#include <btMultiBodyConstraint.h>
|
| void | applyDeltaVee (btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof) |
| |
| btScalar | fillMultiBodyConstraint (btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0) |
| |
Definition at line 42 of file btMultiBodyConstraint.h.
§ btMultiBodyConstraint()
| btMultiBodyConstraint::btMultiBodyConstraint |
( |
btMultiBody * |
bodyA, |
|
|
btMultiBody * |
bodyB, |
|
|
int |
linkA, |
|
|
int |
linkB, |
|
|
int |
numRows, |
|
|
bool |
isUnilateral |
|
) |
| |
§ ~btMultiBodyConstraint()
| btMultiBodyConstraint::~btMultiBodyConstraint |
( |
| ) |
|
|
virtual |
§ allocateJacobiansMultiDof()
| void btMultiBodyConstraint::allocateJacobiansMultiDof |
( |
| ) |
|
§ applyDeltaVee()
§ createConstraintRows()
§ debugDraw()
| virtual void btMultiBodyConstraint::debugDraw |
( |
class btIDebugDraw * |
drawer | ) |
|
|
pure virtual |
§ fillMultiBodyConstraint()
| btScalar btMultiBodyConstraint::fillMultiBodyConstraint |
( |
btMultiBodySolverConstraint & |
solverConstraint, |
|
|
btMultiBodyJacobianData & |
data, |
|
|
btScalar * |
jacOrgA, |
|
|
btScalar * |
jacOrgB, |
|
|
const btVector3 & |
constraintNormalAng, |
|
|
const btVector3 & |
constraintNormalLin, |
|
|
const btVector3 & |
posAworld, |
|
|
const btVector3 & |
posBworld, |
|
|
btScalar |
posError, |
|
|
const btContactSolverInfo & |
infoGlobal, |
|
|
btScalar |
lowerLimit, |
|
|
btScalar |
upperLimit, |
|
|
bool |
angConstraint = false, |
|
|
btScalar |
relaxation = 1.f, |
|
|
bool |
isFriction = false, |
|
|
btScalar |
desiredVelocity = 0, |
|
|
btScalar |
cfmSlip = 0 |
|
) |
| |
|
protected |
§ finalizeMultiDof()
| virtual void btMultiBodyConstraint::finalizeMultiDof |
( |
| ) |
|
|
pure virtual |
§ getAppliedImpulse()
| btScalar btMultiBodyConstraint::getAppliedImpulse |
( |
int |
dof | ) |
|
|
inline |
§ getIslandIdA()
| virtual int btMultiBodyConstraint::getIslandIdA |
( |
| ) |
const |
|
pure virtual |
§ getIslandIdB()
| virtual int btMultiBodyConstraint::getIslandIdB |
( |
| ) |
const |
|
pure virtual |
§ getMaxAppliedImpulse()
| btScalar btMultiBodyConstraint::getMaxAppliedImpulse |
( |
| ) |
const |
|
inline |
§ getMultiBodyA()
§ getMultiBodyB()
§ getNumRows()
| int btMultiBodyConstraint::getNumRows |
( |
| ) |
const |
|
inline |
§ getPosition()
| btScalar btMultiBodyConstraint::getPosition |
( |
int |
row | ) |
const |
|
inline |
§ internalSetAppliedImpulse()
| void btMultiBodyConstraint::internalSetAppliedImpulse |
( |
int |
dof, |
|
|
btScalar |
appliedImpulse |
|
) |
| |
|
inline |
§ isUnilateral()
| bool btMultiBodyConstraint::isUnilateral |
( |
| ) |
const |
|
inline |
§ jacobianA() [1/2]
| btScalar* btMultiBodyConstraint::jacobianA |
( |
int |
row | ) |
|
|
inline |
§ jacobianA() [2/2]
| const btScalar* btMultiBodyConstraint::jacobianA |
( |
int |
row | ) |
const |
|
inline |
§ jacobianB() [1/2]
| btScalar* btMultiBodyConstraint::jacobianB |
( |
int |
row | ) |
|
|
inline |
§ jacobianB() [2/2]
| const btScalar* btMultiBodyConstraint::jacobianB |
( |
int |
row | ) |
const |
|
inline |
§ setMaxAppliedImpulse()
| void btMultiBodyConstraint::setMaxAppliedImpulse |
( |
btScalar |
maxImp | ) |
|
|
inline |
§ setPosition()
| void btMultiBodyConstraint::setPosition |
( |
int |
row, |
|
|
btScalar |
pos |
|
) |
| |
|
inline |
§ updateJacobianSizes()
| void btMultiBodyConstraint::updateJacobianSizes |
( |
| ) |
|
§ m_bodyA
§ m_bodyB
§ m_data
§ m_isUnilateral
| bool btMultiBodyConstraint::m_isUnilateral |
|
protected |
§ m_jacSizeA
| int btMultiBodyConstraint::m_jacSizeA |
|
protected |
§ m_jacSizeBoth
| int btMultiBodyConstraint::m_jacSizeBoth |
|
protected |
§ m_linkA
| int btMultiBodyConstraint::m_linkA |
|
protected |
§ m_linkB
| int btMultiBodyConstraint::m_linkB |
|
protected |
§ m_maxAppliedImpulse
| btScalar btMultiBodyConstraint::m_maxAppliedImpulse |
|
protected |
§ m_numDofsFinalized
| int btMultiBodyConstraint::m_numDofsFinalized |
|
protected |
§ m_numRows
| int btMultiBodyConstraint::m_numRows |
|
protected |
§ m_posOffset
| int btMultiBodyConstraint::m_posOffset |
|
protected |
The documentation for this class was generated from the following files: