#include <btMultiBodyConstraint.h>
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| void | applyDeltaVee (btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof) |
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| 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) |
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Definition at line 42 of file btMultiBodyConstraint.h.
◆ btMultiBodyConstraint()
| btMultiBodyConstraint::btMultiBodyConstraint |
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btMultiBody * |
bodyA, |
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btMultiBody * |
bodyB, |
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int |
linkA, |
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int |
linkB, |
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int |
numRows, |
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bool |
isUnilateral |
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) |
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◆ ~btMultiBodyConstraint()
| btMultiBodyConstraint::~btMultiBodyConstraint |
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| ) |
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virtual |
◆ allocateJacobiansMultiDof()
| void btMultiBodyConstraint::allocateJacobiansMultiDof |
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◆ applyDeltaVee()
◆ BT_DECLARE_ALIGNED_ALLOCATOR()
| btMultiBodyConstraint::BT_DECLARE_ALIGNED_ALLOCATOR |
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| ) |
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◆ createConstraintRows()
◆ debugDraw()
| virtual void btMultiBodyConstraint::debugDraw |
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class btIDebugDraw * |
drawer | ) |
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pure virtual |
◆ fillMultiBodyConstraint()
| btScalar btMultiBodyConstraint::fillMultiBodyConstraint |
( |
btMultiBodySolverConstraint & |
solverConstraint, |
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btMultiBodyJacobianData & |
data, |
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btScalar * |
jacOrgA, |
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btScalar * |
jacOrgB, |
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const btVector3 & |
constraintNormalAng, |
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const btVector3 & |
constraintNormalLin, |
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const btVector3 & |
posAworld, |
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const btVector3 & |
posBworld, |
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btScalar |
posError, |
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const btContactSolverInfo & |
infoGlobal, |
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btScalar |
lowerLimit, |
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btScalar |
upperLimit, |
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bool |
angConstraint = false, |
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btScalar |
relaxation = 1.f, |
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bool |
isFriction = false, |
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btScalar |
desiredVelocity = 0, |
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btScalar |
cfmSlip = 0 |
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) |
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protected |
◆ finalizeMultiDof()
| virtual void btMultiBodyConstraint::finalizeMultiDof |
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| ) |
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pure virtual |
◆ getAppliedImpulse()
| btScalar btMultiBodyConstraint::getAppliedImpulse |
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int |
dof | ) |
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inline |
◆ getIslandIdA()
| virtual int btMultiBodyConstraint::getIslandIdA |
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const |
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pure virtual |
◆ getIslandIdB()
| virtual int btMultiBodyConstraint::getIslandIdB |
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const |
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pure virtual |
◆ getMaxAppliedImpulse()
| btScalar btMultiBodyConstraint::getMaxAppliedImpulse |
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const |
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inline |
◆ getMultiBodyA()
◆ getMultiBodyB()
◆ getNumRows()
| int btMultiBodyConstraint::getNumRows |
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const |
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inline |
◆ getPosition()
| btScalar btMultiBodyConstraint::getPosition |
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int |
row | ) |
const |
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inline |
◆ internalSetAppliedImpulse()
| void btMultiBodyConstraint::internalSetAppliedImpulse |
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int |
dof, |
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btScalar |
appliedImpulse |
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) |
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inline |
◆ isUnilateral()
| bool btMultiBodyConstraint::isUnilateral |
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const |
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inline |
◆ jacobianA() [1/2]
| btScalar* btMultiBodyConstraint::jacobianA |
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int |
row | ) |
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inline |
◆ jacobianA() [2/2]
| const btScalar* btMultiBodyConstraint::jacobianA |
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int |
row | ) |
const |
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inline |
◆ jacobianB() [1/2]
| btScalar* btMultiBodyConstraint::jacobianB |
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int |
row | ) |
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inline |
◆ jacobianB() [2/2]
| const btScalar* btMultiBodyConstraint::jacobianB |
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int |
row | ) |
const |
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inline |
◆ setErp()
| virtual void btMultiBodyConstraint::setErp |
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btScalar |
erp | ) |
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inlinevirtual |
◆ setFrameInB()
| virtual void btMultiBodyConstraint::setFrameInB |
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const btMatrix3x3 & |
frameInB | ) |
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inlinevirtual |
◆ setGearAuxLink()
| virtual void btMultiBodyConstraint::setGearAuxLink |
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int |
gearAuxLink | ) |
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inlinevirtual |
◆ setGearRatio()
| virtual void btMultiBodyConstraint::setGearRatio |
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btScalar |
ratio | ) |
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inlinevirtual |
◆ setMaxAppliedImpulse()
| void btMultiBodyConstraint::setMaxAppliedImpulse |
( |
btScalar |
maxImp | ) |
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inline |
◆ setPivotInB()
| virtual void btMultiBodyConstraint::setPivotInB |
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const btVector3 & |
pivotInB | ) |
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inlinevirtual |
◆ setPosition()
| void btMultiBodyConstraint::setPosition |
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int |
row, |
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btScalar |
pos |
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) |
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inline |
◆ setRelativePositionTarget()
| virtual void btMultiBodyConstraint::setRelativePositionTarget |
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btScalar |
relPosTarget | ) |
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inlinevirtual |
◆ updateJacobianSizes()
| void btMultiBodyConstraint::updateJacobianSizes |
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| ) |
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◆ m_bodyA
◆ m_bodyB
◆ m_data
◆ m_isUnilateral
| bool btMultiBodyConstraint::m_isUnilateral |
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protected |
◆ m_jacSizeA
| int btMultiBodyConstraint::m_jacSizeA |
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protected |
◆ m_jacSizeBoth
| int btMultiBodyConstraint::m_jacSizeBoth |
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protected |
◆ m_linkA
| int btMultiBodyConstraint::m_linkA |
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protected |
◆ m_linkB
| int btMultiBodyConstraint::m_linkB |
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protected |
◆ m_maxAppliedImpulse
| btScalar btMultiBodyConstraint::m_maxAppliedImpulse |
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protected |
◆ m_numDofsFinalized
| int btMultiBodyConstraint::m_numDofsFinalized |
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protected |
◆ m_numRows
| int btMultiBodyConstraint::m_numRows |
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protected |
◆ m_posOffset
| int btMultiBodyConstraint::m_posOffset |
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protected |
The documentation for this class was generated from the following files: