com.bulletphysics.dynamics.constraintsolver
Class SolverBody

java.lang.Object
  com.bulletphysics.dynamics.constraintsolver.SolverBody

public class SolverBody
extends Object

SolverBody is an internal data structure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.

Field Summary

float	angularFactor
Vector3f	angularVelocity
Vector3f	centerOfMassPosition
float	friction
float	invMass
Vector3f	linearVelocity
RigidBody	originalBody
Vector3f	pushVelocity
Vector3f	turnVelocity

Constructor Summary

SolverBody()

Method Summary

void	getVelocityInLocalPoint(Vector3f rel_pos, Vector3f velocity)
void	internalApplyImpulse(Vector3f linearComponent, Vector3f angularComponent, float impulseMagnitude) Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position.
void	internalApplyPushImpulse(Vector3f linearComponent, Vector3f angularComponent, float impulseMagnitude)
void	readVelocity()
void	writebackVelocity()
void	writebackVelocity(float timeStep)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

angularVelocity

public final Vector3f angularVelocity

angularFactor

public float angularFactor

invMass

public float invMass

friction

public float friction

originalBody

public RigidBody originalBody

linearVelocity

public final Vector3f linearVelocity

centerOfMassPosition

public final Vector3f centerOfMassPosition

pushVelocity

public final Vector3f pushVelocity

turnVelocity

public final Vector3f turnVelocity

Constructor Detail

SolverBody

public SolverBody()

Method Detail

getVelocityInLocalPoint

public void getVelocityInLocalPoint(Vector3f rel_pos,
                                    Vector3f velocity)

internalApplyImpulse

public void internalApplyImpulse(Vector3f linearComponent,
                                 Vector3f angularComponent,
                                 float impulseMagnitude)

Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position.

internalApplyPushImpulse

public void internalApplyPushImpulse(Vector3f linearComponent,
                                     Vector3f angularComponent,
                                     float impulseMagnitude)

writebackVelocity

public void writebackVelocity()

writebackVelocity

public void writebackVelocity(float timeStep)

readVelocity

public void readVelocity()