15         m_isUnilateral(isUnilateral),
    16         m_numDofsFinalized(-1),
    17         m_maxAppliedImpulse(100)
    51         for (
int i = 0; i < ndof; ++i)
    92                         rel_pos1 = posAworld - multiBodyA->
getBasePos();
    98                 const int ndofA  = multiBodyA->
getNumDofs() + 6;
   119                         for (
int i=0;i<ndofA;i++)
   150                 if (solverConstraint.
m_linkB<0)
   152                         rel_pos2 = posBworld - multiBodyB->
getBasePos();
   158                 const int ndofB  = multiBodyB->
getNumDofs() + 6;
   175                         for (
int i=0;i<ndofB;i++)
   219                         for (
int i = 0; i < ndofA; ++i)
   234                         const int ndofB = multiBodyB->
getNumDofs() + 6;
   237                         for (
int i = 0; i < ndofB; ++i)
   277                         for (
int i = 0; i < ndofA ; ++i)
   288                         for (
int i = 0; i < ndofB ; ++i)
   341                 btScalar        velocityError = desiredVelocity - rel_vel;
   347                         erp = infoGlobal.
m_erp;
   350                 positionalError = -penetration * erp/infoGlobal.
m_timeStep;
   358                         solverConstraint.
m_rhs = penetrationImpulse+velocityImpulse;
   364                         solverConstraint.
m_rhs = velocityImpulse;
   368                 solverConstraint.
m_cfm = 0.f;
 btScalar getInvMass() const 
btScalar m_rhsPenetration
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &contactNormalOnB, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)
const btMultibodyLink & getLink(int index) const 
btVector3 m_relpos1CrossNormal
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btVector3 m_contactNormal2
btAlignedObjectArray< btScalar > scratch_r
btAlignedObjectArray< btScalar > m_deltaVelocities
const btVector3 & getAngularFactor() const 
btAlignedObjectArray< btSolverBody > * m_solverBodyPool
const T & at(int n) const 
btVector3 m_angularComponentA
btVector3 m_angularComponentB
virtual ~btMultiBodyConstraint()
btAlignedObjectArray< btMatrix3x3 > scratch_m
btScalar dot(const btVector3 &v) const 
Return the dot product. 
btVector3 getVelocityInLocalPoint(const btVector3 &rel_pos) const 
btAlignedObjectArray< btScalar > m_deltaVelocitiesUnitImpulse
int size() const 
return the number of elements in the array 
btMultiBody * m_multiBodyA
void setCompanionId(int id)
btVector3 cross(const btVector3 &v) const 
Return the cross product between this and another vector. 
btMultiBody * m_multiBodyB
The btRigidBody is the main class for rigid body objects. 
btAlignedObjectArray< btScalar > m_data
btAlignedObjectArray< btScalar > m_jacobians
btVector3 can be used to represent 3D points and vectors. 
btAlignedObjectArray< btVector3 > scratch_v
btSimdScalar m_appliedImpulse
void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const 
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
int getCompanionId() const 
void fillContactJacobianMultiDof(int link, const btVector3 &contact_point, const btVector3 &normal, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const 
void resize(int newsize, const T &fillData=T())
btRigidBody * m_originalBody
const btMatrix3x3 & getInvInertiaTensorWorld() const 
btVector3 m_relpos2CrossNormal
btTransform m_cachedWorldTransform
void allocateJacobiansMultiDof()
const btTransform & getWorldTransform() const 
btMultiBodyConstraint(btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral)
btSimdScalar m_appliedPushImpulse
const btVector3 & getBasePos() const 
btVector3 m_contactNormal1
void updateJacobianSizes()
void applyDeltaVee(btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof)
const btScalar * getVelocityVector() const 
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...