#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h"
#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"

Include dependency graph for btMultiBodyMLCPConstraintSolver.cpp:

Classes
struct	btJointNode

Macros
#define	DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

Functions
static btScalar	computeDeltaVelocityInConstraintSpace (const btVector3 &angularDeltaVelocity, const btVector3 &contactNormal, btScalar invMass, const btVector3 &angularJacobian, const btVector3 &linearJacobian)

static btScalar	computeDeltaVelocityInConstraintSpace (const btVector3 &angularDeltaVelocity, btScalar invMass, const btVector3 &angularJacobian)

static btScalar	computeDeltaVelocityInConstraintSpace (const btScalar deltaVelocity, const btScalar jacobian, int size)

static btScalar	computeConstraintMatrixDiagElementMultiBody (const btAlignedObjectArray< btSolverBody > &solverBodyPool, const btMultiBodyJacobianData &data, const btMultiBodySolverConstraint &constraint)

static btScalar	computeConstraintMatrixOffDiagElementMultiBody (const btAlignedObjectArray< btSolverBody > &solverBodyPool, const btMultiBodyJacobianData &data, const btMultiBodySolverConstraint &constraint, const btMultiBodySolverConstraint &offDiagConstraint)

Variables
static bool	interleaveContactAndFriction = false

Macro Definition Documentation

#define DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS

Definition at line 23 of file btMultiBodyMLCPConstraintSolver.cpp.

Function Documentation

static btScalar computeConstraintMatrixDiagElementMultiBody	(	const btAlignedObjectArray< btSolverBody > &	solverBodyPool,
		const btMultiBodyJacobianData &	data,
		const btMultiBodySolverConstraint &	constraint
	)

static

Definition at line 66 of file btMultiBodyMLCPConstraintSolver.cpp.

static btScalar computeConstraintMatrixOffDiagElementMultiBody	(	const btAlignedObjectArray< btSolverBody > &	solverBodyPool,
		const btMultiBodyJacobianData &	data,
		const btMultiBodySolverConstraint &	constraint,
		const btMultiBodySolverConstraint &	offDiagConstraint
	)

static

Definition at line 117 of file btMultiBodyMLCPConstraintSolver.cpp.

static btScalar computeDeltaVelocityInConstraintSpace	(	const btVector3 &	angularDeltaVelocity,
		const btVector3 &	contactNormal,
		btScalar	invMass,
		const btVector3 &	angularJacobian,
		const btVector3 &	linearJacobian
	)