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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h')
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1 files changed, 0 insertions, 187 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h deleted file mode 100644 index 77fdb86bb9..0000000000 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h +++ /dev/null @@ -1,187 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2018 Google Inc. http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. 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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#ifndef BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H -#define BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H - -#include "LinearMath/btMatrixX.h" -#include "LinearMath/btThreads.h" -#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h" - -class btMLCPSolverInterface; -class btMultiBody; - -class btMultiBodyMLCPConstraintSolver : public btMultiBodyConstraintSolver -{ -protected: - /// \name MLCP Formulation for Rigid Bodies - /// \{ - - /// A matrix in the MLCP formulation - btMatrixXu m_A; - - /// b vector in the MLCP formulation. - btVectorXu m_b; - - /// Constraint impulse, which is an output of MLCP solving. - btVectorXu m_x; - - /// Lower bound of constraint impulse, \c m_x. - btVectorXu m_lo; - - /// Upper bound of constraint impulse, \c m_x. - btVectorXu m_hi; - - /// \} - - /// \name Cache Variables for Split Impulse for Rigid Bodies - /// When using 'split impulse' we solve two separate (M)LCPs - /// \{ - - /// Split impulse Cache vector corresponding to \c m_b. - btVectorXu m_bSplit; - - /// Split impulse cache vector corresponding to \c m_x. - btVectorXu m_xSplit; - - /// \} - - /// \name MLCP Formulation for Multibodies - /// \{ - - /// A matrix in the MLCP formulation - btMatrixXu m_multiBodyA; - - /// b vector in the MLCP formulation. - btVectorXu m_multiBodyB; - - /// Constraint impulse, which is an output of MLCP solving. - btVectorXu m_multiBodyX; - - /// Lower bound of constraint impulse, \c m_x. - btVectorXu m_multiBodyLo; - - /// Upper bound of constraint impulse, \c m_x. - btVectorXu m_multiBodyHi; - - /// \} - - /// Indices of normal contact constraint associated with frictional contact constraint for rigid bodies. - /// - /// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate - /// normal contact impulse. For example, i-th element represents the index of a normal constraint that is - /// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint. - /// Otherwise, -1. - btAlignedObjectArray<int> m_limitDependencies; - - /// Indices of normal contact constraint associated with frictional contact constraint for multibodies. - /// - /// This is used by the MLCP solver to update the upper bounds of frictional contact impulse given intermediate - /// normal contact impulse. For example, i-th element represents the index of a normal constraint that is - /// accosiated with i-th frictional contact constraint if i-th constraint is a frictional contact constraint. - /// Otherwise, -1. - btAlignedObjectArray<int> m_multiBodyLimitDependencies; - - /// Array of all the rigid body constraints - btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray; - - /// Array of all the multibody constraints - btAlignedObjectArray<btMultiBodySolverConstraint*> m_multiBodyAllConstraintPtrArray; - - /// MLCP solver - btMLCPSolverInterface* m_solver; - - /// Count of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP solver fails. - int m_fallback; - - /// \name MLCP Scratch Variables - /// The following scratch variables are not stateful -- contents are cleared prior to each use. - /// They are only cached here to avoid extra memory allocations and deallocations and to ensure - /// that multiple instances of the solver can be run in parallel. - /// - /// \{ - - /// Cache variable for constraint Jacobian matrix. - btMatrixXu m_scratchJ3; - - /// Cache variable for constraint Jacobian times inverse mass matrix. - btMatrixXu m_scratchJInvM3; - - /// Cache variable for offsets. - btAlignedObjectArray<int> m_scratchOfs; - - /// \} - - /// Constructs MLCP terms, which are \c m_A, \c m_b, \c m_lo, and \c m_hi. - virtual void createMLCPFast(const btContactSolverInfo& infoGlobal); - - /// Constructs MLCP terms for constraints of two rigid bodies - void createMLCPFastRigidBody(const btContactSolverInfo& infoGlobal); - - /// Constructs MLCP terms for constraints of two multi-bodies or one rigid body and one multibody - void createMLCPFastMultiBody(const btContactSolverInfo& infoGlobal); - - /// Solves MLCP and returns the success - virtual bool solveMLCP(const btContactSolverInfo& infoGlobal); - - // Documentation inherited - btScalar solveGroupCacheFriendlySetup( - btCollisionObject** bodies, - int numBodies, - btPersistentManifold** manifoldPtr, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - const btContactSolverInfo& infoGlobal, - btIDebugDraw* debugDrawer) BT_OVERRIDE; - - // Documentation inherited - btScalar solveGroupCacheFriendlyIterations( - btCollisionObject** bodies, - int numBodies, - btPersistentManifold** manifoldPtr, - int numManifolds, - btTypedConstraint** constraints, - int numConstraints, - const btContactSolverInfo& infoGlobal, - btIDebugDraw* debugDrawer) ; - -public: - BT_DECLARE_ALIGNED_ALLOCATOR() - - /// Constructor - /// - /// \param[in] solver MLCP solver. Assumed it's not null. - /// \param[in] maxLCPSize Maximum size of LCP to solve using MLCP solver. If the MLCP size exceeds this number, sequaltial impulse method will be used. - explicit btMultiBodyMLCPConstraintSolver(btMLCPSolverInterface* solver); - - /// Destructor - virtual ~btMultiBodyMLCPConstraintSolver(); - - /// Sets MLCP solver. Assumed it's not null. - void setMLCPSolver(btMLCPSolverInterface* solver); - - /// Returns the number of fallbacks of using btSequentialImpulseConstraintSolver, which happens when the MLCP - /// solver fails. - int getNumFallbacks() const; - - /// Sets the number of fallbacks. This function may be used to reset the number to zero. - void setNumFallbacks(int num); - - /// Returns the constraint solver type. - virtual btConstraintSolverType getSolverType() const; -}; - -#endif // BT_MULTIBODY_MLCP_CONSTRAINT_SOLVER_H |