB(), and updateJacobianSizes().

◆ m_data

btAlignedObjectArray<btScalar> m_data

Definition at line 80 of file btMultiBodyConstraint.h.

Referenced by btBvhTree::_build_sub_tree(), btQuantizedBvhTree::_build_sub_tree(), allocateJacobiansMultiDof(), applyDeltaVee(), btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(), btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(), btMultiBodyPoint2Point(), btMultiBodyPoint2Point(), btMultiBodySliderConstraint::btMultiBodySliderConstraint(), btMultiBodySliderConstraint::btMultiBodySliderConstraint(), btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody(), getAppliedImpulse(), blender::io::hydra::HydraSceneDelegate::GetMeshTopology(), getPosition(), blender::io::hydra::HydraSceneDelegate::GetPrimvarDescriptors(), internalSetAppliedImpulse(), jacobianA(), jacobianB(), resolveConeFrictionConstraintRows(), resolveSingleConstraintRowGeneric(), setPosition(), setupMultiBodyContactConstraint(), setupMultiBodyTorsionalFrictionConstraint(), btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(), blender::io::hydra::MaterialData::update(), and writeBackSolverBodyToMultiBody().

◆ m_isUnilateral

bool m_isUnilateral

Definition at line 71 of file btMultiBodyConstraint.h.

Referenced by isUnilateral().

◆ m_jacSizeA

int m_jacSizeA

Definition at line 67 of file btMultiBodyConstraint.h.

Referenced by jacobianB(), and updateJacobianSizes().

◆ m_jacSizeBoth

int m_jacSizeBoth

Definition at line 68 of file btMultiBodyConstraint.h.

Referenced by allocateJacobiansMultiDof(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySphericalJointMotor::createConstraintRows(), btMultiBodyGearConstraint::finalizeMultiDof(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), btMultiBodyJointMotor::finalizeMultiDof(), btMultiBodySphericalJointMotor::finalizeMultiDof(), jacobianA(), jacobianB(), and updateJacobianSizes().

◆ m_linkA

int m_linkA

Definition at line 61 of file btMultiBodyConstraint.h.

Referenced by btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), btMultiBodySphericalJointMotor::createConstraintRows(), btMultiBodyFixedConstraint::debugDraw(), btMultiBodySliderConstraint::debugDraw(), fillMultiBodyConstraint(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), btMultiBodyJointMotor::finalizeMultiDof(), btMultiBodySphericalJointMotor::finalizeMultiDof(), btMultiBodyFixedConstraint::getIslandIdA(), btMultiBodyGearConstraint::getIslandIdA(), btMultiBodyJointLimitConstraint::getIslandIdA(), btMultiBodyJointMotor::getIslandIdA(), btMultiBodySliderConstraint::getIslandIdA(), btMultiBodySphericalJointMotor::getIslandIdA(), and getLinkA().

◆ m_linkB

int m_linkB

Definition at line 62 of file btMultiBodyConstraint.h.

Referenced by btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), btMultiBodyFixedConstraint::debugDraw(), btMultiBodySliderConstraint::debugDraw(), fillMultiBodyConstraint(), btMultiBodyFixedConstraint::getIslandIdB(), btMultiBodyGearConstraint::getIslandIdB(), btMultiBodyJointLimitConstraint::getIslandIdB(), btMultiBodyJointMotor::getIslandIdB(), btMultiBodySliderConstraint::getIslandIdB(), btMultiBodySphericalJointMotor::getIslandIdB(), and getLinkB().

◆ m_maxAppliedImpulse

btScalar m_maxAppliedImpulse

Definition at line 73 of file btMultiBodyConstraint.h.

◆ m_numDofsFinalized

int m_numDofsFinalized

Definition at line 72 of file btMultiBodyConstraint.h.

Referenced by btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySphericalJointMotor::createConstraintRows(), btMultiBodyGearConstraint::finalizeMultiDof(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), btMultiBodyJointMotor::finalizeMultiDof(), and btMultiBodySphericalJointMotor::finalizeMultiDof().

◆ m_numRows

int m_numRows

Definition at line 66 of file btMultiBodyConstraint.h.

Referenced by allocateJacobiansMultiDof(), getNumRows(), jacobianA(), and jacobianB().

◆ m_posOffset

int m_posOffset

Definition at line 69 of file btMultiBodyConstraint.h.

Referenced by allocateJacobiansMultiDof(), getPosition(), and setPosition().

◆ m_type

int m_type

Definition at line 64 of file btMultiBodyConstraint.h.

Referenced by bsdf_aniso_D(), bsdf_D(), bsdf_lambda_from_sqr_alpha_tan_n(), bsdf_microfacet_sample(), and getConstraintType().

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