#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 40 of file btMultiBodyConstraint.h.
 
◆ btMultiBodyConstraint()
      
        
          | btMultiBodyConstraint::btMultiBodyConstraint | ( | btMultiBody * | bodyA, | 
        
          |  |  | btMultiBody * | bodyB, | 
        
          |  |  | int | linkA, | 
        
          |  |  | int | linkB, | 
        
          |  |  | int | numRows, | 
        
          |  |  | bool | isUnilateral | 
        
          |  | ) |  |  | 
      
 
 
◆ ~btMultiBodyConstraint()
  
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          | btMultiBodyConstraint::~btMultiBodyConstraint | ( |  | ) |  |  | virtual | 
 
 
◆ allocateJacobiansMultiDof()
      
        
          | void btMultiBodyConstraint::allocateJacobiansMultiDof | ( |  | ) |  | 
      
 
 
◆ applyDeltaVee()
◆ BT_DECLARE_ALIGNED_ALLOCATOR()
      
        
          | btMultiBodyConstraint::BT_DECLARE_ALIGNED_ALLOCATOR | ( |  | ) |  | 
      
 
 
◆ createConstraintRows()
◆ debugDraw()
  
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          | virtual void btMultiBodyConstraint::debugDraw | ( | class btIDebugDraw * | drawer | ) |  |  | pure virtual | 
 
 
◆ fillMultiBodyConstraint()
  
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          | 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()
  
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          | virtual void btMultiBodyConstraint::finalizeMultiDof | ( |  | ) |  |  | pure virtual | 
 
 
◆ getAppliedImpulse()
  
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          | btScalar btMultiBodyConstraint::getAppliedImpulse | ( | int | dof | ) |  |  | inline | 
 
 
◆ getIslandIdA()
  
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          | virtual int btMultiBodyConstraint::getIslandIdA | ( |  | ) | const |  | pure virtual | 
 
 
◆ getIslandIdB()
  
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          | virtual int btMultiBodyConstraint::getIslandIdB | ( |  | ) | const |  | pure virtual | 
 
 
◆ getLinkA()
  
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          | int btMultiBodyConstraint::getLinkA | ( |  | ) | const |  | inline | 
 
 
◆ getLinkB()
  
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          | int btMultiBodyConstraint::getLinkB | ( |  | ) | const |  | inline | 
 
 
◆ getMaxAppliedImpulse()
  
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          | btScalar btMultiBodyConstraint::getMaxAppliedImpulse | ( |  | ) | const |  | inline | 
 
 
◆ getMultiBodyA()
◆ getMultiBodyB()
◆ getNumRows()
  
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          | int btMultiBodyConstraint::getNumRows | ( |  | ) | const |  | inline | 
 
 
◆ getPosition()
  
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          | btScalar btMultiBodyConstraint::getPosition | ( | int | row | ) | const |  | inline | 
 
 
◆ internalSetAppliedImpulse()
  
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          | void btMultiBodyConstraint::internalSetAppliedImpulse | ( | int | dof, |  
          |  |  | btScalar | appliedImpulse |  
          |  | ) |  |  |  | inline | 
 
 
◆ isUnilateral()
  
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          | bool btMultiBodyConstraint::isUnilateral | ( |  | ) | const |  | inline | 
 
 
◆ jacobianA() [1/2]
  
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          | btScalar* btMultiBodyConstraint::jacobianA | ( | int | row | ) |  |  | inline | 
 
 
◆ jacobianA() [2/2]
  
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          | const btScalar* btMultiBodyConstraint::jacobianA | ( | int | row | ) | const |  | inline | 
 
 
◆ jacobianB() [1/2]
  
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          | btScalar* btMultiBodyConstraint::jacobianB | ( | int | row | ) |  |  | inline | 
 
 
◆ jacobianB() [2/2]
  
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          | const btScalar* btMultiBodyConstraint::jacobianB | ( | int | row | ) | const |  | inline | 
 
 
◆ setErp()
  
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          | virtual void btMultiBodyConstraint::setErp | ( | btScalar | erp | ) |  |  | inlinevirtual | 
 
 
◆ setFrameInB()
  
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          | virtual void btMultiBodyConstraint::setFrameInB | ( | const btMatrix3x3 & | frameInB | ) |  |  | inlinevirtual | 
 
 
◆ setGearAuxLink()
  
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          | virtual void btMultiBodyConstraint::setGearAuxLink | ( | int | gearAuxLink | ) |  |  | inlinevirtual | 
 
 
◆ setGearRatio()
  
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          | virtual void btMultiBodyConstraint::setGearRatio | ( | btScalar | ratio | ) |  |  | inlinevirtual | 
 
 
◆ setMaxAppliedImpulse()
  
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          | void btMultiBodyConstraint::setMaxAppliedImpulse | ( | btScalar | maxImp | ) |  |  | inline | 
 
 
◆ setPivotInB()
  
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          | virtual void btMultiBodyConstraint::setPivotInB | ( | const btVector3 & | pivotInB | ) |  |  | inlinevirtual | 
 
 
◆ setPosition()
  
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          | void btMultiBodyConstraint::setPosition | ( | int | row, |  
          |  |  | btScalar | pos |  
          |  | ) |  |  |  | inline | 
 
 
◆ setRelativePositionTarget()
  
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          | virtual void btMultiBodyConstraint::setRelativePositionTarget | ( | btScalar | relPosTarget | ) |  |  | inlinevirtual | 
 
 
◆ updateJacobianSizes()
      
        
          | void btMultiBodyConstraint::updateJacobianSizes | ( |  | ) |  | 
      
 
 
◆ m_bodyA
◆ m_bodyB
◆ m_data
◆ m_isUnilateral
  
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          | bool btMultiBodyConstraint::m_isUnilateral |  | protected | 
 
 
◆ m_jacSizeA
  
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          | int btMultiBodyConstraint::m_jacSizeA |  | protected | 
 
 
◆ m_jacSizeBoth
  
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          | int btMultiBodyConstraint::m_jacSizeBoth |  | protected | 
 
 
◆ m_linkA
  
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          | int btMultiBodyConstraint::m_linkA |  | protected | 
 
 
◆ m_linkB
  
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          | int btMultiBodyConstraint::m_linkB |  | protected | 
 
 
◆ m_maxAppliedImpulse
  
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          | btScalar btMultiBodyConstraint::m_maxAppliedImpulse |  | protected | 
 
 
◆ m_numDofsFinalized
  
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          | int btMultiBodyConstraint::m_numDofsFinalized |  | protected | 
 
 
◆ m_numRows
  
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          | int btMultiBodyConstraint::m_numRows |  | protected | 
 
 
◆ m_posOffset
  
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          | int btMultiBodyConstraint::m_posOffset |  | protected | 
 
 
The documentation for this class was generated from the following files: