645a88176d
CFM for contacts use world CFM value by default, and can override with custom CFM value using the BT_CONTACT_FLAG_HAS_CONTACT_CFM stored in m_contactPointFlags. Boolean m_lateralFrictionInitialized is replaced 'BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED' flag stored in int m_contactPointFlags in btManifoldPoint. Enable successive over-relaxation parameter (SOR) for contacts. btMLCPSolver uses global CFM. In one of the next commits, contact softness will be enabled btMultiBody contacts. Also need to review use of CFM in btMLCPSolvers (only world CFM is used at the moment)
84 lines
2.8 KiB
C++
84 lines
2.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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///original version written by Erwin Coumans, October 2013
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#ifndef BT_MLCP_SOLVER_H
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#define BT_MLCP_SOLVER_H
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#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
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#include "LinearMath/btMatrixX.h"
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#include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h"
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class btMLCPSolver : public btSequentialImpulseConstraintSolver
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{
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protected:
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btMatrixXu m_A;
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btVectorXu m_b;
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btVectorXu m_x;
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btVectorXu m_lo;
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btVectorXu m_hi;
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///when using 'split impulse' we solve two separate (M)LCPs
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btVectorXu m_bSplit;
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btVectorXu m_xSplit;
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btVectorXu m_bSplit1;
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btVectorXu m_xSplit2;
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btAlignedObjectArray<int> m_limitDependencies;
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btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray;
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btMLCPSolverInterface* m_solver;
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int m_fallback;
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virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
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virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer);
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virtual void createMLCP(const btContactSolverInfo& infoGlobal);
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virtual void createMLCPFast(const btContactSolverInfo& infoGlobal);
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//return true is it solves the problem successfully
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virtual bool solveMLCP(const btContactSolverInfo& infoGlobal);
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public:
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btMLCPSolver( btMLCPSolverInterface* solver);
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virtual ~btMLCPSolver();
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void setMLCPSolver(btMLCPSolverInterface* solver)
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{
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m_solver = solver;
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}
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int getNumFallbacks() const
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{
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return m_fallback;
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}
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void setNumFallbacks(int num)
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{
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m_fallback = num;
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}
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virtual btConstraintSolverType getSolverType() const
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{
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return BT_MLCP_SOLVER;
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}
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};
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#endif //BT_MLCP_SOLVER_H
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