1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 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. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 ///original version written by Erwin Coumans, October 2013 16 17 #ifndef BT_MLCP_SOLVER_H 18 #define BT_MLCP_SOLVER_H 19 20 #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" 21 #include "LinearMath/btMatrixX.h" 22 #include "BulletDynamics/MLCPSolvers/btMLCPSolverInterface.h" 23 24 class btMLCPSolver : public btSequentialImpulseConstraintSolver 25 { 26 27 protected: 28 29 btMatrixXu m_A; 30 btVectorXu m_b; 31 btVectorXu m_x; 32 btVectorXu m_lo; 33 btVectorXu m_hi; 34 35 ///when using 'split impulse' we solve two separate (M)LCPs 36 btVectorXu m_bSplit; 37 btVectorXu m_xSplit; 38 btVectorXu m_bSplit1; 39 btVectorXu m_xSplit2; 40 41 btAlignedObjectArray<int> m_limitDependencies; 42 btAlignedObjectArray<btSolverConstraint*> m_allConstraintPtrArray; 43 btMLCPSolverInterface* m_solver; 44 int m_fallback; 45 btScalar m_cfm; 46 47 virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); 48 virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); 49 50 51 virtual void createMLCP(const btContactSolverInfo& infoGlobal); 52 virtual void createMLCPFast(const btContactSolverInfo& infoGlobal); 53 54 //return true is it solves the problem successfully 55 virtual bool solveMLCP(const btContactSolverInfo& infoGlobal); 56 57 public: 58 59 btMLCPSolver( btMLCPSolverInterface* solver); 60 virtual ~btMLCPSolver(); 61 setMLCPSolver(btMLCPSolverInterface * solver)62 void setMLCPSolver(btMLCPSolverInterface* solver) 63 { 64 m_solver = solver; 65 } 66 getNumFallbacks()67 int getNumFallbacks() const 68 { 69 return m_fallback; 70 } setNumFallbacks(int num)71 void setNumFallbacks(int num) 72 { 73 m_fallback = num; 74 } 75 getCfm()76 btScalar getCfm() const 77 { 78 return m_cfm; 79 } setCfm(btScalar cfm)80 void setCfm(btScalar cfm) 81 { 82 m_cfm = cfm; 83 } 84 getSolverType()85 virtual btConstraintSolverType getSolverType() const 86 { 87 return BT_MLCP_SOLVER; 88 } 89 90 }; 91 92 93 #endif //BT_MLCP_SOLVER_H 94