#include <btReducedDeformableContactConstraint.h>

Inheritance diagram for btReducedDeformableRigidContactConstraint:

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Collaboration diagram for btReducedDeformableRigidContactConstraint:

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Public Member Functions
	btReducedDeformableRigidContactConstraint (btReducedDeformableBody *rsb, const btSoftBody::DeformableRigidContact &c, const btContactSolverInfo &infoGlobal, btScalar dt)
	btReducedDeformableRigidContactConstraint ()
virtual	~btReducedDeformableRigidContactConstraint ()
void	setSolverBody (const int bodyId, btSolverBody &solver_body)
virtual void	warmStarting ()
virtual btScalar	solveConstraint (const btContactSolverInfo &infoGlobal)
void	calculateTangentialImpulse (btScalar &deltaImpulse_tangent, btScalar &appliedImpulse, const btScalar rhs_tangent, const btScalar tangentImpulseFactorInv, const btVector3 &tangent, const btScalar lower_limit, const btScalar upper_limit, const btVector3 &deltaV_rel)
virtual void	applyImpulse (const btVector3 &impulse)
virtual void	applySplitImpulse (const btVector3 &impulse)
virtual btVector3	getVa () const
virtual btVector3	getDeltaVa () const =0
virtual btVector3	getDeltaVb () const =0
Public Member Functions inherited from btDeformableRigidContactConstraint
	btDeformableRigidContactConstraint (const btSoftBody::DeformableRigidContact &c, const btContactSolverInfo &infoGlobal)
	btDeformableRigidContactConstraint (const btDeformableRigidContactConstraint &other)
	btDeformableRigidContactConstraint ()
virtual	~btDeformableRigidContactConstraint ()
virtual btVector3	getSplitVb () const =0
virtual btVector3	getSplitVa () const
virtual void	setPenetrationScale (btScalar scale)
btScalar	solveSplitImpulse (const btContactSolverInfo &infoGlobal)
Public Member Functions inherited from btDeformableContactConstraint
	btDeformableContactConstraint (const btVector3 &normal, const btContactSolverInfo &infoGlobal)
	btDeformableContactConstraint (bool isStatic, const btVector3 &normal, const btContactSolverInfo &infoGlobal)
	btDeformableContactConstraint ()
	btDeformableContactConstraint (const btDeformableContactConstraint &other)
virtual	~btDeformableContactConstraint ()
virtual btVector3	getVb () const =0
virtual btVector3	getDv (const btSoftBody::Node *) const =0

Public Attributes
bool	m_collideStatic
bool	m_collideMultibody
int	m_nodeQueryIndex
int	m_solverBodyId
btReducedDeformableBody *	m_rsb
btSolverBody *	m_solverBody
btScalar	m_dt
btScalar	m_appliedNormalImpulse
btScalar	m_appliedTangentImpulse
btScalar	m_appliedTangentImpulse2
btScalar	m_normalImpulseFactor
btScalar	m_tangentImpulseFactor
btScalar	m_tangentImpulseFactor2
btScalar	m_tangentImpulseFactorInv
btScalar	m_tangentImpulseFactorInv2
btScalar	m_rhs
btScalar	m_rhs_tangent
btScalar	m_rhs_tangent2
btScalar	m_cfm
btScalar	m_cfm_friction
btScalar	m_erp
btScalar	m_erp_friction
btScalar	m_friction
btVector3	m_contactNormalA
btVector3	m_contactNormalB
btVector3	m_contactTangent
btVector3	m_contactTangent2
btVector3	m_relPosA
btVector3	m_relPosB
btMatrix3x3	m_impulseFactor
btVector3	m_bufferVelocityA
btVector3	m_bufferVelocityB
btVector3	m_linearComponentNormal
btVector3	m_angularComponentNormal
btVector3	m_linearComponentTangent
btVector3	m_angularComponentTangent
Public Attributes inherited from btDeformableRigidContactConstraint
btVector3	m_total_normal_dv
btVector3	m_total_tangent_dv
btScalar	m_penetration
btScalar	m_total_split_impulse
bool	m_binding
const btSoftBody::DeformableRigidContact *	m_contact
Public Attributes inherited from btDeformableContactConstraint
bool	m_static
const btContactSolverInfo *	m_infoGlobal
btVector3	m_normal

Detailed Description

Definition at line 41 of file btReducedDeformableContactConstraint.h.

Constructor & Destructor Documentation

◆ btReducedDeformableRigidContactConstraint() [1/2]

btReducedDeformableRigidContactConstraint::btReducedDeformableRigidContactConstraint	(	btReducedDeformableBody *	rsb,
		const btSoftBody::DeformableRigidContact &	c,
		const btContactSolverInfo &	infoGlobal,
		btScalar	dt )

Definition at line 59 of file btReducedDeformableContactConstraint.cpp.

◆ btReducedDeformableRigidContactConstraint() [2/2]

btReducedDeformableRigidContactConstraint::btReducedDeformableRigidContactConstraint ( )

inline

Definition at line 93 of file btReducedDeformableContactConstraint.h.

◆ ~btReducedDeformableRigidContactConstraint()

virtual btReducedDeformableRigidContactConstraint::~btReducedDeformableRigidContactConstraint ( )

inlinevirtual

Definition at line 94 of file btReducedDeformableContactConstraint.h.

Member Function Documentation

◆ applyImpulse()

virtual void btReducedDeformableRigidContactConstraint::applyImpulse ( const btVector3 & impulse )

inlinevirtual

Implements btDeformableContactConstraint.

Reimplemented in btReducedDeformableFaceRigidContactConstraint, and btReducedDeformableNodeRigidContactConstraint.

Definition at line 111 of file btReducedDeformableContactConstraint.h.

◆ applySplitImpulse()

virtual void btReducedDeformableRigidContactConstraint::applySplitImpulse ( const btVector3 & impulse )

inlinevirtual

Implements btDeformableRigidContactConstraint.

Definition at line 113 of file btReducedDeformableContactConstraint.h.

◆ calculateTangentialImpulse()

void btReducedDeformableRigidContactConstraint::calculateTangentialImpulse	(	btScalar &	deltaImpulse_tangent,
		btScalar &	appliedImpulse,
		const btScalar	rhs_tangent,
		const btScalar	tangentImpulseFactorInv,
		const btVector3 &	tangent,
		const btScalar	lower_limit,
		const btScalar	upper_limit,
		const btVector3 &	deltaV_rel )