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Bullet Collision Detection & Physics Library
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This file was written by Erwin Coumans. More...
#include <btMultiBodySliderConstraint.h>


Public Member Functions | |
| btMultiBodySliderConstraint (btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB, const btVector3 &jointAxis) | |
| btMultiBodySliderConstraint (btMultiBody *bodyA, int linkA, btMultiBody *bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB, const btVector3 &jointAxis) | |
| virtual | ~btMultiBodySliderConstraint () |
| virtual void | finalizeMultiDof () |
| virtual int | getIslandIdA () const |
| virtual int | getIslandIdB () const |
| virtual void | createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal) |
| const btVector3 & | getPivotInA () const |
| void | setPivotInA (const btVector3 &pivotInA) |
| const btVector3 & | getPivotInB () const |
| virtual void | setPivotInB (const btVector3 &pivotInB) |
| const btMatrix3x3 & | getFrameInA () const |
| void | setFrameInA (const btMatrix3x3 &frameInA) |
| const btMatrix3x3 & | getFrameInB () const |
| virtual void | setFrameInB (const btMatrix3x3 &frameInB) |
| const btVector3 & | getJointAxis () const |
| void | setJointAxis (const btVector3 &jointAxis) |
| virtual void | debugDraw (class btIDebugDraw *drawer) |
Public Member Functions inherited from btMultiBodyConstraint | |
| BT_DECLARE_ALIGNED_ALLOCATOR () | |
| btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type) | |
| virtual | ~btMultiBodyConstraint () |
| void | updateJacobianSizes () |
| void | allocateJacobiansMultiDof () |
| int | getConstraintType () const |
| int | getNumRows () const |
| btMultiBody * | getMultiBodyA () |
| btMultiBody * | getMultiBodyB () |
| int | getLinkA () const |
| int | getLinkB () const |
| void | internalSetAppliedImpulse (int dof, btScalar appliedImpulse) |
| btScalar | getAppliedImpulse (int dof) |
| btScalar | getPosition (int row) const |
| void | setPosition (int row, btScalar pos) |
| bool | isUnilateral () const |
| btScalar * | jacobianA (int row) |
| const btScalar * | jacobianA (int row) const |
| btScalar * | jacobianB (int row) |
| const btScalar * | jacobianB (int row) const |
| btScalar | getMaxAppliedImpulse () const |
| void | setMaxAppliedImpulse (btScalar maxImp) |
| virtual void | setGearRatio (btScalar ratio) |
| virtual void | setGearAuxLink (int gearAuxLink) |
| virtual void | setRelativePositionTarget (btScalar relPosTarget) |
| virtual void | setErp (btScalar erp) |
Protected Attributes | |
| btRigidBody * | m_rigidBodyA |
| btRigidBody * | m_rigidBodyB |
| btVector3 | m_pivotInA |
| btVector3 | m_pivotInB |
| btMatrix3x3 | m_frameInA |
| btMatrix3x3 | m_frameInB |
| btVector3 | m_jointAxis |
Protected Attributes inherited from btMultiBodyConstraint | |
| btMultiBody * | m_bodyA |
| btMultiBody * | m_bodyB |
| int | m_linkA |
| int | m_linkB |
| int | m_type |
| int | m_numRows |
| int | m_jacSizeA |
| int | m_jacSizeBoth |
| int | m_posOffset |
| bool | m_isUnilateral |
| int | m_numDofsFinalized |
| btScalar | m_maxAppliedImpulse |
| btAlignedObjectArray< btScalar > | m_data |
Additional Inherited Members | |
Protected Member Functions inherited from btMultiBodyConstraint | |
| 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) |
This file was written by Erwin Coumans.
Definition at line 23 of file btMultiBodySliderConstraint.h.
| btMultiBodySliderConstraint::btMultiBodySliderConstraint | ( | btMultiBody * | body, |
| int | link, | ||
| btRigidBody * | bodyB, | ||
| const btVector3 & | pivotInA, | ||
| const btVector3 & | pivotInB, | ||
| const btMatrix3x3 & | frameInA, | ||
| const btMatrix3x3 & | frameInB, | ||
| const btVector3 & | jointAxis | ||
| ) |
Definition at line 27 of file btMultiBodySliderConstraint.cpp.
| btMultiBodySliderConstraint::btMultiBodySliderConstraint | ( | btMultiBody * | bodyA, |
| int | linkA, | ||
| btMultiBody * | bodyB, | ||
| int | linkB, | ||
| const btVector3 & | pivotInA, | ||
| const btVector3 & | pivotInB, | ||
| const btMatrix3x3 & | frameInA, | ||
| const btMatrix3x3 & | frameInB, | ||
| const btVector3 & | jointAxis | ||
| ) |
Definition at line 40 of file btMultiBodySliderConstraint.cpp.
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virtual |
Definition at line 59 of file btMultiBodySliderConstraint.cpp.
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Implements btMultiBodyConstraint.
Definition at line 105 of file btMultiBodySliderConstraint.cpp.
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Implements btMultiBodyConstraint.
Definition at line 204 of file btMultiBodySliderConstraint.cpp.
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Implements btMultiBodyConstraint.
Definition at line 53 of file btMultiBodySliderConstraint.cpp.
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Definition at line 69 of file btMultiBodySliderConstraint.h.
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inline |
Definition at line 79 of file btMultiBodySliderConstraint.h.
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Implements btMultiBodyConstraint.
Definition at line 63 of file btMultiBodySliderConstraint.cpp.
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Implements btMultiBodyConstraint.
Definition at line 85 of file btMultiBodySliderConstraint.cpp.
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Definition at line 89 of file btMultiBodySliderConstraint.h.
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Definition at line 49 of file btMultiBodySliderConstraint.h.
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Definition at line 59 of file btMultiBodySliderConstraint.h.
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Definition at line 74 of file btMultiBodySliderConstraint.h.
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Reimplemented from btMultiBodyConstraint.
Definition at line 84 of file btMultiBodySliderConstraint.h.
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Definition at line 94 of file btMultiBodySliderConstraint.h.
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Definition at line 54 of file btMultiBodySliderConstraint.h.
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Reimplemented from btMultiBodyConstraint.
Definition at line 64 of file btMultiBodySliderConstraint.h.
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Definition at line 30 of file btMultiBodySliderConstraint.h.
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Definition at line 31 of file btMultiBodySliderConstraint.h.
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Definition at line 32 of file btMultiBodySliderConstraint.h.
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Definition at line 28 of file btMultiBodySliderConstraint.h.
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Definition at line 29 of file btMultiBodySliderConstraint.h.
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Definition at line 26 of file btMultiBodySliderConstraint.h.
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Definition at line 27 of file btMultiBodySliderConstraint.h.