Bullet Collision Detection & Physics Library: btSequentialImpulseConstraintSolverMt.h Source File

Bullet Collision Detection & Physics Library

btSequentialImpulseConstraintSolverMt.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
17#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
18
19#include "btSequentialImpulseConstraintSolver.h"
20#include "btBatchedConstraints.h"
21#include "LinearMath/btThreads.h"
22
56 ATTRIBUTE_ALIGNED16(class)
57 btSequentialImpulseConstraintSolverMt : public btSequentialImpulseConstraintSolver
58{
59public:
60 virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
61 virtual btScalar solveSingleIteration(int iteration, btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
62 virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject * *bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer) BT_OVERRIDE;
63 virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
64
65 // temp struct used to collect info from persistent manifolds into a cache-friendly struct using multiple threads
66 struct btContactManifoldCachedInfo
67 {
68 static const int MAX_NUM_CONTACT_POINTS = 4;
69
70 int numTouchingContacts;
71 int solverBodyIds[2];
72 int contactIndex;
73 int rollingFrictionIndex;
74 bool contactHasRollingFriction[MAX_NUM_CONTACT_POINTS];
75 btManifoldPoint* contactPoints[MAX_NUM_CONTACT_POINTS];
76 };
77 // temp struct used for setting up joint constraints in parallel
78 struct JointParams
79 {
80 int m_solverConstraint;
81 int m_solverBodyA;
82 int m_solverBodyB;
83 };
84 void internalInitMultipleJoints(btTypedConstraint * *constraints, int iBegin, int iEnd);
85 void internalConvertMultipleJoints(const btAlignedObjectArray<JointParams>& jointParamsArray, btTypedConstraint** constraints, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
86
87 // parameters to control batching
88 static bool s_allowNestedParallelForLoops; // whether to allow nested parallel operations
89 static int s_minimumContactManifoldsForBatching; // don't even try to batch if fewer manifolds than this
90 static btBatchedConstraints::BatchingMethod s_contactBatchingMethod;
91 static btBatchedConstraints::BatchingMethod s_jointBatchingMethod;
92 static int s_minBatchSize; // desired number of constraints per batch
93 static int s_maxBatchSize;
94
95protected:
96 static const int CACHE_LINE_SIZE = 64;
97
98 btBatchedConstraints m_batchedContactConstraints;
99 btBatchedConstraints m_batchedJointConstraints;
100 int m_numFrictionDirections;
101 bool m_useBatching;
102 bool m_useObsoleteJointConstraints;
103 btAlignedObjectArray<btContactManifoldCachedInfo> m_manifoldCachedInfoArray;
104 btAlignedObjectArray<int> m_rollingFrictionIndexTable; // lookup table mapping contact index to rolling friction index
105 btSpinMutex m_bodySolverArrayMutex;
106 char m_antiFalseSharingPadding[CACHE_LINE_SIZE]; // padding to keep mutexes in separate cachelines
107 btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex;
108 btAlignedObjectArray<char> m_scratchMemory;
109
110 virtual void randomizeConstraintOrdering(int iteration, int numIterations);
111 virtual btScalar resolveAllJointConstraints(int iteration);
112 virtual btScalar resolveAllContactConstraints();
113 virtual btScalar resolveAllContactFrictionConstraints();
114 virtual btScalar resolveAllContactConstraintsInterleaved();
115 virtual btScalar resolveAllRollingFrictionConstraints();
116
117 virtual void setupBatchedContactConstraints();
118 virtual void setupBatchedJointConstraints();
119 virtual void convertJoints(btTypedConstraint * *constraints, int numConstraints, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
120 virtual void convertContacts(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
121 virtual void convertBodies(btCollisionObject * *bodies, int numBodies, const btContactSolverInfo& infoGlobal) BT_OVERRIDE;
122
123 int getOrInitSolverBodyThreadsafe(btCollisionObject & body, btScalar timeStep);
124 void allocAllContactConstraints(btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
125 void setupAllContactConstraints(const btContactSolverInfo& infoGlobal);
126 void randomizeBatchedConstraintOrdering(btBatchedConstraints * batchedConstraints);
127
128public:
129 BT_DECLARE_ALIGNED_ALLOCATOR();
130
131 btSequentialImpulseConstraintSolverMt();
132 virtual ~btSequentialImpulseConstraintSolverMt();
133
134 btScalar resolveMultipleJointConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd, int iteration);
135 btScalar resolveMultipleContactConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
136 btScalar resolveMultipleContactSplitPenetrationImpulseConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
137 btScalar resolveMultipleContactFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
138 btScalar resolveMultipleContactRollingFrictionConstraints(const btAlignedObjectArray<int>& consIndices, int batchBegin, int batchEnd);
139 btScalar resolveMultipleContactConstraintsInterleaved(const btAlignedObjectArray<int>& contactIndices, int batchBegin, int batchEnd);
140
141 void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo * cachedInfoArray, btPersistentManifold * *manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);
142 void internalAllocContactConstraints(const btContactManifoldCachedInfo* cachedInfoArray, int numManifolds);
143 void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo& infoGlobal);
144 void internalConvertBodies(btCollisionObject * *bodies, int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
145 void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
146 void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
147 void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo& infoGlobal);
148};
149
150#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_MT_H
btBatchedConstraints.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
btSequentialImpulseConstraintSolver.h
btThreads.h
BT_OVERRIDE
#define BT_OVERRIDE
Definition btThreads.h:26
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition btIDebugDraw.h:27
btManifoldPoint
ManifoldContactPoint collects and maintains persistent contactpoints.
Definition btManifoldPoint.h:52
btPersistentManifold
btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping...
Definition btPersistentManifold.h:65
btSequentialImpulseConstraintSolverMt::setupBatchedContactConstraints
virtual void setupBatchedContactConstraints()
Definition btSequentialImpulseConstraintSolverMt.cpp:43
btSequentialImpulseConstraintSolverMt::internalCollectContactManifoldCachedInfo
void internalCollectContactManifoldCachedInfo(btContactManifoldCachedInfo *cachedInfoArray, btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
Definition btSequentialImpulseConstraintSolverMt.cpp:389
btSequentialImpulseConstraintSolverMt::resolveAllRollingFrictionConstraints
virtual btScalar resolveAllRollingFrictionConstraints()
Definition btSequentialImpulseConstraintSolverMt.cpp:1385
btSequentialImpulseConstraintSolverMt::internalWriteBackBodies
void internalWriteBackBodies(int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
Definition btSequentialImpulseConstraintSolverMt.cpp:1471
btSequentialImpulseConstraintSolverMt::internalAllocContactConstraints
void internalAllocContactConstraints(const btContactManifoldCachedInfo *cachedInfoArray, int numManifolds)
Definition btSequentialImpulseConstraintSolverMt.cpp:450
btSequentialImpulseConstraintSolverMt::internalConvertMultipleJoints
void internalConvertMultipleJoints(const btAlignedObjectArray< JointParams > &jointParamsArray, btTypedConstraint **constraints, int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
Definition btSequentialImpulseConstraintSolverMt.cpp:643
btSequentialImpulseConstraintSolverMt::m_batchedJointConstraints
btBatchedConstraints m_batchedJointConstraints
Definition btSequentialImpulseConstraintSolverMt.h:99
btSequentialImpulseConstraintSolverMt::m_kinematicBodyUniqueIdToSolverBodyTableMutex
btSpinMutex m_kinematicBodyUniqueIdToSolverBodyTableMutex
Definition btSequentialImpulseConstraintSolverMt.h:107
btSequentialImpulseConstraintSolverMt::btSequentialImpulseConstraintSolverMt
btSequentialImpulseConstraintSolverMt()
Definition btSequentialImpulseConstraintSolverMt.cpp:32
btSequentialImpulseConstraintSolverMt::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btSequentialImpulseConstraintSolverMt::resolveAllJointConstraints
virtual btScalar resolveAllJointConstraints(int iteration)
Definition btSequentialImpulseConstraintSolverMt.cpp:1229
btSequentialImpulseConstraintSolverMt::internalWriteBackContacts
void internalWriteBackContacts(int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
Definition btSequentialImpulseConstraintSolverMt.cpp:1447
btSequentialImpulseConstraintSolverMt::randomizeConstraintOrdering
virtual void randomizeConstraintOrdering(int iteration, int numIterations)
Definition btSequentialImpulseConstraintSolverMt.cpp:1192
btSequentialImpulseConstraintSolverMt::m_rollingFrictionIndexTable
btAlignedObjectArray< int > m_rollingFrictionIndexTable
Definition btSequentialImpulseConstraintSolverMt.h:104
btSequentialImpulseConstraintSolverMt::s_contactBatchingMethod
static btBatchedConstraints::BatchingMethod s_contactBatchingMethod
Definition btSequentialImpulseConstraintSolverMt.h:90
btSequentialImpulseConstraintSolverMt::m_numFrictionDirections
int m_numFrictionDirections
Definition btSequentialImpulseConstraintSolverMt.h:100
btSequentialImpulseConstraintSolverMt::getOrInitSolverBodyThreadsafe
int getOrInitSolverBodyThreadsafe(btCollisionObject &body, btScalar timeStep)
Definition btSequentialImpulseConstraintSolverMt.cpp:297
btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySetup
virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
Definition btSequentialImpulseConstraintSolverMt.cpp:828
btSequentialImpulseConstraintSolverMt::convertBodies
virtual void convertBodies(btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
Definition btSequentialImpulseConstraintSolverMt.cpp:802
btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlySplitImpulseIterations
virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
Definition btSequentialImpulseConstraintSolverMt.cpp:896
btSequentialImpulseConstraintSolverMt::resolveMultipleContactRollingFrictionConstraints
btScalar resolveMultipleContactRollingFrictionConstraints(const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
Definition btSequentialImpulseConstraintSolverMt.cpp:1059
btSequentialImpulseConstraintSolverMt::m_batchedContactConstraints
btBatchedConstraints m_batchedContactConstraints
Definition btSequentialImpulseConstraintSolverMt.h:98
btSequentialImpulseConstraintSolverMt::m_useBatching
bool m_useBatching
Definition btSequentialImpulseConstraintSolverMt.h:101
btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraintsInterleaved
btScalar resolveMultipleContactConstraintsInterleaved(const btAlignedObjectArray< int > &contactIndices, int batchBegin, int batchEnd)
Definition btSequentialImpulseConstraintSolverMt.cpp:1099
btSequentialImpulseConstraintSolverMt::convertJoints
virtual void convertJoints(btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
Definition btSequentialImpulseConstraintSolverMt.cpp:686
btSequentialImpulseConstraintSolverMt::resolveAllContactFrictionConstraints
virtual btScalar resolveAllContactFrictionConstraints()
Definition btSequentialImpulseConstraintSolverMt.cpp:1307
btSequentialImpulseConstraintSolverMt::internalInitMultipleJoints
void internalInitMultipleJoints(btTypedConstraint **constraints, int iBegin, int iEnd)
Definition btSequentialImpulseConstraintSolverMt.cpp:598
btSequentialImpulseConstraintSolverMt::randomizeBatchedConstraintOrdering
void randomizeBatchedConstraintOrdering(btBatchedConstraints *batchedConstraints)
Definition btSequentialImpulseConstraintSolverMt.cpp:1168
btSequentialImpulseConstraintSolverMt::setupBatchedJointConstraints
virtual void setupBatchedJointConstraints()
Definition btSequentialImpulseConstraintSolverMt.cpp:54
btSequentialImpulseConstraintSolverMt::solveSingleIteration
virtual btScalar solveSingleIteration(int iteration, btCollisionObject **bodies, int numBodies, btPersistentManifold **manifoldPtr, int numManifolds, btTypedConstraint **constraints, int numConstraints, const btContactSolverInfo &infoGlobal, btIDebugDraw *debugDrawer) BT_OVERRIDE
Definition btSequentialImpulseConstraintSolverMt.cpp:933
btSequentialImpulseConstraintSolverMt::internalWriteBackJoints
void internalWriteBackJoints(int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
Definition btSequentialImpulseConstraintSolverMt.cpp:1465
btSequentialImpulseConstraintSolverMt::m_antiFalseSharingPadding
char m_antiFalseSharingPadding[CACHE_LINE_SIZE]
Definition btSequentialImpulseConstraintSolverMt.h:106
btSequentialImpulseConstraintSolverMt::internalSetupContactConstraints
void internalSetupContactConstraints(int iContactConstraint, const btContactSolverInfo &infoGlobal)
Definition btSequentialImpulseConstraintSolverMt.cpp:65
btSequentialImpulseConstraintSolverMt::CACHE_LINE_SIZE
static const int CACHE_LINE_SIZE
Definition btSequentialImpulseConstraintSolverMt.h:96
btSequentialImpulseConstraintSolverMt::resolveMultipleContactSplitPenetrationImpulseConstraints
btScalar resolveMultipleContactSplitPenetrationImpulseConstraints(const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
Definition btSequentialImpulseConstraintSolverMt.cpp:858
btSequentialImpulseConstraintSolverMt::m_scratchMemory
btAlignedObjectArray< char > m_scratchMemory
Definition btSequentialImpulseConstraintSolverMt.h:108
btSequentialImpulseConstraintSolverMt::s_allowNestedParallelForLoops
static bool s_allowNestedParallelForLoops
Definition btSequentialImpulseConstraintSolverMt.h:88
btSequentialImpulseConstraintSolverMt::resolveAllContactConstraints
virtual btScalar resolveAllContactConstraints()
Definition btSequentialImpulseConstraintSolverMt.cpp:1268
btSequentialImpulseConstraintSolverMt::resolveMultipleJointConstraints
btScalar resolveMultipleJointConstraints(const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd, int iteration)
Definition btSequentialImpulseConstraintSolverMt.cpp:995
btSequentialImpulseConstraintSolverMt::allocAllContactConstraints
void allocAllContactConstraints(btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal)
Definition btSequentialImpulseConstraintSolverMt.cpp:513
btSequentialImpulseConstraintSolverMt::setupAllContactConstraints
void setupAllContactConstraints(const btContactSolverInfo &infoGlobal)
Definition btSequentialImpulseConstraintSolverMt.cpp:273
btSequentialImpulseConstraintSolverMt::s_minBatchSize
static int s_minBatchSize
Definition btSequentialImpulseConstraintSolverMt.h:92
btSequentialImpulseConstraintSolverMt::m_bodySolverArrayMutex
btSpinMutex m_bodySolverArrayMutex
Definition btSequentialImpulseConstraintSolverMt.h:105
btSequentialImpulseConstraintSolverMt::solveGroupCacheFriendlyFinish
virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject **bodies, int numBodies, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
Definition btSequentialImpulseConstraintSolverMt.cpp:1525
btSequentialImpulseConstraintSolverMt::resolveAllContactConstraintsInterleaved
virtual btScalar resolveAllContactConstraintsInterleaved()
Definition btSequentialImpulseConstraintSolverMt.cpp:1346
btSequentialImpulseConstraintSolverMt::resolveMultipleContactFrictionConstraints
btScalar resolveMultipleContactFrictionConstraints(const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
Definition btSequentialImpulseConstraintSolverMt.cpp:1028
btSequentialImpulseConstraintSolverMt::convertContacts
virtual void convertContacts(btPersistentManifold **manifoldPtr, int numManifolds, const btContactSolverInfo &infoGlobal) BT_OVERRIDE
Definition btSequentialImpulseConstraintSolverMt.cpp:573
btSequentialImpulseConstraintSolverMt::resolveMultipleContactConstraints
btScalar resolveMultipleContactConstraints(const btAlignedObjectArray< int > &consIndices, int batchBegin, int batchEnd)
Definition btSequentialImpulseConstraintSolverMt.cpp:1013
btSequentialImpulseConstraintSolverMt::s_maxBatchSize
static int s_maxBatchSize
Definition btSequentialImpulseConstraintSolverMt.h:93
btSequentialImpulseConstraintSolverMt::m_useObsoleteJointConstraints
bool m_useObsoleteJointConstraints
Definition btSequentialImpulseConstraintSolverMt.h:102
btSequentialImpulseConstraintSolverMt::internalConvertBodies
void internalConvertBodies(btCollisionObject **bodies, int iBegin, int iEnd, const btContactSolverInfo &infoGlobal)
Definition btSequentialImpulseConstraintSolverMt.cpp:747
btSequentialImpulseConstraintSolverMt::s_minimumContactManifoldsForBatching
static int s_minimumContactManifoldsForBatching
Definition btSequentialImpulseConstraintSolverMt.h:89
btSequentialImpulseConstraintSolverMt::m_manifoldCachedInfoArray
btAlignedObjectArray< btContactManifoldCachedInfo > m_manifoldCachedInfoArray
Definition btSequentialImpulseConstraintSolverMt.h:103
btSequentialImpulseConstraintSolverMt::s_jointBatchingMethod
static btBatchedConstraints::BatchingMethod s_jointBatchingMethod
Definition btSequentialImpulseConstraintSolverMt.h:91
btSequentialImpulseConstraintSolver::btSequentialImpulseConstraintSolver
btSequentialImpulseConstraintSolver()
Definition btSequentialImpulseConstraintSolver.cpp:353
btSpinMutex
btSpinMutex – lightweight spin-mutex implemented with atomic ops, never puts a thread to sleep becaus...
Definition btThreads.h:46
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition btTypedConstraint.h:76
btBatchedConstraints
Definition btBatchedConstraints.h:27
btBatchedConstraints::BatchingMethod
BatchingMethod
Definition btBatchedConstraints.h:29
btContactSolverInfo
Definition btContactSolverInfo.h:76
btSequentialImpulseConstraintSolverMt::JointParams
Definition btSequentialImpulseConstraintSolverMt.h:79
btSequentialImpulseConstraintSolverMt::JointParams::m_solverBodyA
int m_solverBodyA
Definition btSequentialImpulseConstraintSolverMt.h:81
btSequentialImpulseConstraintSolverMt::JointParams::m_solverConstraint
int m_solverConstraint
Definition btSequentialImpulseConstraintSolverMt.h:80
btSequentialImpulseConstraintSolverMt::JointParams::m_solverBodyB
int m_solverBodyB
Definition btSequentialImpulseConstraintSolverMt.h:82
btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo
Definition btSequentialImpulseConstraintSolverMt.h:67
btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo::rollingFrictionIndex
int rollingFrictionIndex
Definition btSequentialImpulseConstraintSolverMt.h:73
btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo::contactHasRollingFriction
bool contactHasRollingFriction[MAX_NUM_CONTACT_POINTS]
Definition btSequentialImpulseConstraintSolverMt.h:74
btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo::numTouchingContacts
int numTouchingContacts
Definition btSequentialImpulseConstraintSolverMt.h:70
btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo::contactIndex
int contactIndex
Definition btSequentialImpulseConstraintSolverMt.h:72
btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo::MAX_NUM_CONTACT_POINTS
static const int MAX_NUM_CONTACT_POINTS
Definition btSequentialImpulseConstraintSolverMt.h:68
btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo::contactPoints
btManifoldPoint * contactPoints[MAX_NUM_CONTACT_POINTS]
Definition btSequentialImpulseConstraintSolverMt.h:75
btSequentialImpulseConstraintSolverMt::btContactManifoldCachedInfo::solverBodyIds
int solverBodyIds[2]
Definition btSequentialImpulseConstraintSolverMt.h:71