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Bullet Collision Detection & Physics Library
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#include <btMultiBody.h>

Public Member Functions | |
| BT_DECLARE_ALIGNED_ALLOCATOR () | |
| btMultiBody (int n_links, btScalar mass, const btVector3 &inertia, bool fixedBase, bool canSleep, bool deprecatedMultiDof=true) | |
| virtual | ~btMultiBody () |
| void | setupFixed (int linkIndex, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true) |
| void | setupPrismatic (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision) |
| void | setupRevolute (int linkIndex, btScalar mass, const btVector3 &inertia, int parentIndex, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false) |
| void | setupSpherical (int linkIndex, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false) |
| void | setupPlanar (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &rotationAxis, const btVector3 &parentComToThisComOffset, bool disableParentCollision=false) |
| const btMultibodyLink & | getLink (int index) const |
| btMultibodyLink & | getLink (int index) |
| void | setBaseCollider (btMultiBodyLinkCollider *collider) |
| const btMultiBodyLinkCollider * | getBaseCollider () const |
| btMultiBodyLinkCollider * | getBaseCollider () |
| const btMultiBodyLinkCollider * | getLinkCollider (int index) const |
| btMultiBodyLinkCollider * | getLinkCollider (int index) |
| int | getParent (int link_num) const |
| int | getNumLinks () const |
| int | getNumDofs () const |
| int | getNumPosVars () const |
| btScalar | getBaseMass () const |
| const btVector3 & | getBaseInertia () const |
| btScalar | getLinkMass (int i) const |
| const btVector3 & | getLinkInertia (int i) const |
| void | setBaseMass (btScalar mass) |
| void | setBaseInertia (const btVector3 &inertia) |
| const btVector3 & | getBasePos () const |
| const btVector3 | getBaseVel () const |
| const btQuaternion & | getWorldToBaseRot () const |
| btVector3 | getBaseOmega () const |
| void | setBasePos (const btVector3 &pos) |
| void | setBaseWorldTransform (const btTransform &tr) |
| btTransform | getBaseWorldTransform () const |
| void | setBaseVel (const btVector3 &vel) |
| void | setWorldToBaseRot (const btQuaternion &rot) |
| void | setBaseOmega (const btVector3 &omega) |
| btScalar | getJointPos (int i) const |
| btScalar | getJointVel (int i) const |
| btScalar * | getJointVelMultiDof (int i) |
| btScalar * | getJointPosMultiDof (int i) |
| const btScalar * | getJointVelMultiDof (int i) const |
| const btScalar * | getJointPosMultiDof (int i) const |
| void | setJointPos (int i, btScalar q) |
| void | setJointVel (int i, btScalar qdot) |
| void | setJointPosMultiDof (int i, const double *q) |
| void | setJointVelMultiDof (int i, const double *qdot) |
| void | setJointPosMultiDof (int i, const float *q) |
| void | setJointVelMultiDof (int i, const float *qdot) |
| const btScalar * | getVelocityVector () const |
| const btVector3 & | getRVector (int i) const |
| const btQuaternion & | getParentToLocalRot (int i) const |
| btVector3 | localPosToWorld (int i, const btVector3 &vec) const |
| btVector3 | localDirToWorld (int i, const btVector3 &vec) const |
| btVector3 | worldPosToLocal (int i, const btVector3 &vec) const |
| btVector3 | worldDirToLocal (int i, const btVector3 &vec) const |
| btMatrix3x3 | localFrameToWorld (int i, const btMatrix3x3 &mat) const |
| btScalar | getKineticEnergy () const |
| btVector3 | getAngularMomentum () const |
| void | clearForcesAndTorques () |
| void | clearConstraintForces () |
| void | clearVelocities () |
| void | addBaseForce (const btVector3 &f) |
| void | addBaseTorque (const btVector3 &t) |
| void | addLinkForce (int i, const btVector3 &f) |
| void | addLinkTorque (int i, const btVector3 &t) |
| void | addBaseConstraintForce (const btVector3 &f) |
| void | addBaseConstraintTorque (const btVector3 &t) |
| void | addLinkConstraintForce (int i, const btVector3 &f) |
| void | addLinkConstraintTorque (int i, const btVector3 &t) |
| void | addJointTorque (int i, btScalar Q) |
| void | addJointTorqueMultiDof (int i, int dof, btScalar Q) |
| void | addJointTorqueMultiDof (int i, const btScalar *Q) |
| const btVector3 & | getBaseForce () const |
| const btVector3 & | getBaseTorque () const |
| const btVector3 & | getLinkForce (int i) const |
| const btVector3 & | getLinkTorque (int i) const |
| btScalar | getJointTorque (int i) const |
| btScalar * | getJointTorqueMultiDof (int i) |
| void | computeAccelerationsArticulatedBodyAlgorithmMultiDof (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m, bool isConstraintPass, bool jointFeedbackInWorldSpace, bool jointFeedbackInJointFrame) |
| void | calcAccelerationDeltasMultiDof (const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const |
| stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead More... | |
| void | applyDeltaVeeMultiDof2 (const btScalar *delta_vee, btScalar multiplier) |
| void | processDeltaVeeMultiDof2 () |
| void | applyDeltaVeeMultiDof (const btScalar *delta_vee, btScalar multiplier) |
| void | stepPositionsMultiDof (btScalar dt, btScalar *pq=0, btScalar *pqd=0) |
| 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 | fillConstraintJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal_ang, const btVector3 &normal_lin, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const |
| void | setCanSleep (bool canSleep) |
| bool | getCanSleep () const |
| bool | isAwake () const |
| void | wakeUp () |
| void | goToSleep () |
| void | checkMotionAndSleepIfRequired (btScalar timestep) |
| bool | hasFixedBase () const |
| int | getCompanionId () const |
| void | setCompanionId (int id) |
| void | setNumLinks (int numLinks) |
| btScalar | getLinearDamping () const |
| void | setLinearDamping (btScalar damp) |
| btScalar | getAngularDamping () const |
| void | setAngularDamping (btScalar damp) |
| bool | getUseGyroTerm () const |
| void | setUseGyroTerm (bool useGyro) |
| btScalar | getMaxCoordinateVelocity () const |
| void | setMaxCoordinateVelocity (btScalar maxVel) |
| btScalar | getMaxAppliedImpulse () const |
| void | setMaxAppliedImpulse (btScalar maxImp) |
| void | setHasSelfCollision (bool hasSelfCollision) |
| bool | hasSelfCollision () const |
| void | finalizeMultiDof () |
| void | useRK4Integration (bool use) |
| bool | isUsingRK4Integration () const |
| void | useGlobalVelocities (bool use) |
| bool | isUsingGlobalVelocities () const |
| bool | isPosUpdated () const |
| void | setPosUpdated (bool updated) |
| bool | internalNeedsJointFeedback () const |
| void | forwardKinematics (btAlignedObjectArray< btQuaternion > &scratch_q, btAlignedObjectArray< btVector3 > &scratch_m) |
| void | compTreeLinkVelocities (btVector3 *omega, btVector3 *vel) const |
| void | updateCollisionObjectWorldTransforms (btAlignedObjectArray< btQuaternion > &scratch_q, btAlignedObjectArray< btVector3 > &scratch_m) |
| virtual int | calculateSerializeBufferSize () const |
| virtual const char * | serialize (void *dataBuffer, class btSerializer *serializer) const |
| fills the dataBuffer and returns the struct name (and 0 on failure) More... | |
| const char * | getBaseName () const |
| void | setBaseName (const char *name) |
| memory of setBaseName needs to be manager by user More... | |
| void * | getUserPointer () const |
| users can point to their objects, userPointer is not used by Bullet More... | |
| int | getUserIndex () const |
| int | getUserIndex2 () const |
| void | setUserPointer (void *userPointer) |
| users can point to their objects, userPointer is not used by Bullet More... | |
| void | setUserIndex (int index) |
| users can point to their objects, userPointer is not used by Bullet More... | |
| void | setUserIndex2 (int index) |
Static Public Member Functions | |
| static void | spatialTransform (const btMatrix3x3 &rotation_matrix, const btVector3 &displacement, const btVector3 &top_in, const btVector3 &bottom_in, btVector3 &top_out, btVector3 &bottom_out) |
Private Member Functions | |
| btMultiBody (const btMultiBody &) | |
| void | operator= (const btMultiBody &) |
| void | solveImatrix (const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar result[6]) const |
| void | solveImatrix (const btSpatialForceVector &rhs, btSpatialMotionVector &result) const |
| void | updateLinksDofOffsets () |
| void | mulMatrix (btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const |
Definition at line 49 of file btMultiBody.h.
| btMultiBody::btMultiBody | ( | int | n_links, |
| btScalar | mass, | ||
| const btVector3 & | inertia, | ||
| bool | fixedBase, | ||
| bool | canSleep, | ||
| bool | deprecatedMultiDof = true |
||
| ) |
Definition at line 93 of file btMultiBody.cpp.
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Definition at line 143 of file btMultiBody.cpp.
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Definition at line 312 of file btMultiBody.h.
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Definition at line 316 of file btMultiBody.h.
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Definition at line 304 of file btMultiBody.h.
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Definition at line 308 of file btMultiBody.h.
| void btMultiBody::addJointTorque | ( | int | i, |
| btScalar | Q | ||
| ) |
Definition at line 670 of file btMultiBody.cpp.
| void btMultiBody::addJointTorqueMultiDof | ( | int | i, |
| const btScalar * | Q | ||
| ) |
Definition at line 680 of file btMultiBody.cpp.
| void btMultiBody::addJointTorqueMultiDof | ( | int | i, |
| int | dof, | ||
| btScalar | Q | ||
| ) |
Definition at line 675 of file btMultiBody.cpp.
| void btMultiBody::addLinkConstraintForce | ( | int | i, |
| const btVector3 & | f | ||
| ) |
Definition at line 660 of file btMultiBody.cpp.
| void btMultiBody::addLinkConstraintTorque | ( | int | i, |
| const btVector3 & | t | ||
| ) |
Definition at line 665 of file btMultiBody.cpp.
| void btMultiBody::addLinkForce | ( | int | i, |
| const btVector3 & | f | ||
| ) |
Definition at line 650 of file btMultiBody.cpp.
| void btMultiBody::addLinkTorque | ( | int | i, |
| const btVector3 & | t | ||
| ) |
Definition at line 655 of file btMultiBody.cpp.
Definition at line 394 of file btMultiBody.h.
Definition at line 377 of file btMultiBody.h.
| btMultiBody::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
| void btMultiBody::calcAccelerationDeltasMultiDof | ( | const btScalar * | force, |
| btScalar * | output, | ||
| btAlignedObjectArray< btScalar > & | scratch_r, | ||
| btAlignedObjectArray< btVector3 > & | scratch_v | ||
| ) | const |
stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
Definition at line 1424 of file btMultiBody.cpp.
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Definition at line 2002 of file btMultiBody.cpp.
| void btMultiBody::checkMotionAndSleepIfRequired | ( | btScalar | timestep | ) |
Definition at line 1875 of file btMultiBody.cpp.
| void btMultiBody::clearConstraintForces | ( | ) |
Definition at line 619 of file btMultiBody.cpp.
| void btMultiBody::clearForcesAndTorques | ( | ) |
Definition at line 630 of file btMultiBody.cpp.
| void btMultiBody::clearVelocities | ( | ) |
Definition at line 643 of file btMultiBody.cpp.
Definition at line 544 of file btMultiBody.cpp.
| void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof | ( | btScalar | dt, |
| btAlignedObjectArray< btScalar > & | scratch_r, | ||
| btAlignedObjectArray< btVector3 > & | scratch_v, | ||
| btAlignedObjectArray< btMatrix3x3 > & | scratch_m, | ||
| bool | isConstraintPass, | ||
| bool | jointFeedbackInWorldSpace, | ||
| bool | jointFeedbackInJointFrame | ||
| ) |
Definition at line 730 of file btMultiBody.cpp.
| void btMultiBody::fillConstraintJacobianMultiDof | ( | int | link, |
| const btVector3 & | contact_point, | ||
| const btVector3 & | normal_ang, | ||
| const btVector3 & | normal_lin, | ||
| btScalar * | jac, | ||
| btAlignedObjectArray< btScalar > & | scratch_r, | ||
| btAlignedObjectArray< btVector3 > & | scratch_v, | ||
| btAlignedObjectArray< btMatrix3x3 > & | scratch_m | ||
| ) | const |
Definition at line 1721 of file btMultiBody.cpp.
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Definition at line 430 of file btMultiBody.h.
| void btMultiBody::finalizeMultiDof | ( | ) |
Definition at line 340 of file btMultiBody.cpp.
| void btMultiBody::forwardKinematics | ( | btAlignedObjectArray< btQuaternion > & | scratch_q, |
| btAlignedObjectArray< btVector3 > & | scratch_m | ||
| ) |
base + num m_links
Definition at line 1908 of file btMultiBody.cpp.
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Definition at line 495 of file btMultiBody.h.
| btVector3 btMultiBody::getAngularMomentum | ( | ) | const |
Definition at line 595 of file btMultiBody.cpp.
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Definition at line 132 of file btMultiBody.h.
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Definition at line 128 of file btMultiBody.h.
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Definition at line 324 of file btMultiBody.h.
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Definition at line 170 of file btMultiBody.h.
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Definition at line 169 of file btMultiBody.h.
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Definition at line 570 of file btMultiBody.h.
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Definition at line 194 of file btMultiBody.h.
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Definition at line 185 of file btMultiBody.h.
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Definition at line 325 of file btMultiBody.h.
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Definition at line 186 of file btMultiBody.h.
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Definition at line 207 of file btMultiBody.h.
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Definition at line 457 of file btMultiBody.h.
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Definition at line 472 of file btMultiBody.h.
| btScalar btMultiBody::getJointPos | ( | int | i | ) | const |
Definition at line 368 of file btMultiBody.cpp.
| btScalar * btMultiBody::getJointPosMultiDof | ( | int | i | ) |
Definition at line 378 of file btMultiBody.cpp.
| const btScalar * btMultiBody::getJointPosMultiDof | ( | int | i | ) | const |
Definition at line 388 of file btMultiBody.cpp.
| btScalar btMultiBody::getJointTorque | ( | int | i | ) | const |
Definition at line 696 of file btMultiBody.cpp.
| btScalar * btMultiBody::getJointTorqueMultiDof | ( | int | i | ) |
Definition at line 701 of file btMultiBody.cpp.
| btScalar btMultiBody::getJointVel | ( | int | i | ) | const |
Definition at line 373 of file btMultiBody.cpp.
| btScalar * btMultiBody::getJointVelMultiDof | ( | int | i | ) |
Definition at line 383 of file btMultiBody.cpp.
| const btScalar * btMultiBody::getJointVelMultiDof | ( | int | i | ) | const |
Definition at line 393 of file btMultiBody.cpp.
| btScalar btMultiBody::getKineticEnergy | ( | ) | const |
Definition at line 572 of file btMultiBody.cpp.
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Definition at line 487 of file btMultiBody.h.
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Definition at line 119 of file btMultiBody.h.
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Definition at line 114 of file btMultiBody.h.
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Definition at line 146 of file btMultiBody.h.
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Definition at line 137 of file btMultiBody.h.
| const btVector3 & btMultiBody::getLinkForce | ( | int | i | ) | const |
Definition at line 686 of file btMultiBody.cpp.
| const btVector3 & btMultiBody::getLinkInertia | ( | int | i | ) | const |
Definition at line 363 of file btMultiBody.cpp.
| btScalar btMultiBody::getLinkMass | ( | int | i | ) | const |
Definition at line 358 of file btMultiBody.cpp.
| const btVector3 & btMultiBody::getLinkTorque | ( | int | i | ) | const |
Definition at line 691 of file btMultiBody.cpp.
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Definition at line 521 of file btMultiBody.h.
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Definition at line 512 of file btMultiBody.h.
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Definition at line 167 of file btMultiBody.h.
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Definition at line 166 of file btMultiBody.h.
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Definition at line 168 of file btMultiBody.h.
| int btMultiBody::getParent | ( | int | link_num | ) | const |
Definition at line 353 of file btMultiBody.cpp.
| const btQuaternion & btMultiBody::getParentToLocalRot | ( | int | i | ) | const |
Definition at line 445 of file btMultiBody.cpp.
| const btVector3 & btMultiBody::getRVector | ( | int | i | ) | const |
Definition at line 440 of file btMultiBody.cpp.
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Definition at line 504 of file btMultiBody.h.
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Definition at line 586 of file btMultiBody.h.
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Definition at line 591 of file btMultiBody.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 581 of file btMultiBody.h.
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Definition at line 256 of file btMultiBody.h.
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Definition at line 190 of file btMultiBody.h.
| void btMultiBody::goToSleep | ( | ) |
Definition at line 1870 of file btMultiBody.cpp.
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Definition at line 467 of file btMultiBody.h.
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Definition at line 533 of file btMultiBody.h.
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Definition at line 555 of file btMultiBody.h.
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Definition at line 462 of file btMultiBody.h.
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Definition at line 545 of file btMultiBody.h.
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Definition at line 543 of file btMultiBody.h.
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Definition at line 541 of file btMultiBody.h.
Definition at line 496 of file btMultiBody.cpp.
| btMatrix3x3 btMultiBody::localFrameToWorld | ( | int | i, |
| const btMatrix3x3 & | mat | ||
| ) | const |
Definition at line 534 of file btMultiBody.cpp.
Definition at line 450 of file btMultiBody.cpp.
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Definition at line 1409 of file btMultiBody.cpp.
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Definition at line 384 of file btMultiBody.h.
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fills the dataBuffer and returns the struct name (and 0 on failure)
Definition at line 2009 of file btMultiBody.cpp.
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Definition at line 499 of file btMultiBody.h.
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Definition at line 124 of file btMultiBody.h.
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Definition at line 179 of file btMultiBody.h.
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Definition at line 178 of file btMultiBody.h.
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memory of setBaseName needs to be manager by user
Definition at line 575 of file btMultiBody.h.
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Definition at line 225 of file btMultiBody.h.
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Definition at line 196 of file btMultiBody.h.
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Definition at line 215 of file btMultiBody.h.
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Definition at line 201 of file btMultiBody.h.
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Definition at line 452 of file btMultiBody.h.
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Definition at line 476 of file btMultiBody.h.
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Definition at line 529 of file btMultiBody.h.
| void btMultiBody::setJointPos | ( | int | i, |
| btScalar | q | ||
| ) |
Definition at line 398 of file btMultiBody.cpp.
| void btMultiBody::setJointPosMultiDof | ( | int | i, |
| const double * | q | ||
| ) |
Definition at line 405 of file btMultiBody.cpp.
| void btMultiBody::setJointPosMultiDof | ( | int | i, |
| const float * | q | ||
| ) |
Definition at line 413 of file btMultiBody.cpp.
| void btMultiBody::setJointVel | ( | int | i, |
| btScalar | qdot | ||
| ) |
Definition at line 423 of file btMultiBody.cpp.
| void btMultiBody::setJointVelMultiDof | ( | int | i, |
| const double * | qdot | ||
| ) |
Definition at line 428 of file btMultiBody.cpp.
| void btMultiBody::setJointVelMultiDof | ( | int | i, |
| const float * | qdot | ||
| ) |
Definition at line 434 of file btMultiBody.cpp.
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Definition at line 491 of file btMultiBody.h.
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Definition at line 525 of file btMultiBody.h.
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Definition at line 516 of file btMultiBody.h.
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Definition at line 482 of file btMultiBody.h.
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Definition at line 549 of file btMultiBody.h.
| void btMultiBody::setupFixed | ( | int | linkIndex, |
| btScalar | mass, | ||
| const btVector3 & | inertia, | ||
| int | parent, | ||
| const btQuaternion & | rotParentToThis, | ||
| const btVector3 & | parentComToThisPivotOffset, | ||
| const btVector3 & | thisPivotToThisComOffset, | ||
| bool | deprecatedDisableParentCollision = true |
||
| ) |
Definition at line 147 of file btMultiBody.cpp.
| void btMultiBody::setupPlanar | ( | int | i, |
| btScalar | mass, | ||
| const btVector3 & | inertia, | ||
| int | parent, | ||
| const btQuaternion & | rotParentToThis, | ||
| const btVector3 & | rotationAxis, | ||
| const btVector3 & | parentComToThisComOffset, | ||
| bool | disableParentCollision = false |
||
| ) |
Definition at line 289 of file btMultiBody.cpp.
| void btMultiBody::setupPrismatic | ( | int | i, |
| btScalar | mass, | ||
| const btVector3 & | inertia, | ||
| int | parent, | ||
| const btQuaternion & | rotParentToThis, | ||
| const btVector3 & | jointAxis, | ||
| const btVector3 & | parentComToThisPivotOffset, | ||
| const btVector3 & | thisPivotToThisComOffset, | ||
| bool | disableParentCollision | ||
| ) |
Definition at line 175 of file btMultiBody.cpp.
| void btMultiBody::setupRevolute | ( | int | linkIndex, |
| btScalar | mass, | ||
| const btVector3 & | inertia, | ||
| int | parentIndex, | ||
| const btQuaternion & | rotParentToThis, | ||
| const btVector3 & | jointAxis, | ||
| const btVector3 & | parentComToThisPivotOffset, | ||
| const btVector3 & | thisPivotToThisComOffset, | ||
| bool | disableParentCollision = false |
||
| ) |
Definition at line 213 of file btMultiBody.cpp.
| void btMultiBody::setupSpherical | ( | int | linkIndex, |
| btScalar | mass, | ||
| const btVector3 & | inertia, | ||
| int | parent, | ||
| const btQuaternion & | rotParentToThis, | ||
| const btVector3 & | parentComToThisPivotOffset, | ||
| const btVector3 & | thisPivotToThisComOffset, | ||
| bool | disableParentCollision = false |
||
| ) |
Definition at line 249 of file btMultiBody.cpp.
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Definition at line 508 of file btMultiBody.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 602 of file btMultiBody.h.
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Definition at line 607 of file btMultiBody.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 596 of file btMultiBody.h.
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Definition at line 221 of file btMultiBody.h.
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solve I * x = rhs, so the result = invI * rhs
Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices
Definition at line 1348 of file btMultiBody.cpp.
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solve I * x = rhs, so the result = invI * rhs
Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices
Definition at line 1273 of file btMultiBody.cpp.
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Definition at line 40 of file btMultiBody.cpp.
baseBody => quat is alibi and omega is local coor
Definition at line 1583 of file btMultiBody.cpp.
| void btMultiBody::updateCollisionObjectWorldTransforms | ( | btAlignedObjectArray< btQuaternion > & | scratch_q, |
| btAlignedObjectArray< btVector3 > & | scratch_m | ||
| ) |
Definition at line 1951 of file btMultiBody.cpp.
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Definition at line 628 of file btMultiBody.h.
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Definition at line 542 of file btMultiBody.h.
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Definition at line 540 of file btMultiBody.h.
| void btMultiBody::wakeUp | ( | ) |
Definition at line 1864 of file btMultiBody.cpp.
Definition at line 515 of file btMultiBody.cpp.
Definition at line 475 of file btMultiBody.cpp.
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Definition at line 705 of file btMultiBody.h.
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Definition at line 699 of file btMultiBody.h.
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Definition at line 689 of file btMultiBody.h.
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Definition at line 643 of file btMultiBody.h.
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Definition at line 655 of file btMultiBody.h.
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Definition at line 656 of file btMultiBody.h.
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Definition at line 652 of file btMultiBody.h.
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Definition at line 650 of file btMultiBody.h.
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Definition at line 649 of file btMultiBody.h.
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Definition at line 644 of file btMultiBody.h.
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Definition at line 646 of file btMultiBody.h.
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Definition at line 647 of file btMultiBody.h.
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Definition at line 653 of file btMultiBody.h.
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Definition at line 682 of file btMultiBody.h.
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Definition at line 683 of file btMultiBody.h.
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Definition at line 680 of file btMultiBody.h.
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Definition at line 681 of file btMultiBody.h.
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Definition at line 684 of file btMultiBody.h.
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Definition at line 690 of file btMultiBody.h.
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Definition at line 697 of file btMultiBody.h.
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Definition at line 675 of file btMultiBody.h.
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Definition at line 706 of file btMultiBody.h.
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Definition at line 686 of file btMultiBody.h.
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Definition at line 703 of file btMultiBody.h.
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the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only
Definition at line 713 of file btMultiBody.h.
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Definition at line 698 of file btMultiBody.h.
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Definition at line 658 of file btMultiBody.h.
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Definition at line 678 of file btMultiBody.h.
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Definition at line 701 of file btMultiBody.h.
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Definition at line 702 of file btMultiBody.h.
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Definition at line 706 of file btMultiBody.h.
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Definition at line 676 of file btMultiBody.h.
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Definition at line 691 of file btMultiBody.h.
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Definition at line 708 of file btMultiBody.h.
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Definition at line 700 of file btMultiBody.h.
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Definition at line 695 of file btMultiBody.h.
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Definition at line 694 of file btMultiBody.h.
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Definition at line 708 of file btMultiBody.h.
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Definition at line 693 of file btMultiBody.h.
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Definition at line 677 of file btMultiBody.h.
1.8.16