Bullet Collision Detection & Physics Library
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16 #ifndef BT_MULTIBODY_LINK_H
17 #define BT_MULTIBODY_LINK_H
30 #define BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS
31 #define TEST_SPATIAL_ALGEBRA_LAYER
300 #endif //BT_MULTIBODY_LINK_H
btSpatialMotionVector m_axes[6]
btVector3 m_appliedTorque
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btVector3 m_appliedConstraintTorque
btSpatialMotionVector m_absFrameTotVelocity
BT_DECLARE_ALIGNED_ALLOCATOR()
void updateInterpolationCacheMultiDof()
struct btMultiBodyJointFeedback * m_jointFeedback
btTransform m_cachedWorldTransform
void setAxisTop(int dof, const btVector3 &axis)
void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
btScalar m_jointLowerLimit
btScalar m_jointMaxVelocity
btVector3 m_appliedConstraintForce
const btVector3 & getAxisTop(int dof) const
btVector3 can be used to represent 3D points and vectors.
btQuaternion m_zeroRotParentToThis
btVector3 m_cachedRVector
class btMultiBodyLinkCollider * m_collider
btVector3 m_cachedRVector_interpolate
@ BT_MULTIBODYLINKFLAGS_DISABLE_ALL_PARENT_COLLISION
void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
eFeatherstoneJointType m_jointType
btSpatialMotionVector m_absFrameLocVelocity
void updateCacheMultiDof(btScalar *pq=0)
btScalar m_jointPos_interpolate[7]
btQuaternion m_cachedRotParentToThis_interpolate
const btVector3 & getAxisBottom(int dof) const
@ BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION
btQuaternion m_cachedRotParentToThis
btScalar m_jointUpperLimit
btScalar m_jointTorque[6]
void setAxisBottom(int dof, const btVector3 &axis)
btVector3 quatRotate(const btQuaternion &rotation, const btVector3 &v)