Bullet Collision Detection & Physics Library
btMultiBody.h
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1 /*
2  * PURPOSE:
3  * Class representing an articulated rigid body. Stores the body's
4  * current state, allows forces and torques to be set, handles
5  * timestepping and implements Featherstone's algorithm.
6  *
7  * COPYRIGHT:
8  * Copyright (C) Stephen Thompson, <stephen@solarflare.org.uk>, 2011-2013
9  * Portions written By Erwin Coumans: connection to LCP solver, various multibody constraints, replacing Eigen math library by Bullet LinearMath and a dedicated 6x6 matrix inverse (solveImatrix)
10  * Portions written By Jakub Stepien: support for multi-DOF constraints, introduction of spatial algebra and several other improvements
11 
12  This software is provided 'as-is', without any express or implied warranty.
13  In no event will the authors be held liable for any damages arising from the use of this software.
14  Permission is granted to anyone to use this software for any purpose,
15  including commercial applications, and to alter it and redistribute it freely,
16  subject to the following restrictions:
17 
18  1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
19  2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
20  3. This notice may not be removed or altered from any source distribution.
21 
22  */
23 
24 #ifndef BT_MULTIBODY_H
25 #define BT_MULTIBODY_H
26 
27 #include "LinearMath/btScalar.h"
28 #include "LinearMath/btVector3.h"
30 #include "LinearMath/btMatrix3x3.h"
32 
34 #ifdef BT_USE_DOUBLE_PRECISION
35 #define btMultiBodyData btMultiBodyDoubleData
36 #define btMultiBodyDataName "btMultiBodyDoubleData"
37 #define btMultiBodyLinkData btMultiBodyLinkDoubleData
38 #define btMultiBodyLinkDataName "btMultiBodyLinkDoubleData"
39 #else
40 #define btMultiBodyData btMultiBodyFloatData
41 #define btMultiBodyDataName "btMultiBodyFloatData"
42 #define btMultiBodyLinkData btMultiBodyLinkFloatData
43 #define btMultiBodyLinkDataName "btMultiBodyLinkFloatData"
44 #endif //BT_USE_DOUBLE_PRECISION
45 
46 #include "btMultiBodyLink.h"
48 
51 {
52 public:
54 
55  //
56  // initialization
57  //
58 
59  btMultiBody(int n_links, // NOT including the base
60  btScalar mass, // mass of base
61  const btVector3 &inertia, // inertia of base, in base frame; assumed diagonal
62  bool fixedBase, // whether the base is fixed (true) or can move (false)
63  bool canSleep, bool deprecatedMultiDof = true);
64 
65  virtual ~btMultiBody();
66 
67  //note: fixed link collision with parent is always disabled
68  void setupFixed(int i, //linkIndex
69  btScalar mass,
70  const btVector3 &inertia,
71  int parent,
72  const btQuaternion &rotParentToThis,
73  const btVector3 &parentComToThisPivotOffset,
74  const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision = true);
75 
76  void setupPrismatic(int i,
77  btScalar mass,
78  const btVector3 &inertia,
79  int parent,
80  const btQuaternion &rotParentToThis,
81  const btVector3 &jointAxis,
82  const btVector3 &parentComToThisPivotOffset,
83  const btVector3 &thisPivotToThisComOffset,
84  bool disableParentCollision);
85 
86  void setupRevolute(int i, // 0 to num_links-1
87  btScalar mass,
88  const btVector3 &inertia,
89  int parentIndex,
90  const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0
91  const btVector3 &jointAxis, // in my frame
92  const btVector3 &parentComToThisPivotOffset, // vector from parent COM to joint axis, in PARENT frame
93  const btVector3 &thisPivotToThisComOffset, // vector from joint axis to my COM, in MY frame
94  bool disableParentCollision = false);
95 
96  void setupSpherical(int i, // linkIndex, 0 to num_links-1
97  btScalar mass,
98  const btVector3 &inertia,
99  int parent,
100  const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0
101  const btVector3 &parentComToThisPivotOffset, // vector from parent COM to joint axis, in PARENT frame
102  const btVector3 &thisPivotToThisComOffset, // vector from joint axis to my COM, in MY frame
103  bool disableParentCollision = false);
104 
105  void setupPlanar(int i, // 0 to num_links-1
106  btScalar mass,
107  const btVector3 &inertia,
108  int parent,
109  const btQuaternion &rotParentToThis, // rotate points in parent frame to this frame, when q = 0
110  const btVector3 &rotationAxis,
111  const btVector3 &parentComToThisComOffset, // vector from parent COM to this COM, in PARENT frame
112  bool disableParentCollision = false);
113 
114  const btMultibodyLink &getLink(int index) const
115  {
116  return m_links[index];
117  }
118 
120  {
121  return m_links[index];
122  }
123 
124  void setBaseCollider(btMultiBodyLinkCollider * collider) //collider can be NULL to disable collision for the base
125  {
126  m_baseCollider = collider;
127  }
129  {
130  return m_baseCollider;
131  }
133  {
134  return m_baseCollider;
135  }
136 
137  const btMultiBodyLinkCollider *getLinkCollider(int index) const
138  {
139  if (index >= 0 && index < getNumLinks())
140  {
141  return getLink(index).m_collider;
142  }
143  return 0;
144  }
145 
147  {
148  if (index >= 0 && index < getNumLinks())
149  {
150  return getLink(index).m_collider;
151  }
152  return 0;
153  }
154 
155  //
156  // get parent
157  // input: link num from 0 to num_links-1
158  // output: link num from 0 to num_links-1, OR -1 to mean the base.
159  //
160  int getParent(int link_num) const;
161 
162  //
163  // get number of m_links, masses, moments of inertia
164  //
165 
166  int getNumLinks() const { return m_links.size(); }
167  int getNumDofs() const { return m_dofCount; }
168  int getNumPosVars() const { return m_posVarCnt; }
169  btScalar getBaseMass() const { return m_baseMass; }
170  const btVector3 &getBaseInertia() const { return m_baseInertia; }
171  btScalar getLinkMass(int i) const;
172  const btVector3 &getLinkInertia(int i) const;
173 
174  //
175  // change mass (incomplete: can only change base mass and inertia at present)
176  //
177 
178  void setBaseMass(btScalar mass) { m_baseMass = mass; }
179  void setBaseInertia(const btVector3 &inertia) { m_baseInertia = inertia; }
180 
181  //
182  // get/set pos/vel/rot/omega for the base link
183  //
184 
185  const btVector3 &getBasePos() const
186  {
187  return m_basePos;
188  } // in world frame
189  const btVector3 getBaseVel() const
190  {
191  return btVector3(m_realBuf[3], m_realBuf[4], m_realBuf[5]);
192  } // in world frame
194  {
195  return m_baseQuat;
196  }
197 
199  {
200  return m_basePos_interpolate;
201  } // in world frame
203  {
204  return m_baseQuat_interpolate;
205  }
206 
207  // rotates world vectors into base frame
208  btVector3 getBaseOmega() const { return btVector3(m_realBuf[0], m_realBuf[1], m_realBuf[2]); } // in world frame
209 
210  void setBasePos(const btVector3 &pos)
211  {
212  m_basePos = pos;
213  if(!isBaseKinematic())
214  m_basePos_interpolate = pos;
215  }
216 
218  {
219  m_basePos_interpolate = pos;
220  }
221 
223  {
224  setBasePos(tr.getOrigin());
225  setWorldToBaseRot(tr.getRotation().inverse());
226  }
227 
229  {
230  btTransform tr;
231  tr.setOrigin(getBasePos());
232  tr.setRotation(getWorldToBaseRot().inverse());
233  return tr;
234  }
235 
237  {
238  setInterpolateBasePos(tr.getOrigin());
239  setInterpolateWorldToBaseRot(tr.getRotation().inverse());
240  }
241 
243  {
244  btTransform tr;
245  tr.setOrigin(getInterpolateBasePos());
246  tr.setRotation(getInterpolateWorldToBaseRot().inverse());
247  return tr;
248  }
249 
250  void setBaseVel(const btVector3 &vel)
251  {
252  m_realBuf[3] = vel[0];
253  m_realBuf[4] = vel[1];
254  m_realBuf[5] = vel[2];
255  }
256 
258  {
259  m_baseQuat = rot; //m_baseQuat asumed to ba alias!?
260  if(!isBaseKinematic())
261  m_baseQuat_interpolate = rot;
262  }
263 
265  {
266  m_baseQuat_interpolate = rot;
267  }
268 
269  void setBaseOmega(const btVector3 &omega)
270  {
271  m_realBuf[0] = omega[0];
272  m_realBuf[1] = omega[1];
273  m_realBuf[2] = omega[2];
274  }
275 
276  void saveKinematicState(btScalar timeStep);
277 
278  //
279  // get/set pos/vel for child m_links (i = 0 to num_links-1)
280  //
281 
282  btScalar getJointPos(int i) const;
283  btScalar getJointVel(int i) const;
284 
285  btScalar *getJointVelMultiDof(int i);
286  btScalar *getJointPosMultiDof(int i);
287 
288  const btScalar *getJointVelMultiDof(int i) const;
289  const btScalar *getJointPosMultiDof(int i) const;
290 
291  void setJointPos(int i, btScalar q);
292  void setJointVel(int i, btScalar qdot);
293  void setJointPosMultiDof(int i, const double *q);
294  void setJointVelMultiDof(int i, const double *qdot);
295  void setJointPosMultiDof(int i, const float *q);
296  void setJointVelMultiDof(int i, const float *qdot);
297 
298  //
299  // direct access to velocities as a vector of 6 + num_links elements.
300  // (omega first, then v, then joint velocities.)
301  //
303  {
304  return &m_realBuf[0];
305  }
306 
308  {
309  return &m_deltaV[0];
310  }
311 
313  {
314  return &m_splitV[0];
315  }
316  /* btScalar * getVelocityVector()
317  {
318  return &real_buf[0];
319  }
320  */
321 
322  //
323  // get the frames of reference (positions and orientations) of the child m_links
324  // (i = 0 to num_links-1)
325  //
326 
327  const btVector3 &getRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords
328  const btQuaternion &getParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i.
329  const btVector3 &getInterpolateRVector(int i) const; // vector from COM(parent(i)) to COM(i), in frame i's coords
330  const btQuaternion &getInterpolateParentToLocalRot(int i) const; // rotates vectors in frame parent(i) to vectors in frame i.
331 
332  //
333  // transform vectors in local frame of link i to world frame (or vice versa)
334  //
335  btVector3 localPosToWorld(int i, const btVector3 &local_pos) const;
336  btVector3 localDirToWorld(int i, const btVector3 &local_dir) const;
337  btVector3 worldPosToLocal(int i, const btVector3 &world_pos) const;
338  btVector3 worldDirToLocal(int i, const btVector3 &world_dir) const;
339 
340  //
341  // transform a frame in local coordinate to a frame in world coordinate
342  //
343  btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &local_frame) const;
344 
345 
346  //
347  // set external forces and torques. Note all external forces/torques are given in the WORLD frame.
348  //
349 
350  void clearForcesAndTorques();
351  void clearConstraintForces();
352 
353  void clearVelocities();
354 
355  void addBaseForce(const btVector3 &f)
356  {
357  m_baseForce += f;
358  }
359  void addBaseTorque(const btVector3 &t) { m_baseTorque += t; }
360  void addLinkForce(int i, const btVector3 &f);
361  void addLinkTorque(int i, const btVector3 &t);
362 
364  {
365  m_baseConstraintForce += f;
366  }
367  void addBaseConstraintTorque(const btVector3 &t) { m_baseConstraintTorque += t; }
368  void addLinkConstraintForce(int i, const btVector3 &f);
369  void addLinkConstraintTorque(int i, const btVector3 &t);
370 
371  void addJointTorque(int i, btScalar Q);
372  void addJointTorqueMultiDof(int i, int dof, btScalar Q);
373  void addJointTorqueMultiDof(int i, const btScalar *Q);
374 
375  const btVector3 &getBaseForce() const { return m_baseForce; }
376  const btVector3 &getBaseTorque() const { return m_baseTorque; }
377  const btVector3 &getLinkForce(int i) const;
378  const btVector3 &getLinkTorque(int i) const;
379  btScalar getJointTorque(int i) const;
380  btScalar *getJointTorqueMultiDof(int i);
381 
382  //
383  // dynamics routines.
384  //
385 
386  // timestep the velocities (given the external forces/torques set using addBaseForce etc).
387  // also sets up caches for calcAccelerationDeltas.
388  //
389  // Note: the caller must provide three vectors which are used as
390  // temporary scratch space. The idea here is to reduce dynamic
391  // memory allocation: the same scratch vectors can be re-used
392  // again and again for different Multibodies, instead of each
393  // btMultiBody allocating (and then deallocating) their own
394  // individual scratch buffers. This gives a considerable speed
395  // improvement, at least on Windows (where dynamic memory
396  // allocation appears to be fairly slow).
397  //
398 
399  void computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar dt,
400  btAlignedObjectArray<btScalar> & scratch_r,
403  bool isConstraintPass,
404  bool jointFeedbackInWorldSpace,
405  bool jointFeedbackInJointFrame
406  );
407 
409  //void stepVelocitiesMultiDof(btScalar dt,
410  // btAlignedObjectArray<btScalar> & scratch_r,
411  // btAlignedObjectArray<btVector3> & scratch_v,
412  // btAlignedObjectArray<btMatrix3x3> & scratch_m,
413  // bool isConstraintPass = false)
414  //{
415  // computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass, false, false);
416  //}
417 
418  // calcAccelerationDeltasMultiDof
419  // input: force vector (in same format as jacobian, i.e.:
420  // 3 torque values, 3 force values, num_links joint torque values)
421  // output: 3 omegadot values, 3 vdot values, num_links q_double_dot values
422  // (existing contents of output array are replaced)
423  // calcAccelerationDeltasMultiDof must have been called first.
424  void calcAccelerationDeltasMultiDof(const btScalar *force, btScalar *output,
426  btAlignedObjectArray<btVector3> &scratch_v) const;
427 
428  void applyDeltaVeeMultiDof2(const btScalar *delta_vee, btScalar multiplier)
429  {
430  for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
431  {
432  m_deltaV[dof] += delta_vee[dof] * multiplier;
433  }
434  }
435  void applyDeltaSplitVeeMultiDof(const btScalar *delta_vee, btScalar multiplier)
436  {
437  for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
438  {
439  m_splitV[dof] += delta_vee[dof] * multiplier;
440  }
441  }
442  void addSplitV()
443  {
444  applyDeltaVeeMultiDof(&m_splitV[0], 1);
445  }
447  {
448  applyDeltaVeeMultiDof(&m_splitV[0], -1);
449 
450  for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
451  {
452  m_splitV[dof] = 0.f;
453  }
454  }
456  {
457  applyDeltaVeeMultiDof(&m_deltaV[0], 1);
458 
459  for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
460  {
461  m_deltaV[dof] = 0.f;
462  }
463  }
464 
465  void applyDeltaVeeMultiDof(const btScalar *delta_vee, btScalar multiplier)
466  {
467  //for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
468  // printf("%.4f ", delta_vee[dof]*multiplier);
469  //printf("\n");
470 
471  //btScalar sum = 0;
472  //for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
473  //{
474  // sum += delta_vee[dof]*multiplier*delta_vee[dof]*multiplier;
475  //}
476  //btScalar l = btSqrt(sum);
477 
478  //if (l>m_maxAppliedImpulse)
479  //{
480  // multiplier *= m_maxAppliedImpulse/l;
481  //}
482 
483  for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
484  {
485  m_realBuf[dof] += delta_vee[dof] * multiplier;
486  btClamp(m_realBuf[dof], -m_maxCoordinateVelocity, m_maxCoordinateVelocity);
487  }
488  }
489 
490  // timestep the positions (given current velocities).
491  void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0);
492 
493  // predict the positions
494  void predictPositionsMultiDof(btScalar dt);
495 
496  //
497  // contacts
498  //
499 
500  // This routine fills out a contact constraint jacobian for this body.
501  // the 'normal' supplied must be -n for body1 or +n for body2 of the contact.
502  // 'normal' & 'contact_point' are both given in world coordinates.
503 
505  const btVector3 &contact_point,
506  const btVector3 &normal,
507  btScalar *jac,
510  btAlignedObjectArray<btMatrix3x3> &scratch_m) const { fillConstraintJacobianMultiDof(link, contact_point, btVector3(0, 0, 0), normal, jac, scratch_r, scratch_v, scratch_m); }
511 
512  //a more general version of fillContactJacobianMultiDof which does not assume..
513  //.. that the constraint in question is contact or, to be more precise, constrains linear velocity only
514  void fillConstraintJacobianMultiDof(int link,
515  const btVector3 &contact_point,
516  const btVector3 &normal_ang,
517  const btVector3 &normal_lin,
518  btScalar *jac,
521  btAlignedObjectArray<btMatrix3x3> &scratch_m) const;
522 
523  //
524  // sleeping
525  //
526  void setCanSleep(bool canSleep)
527  {
528  if (m_canWakeup)
529  {
530  m_canSleep = canSleep;
531  }
532  }
533 
534  bool getCanSleep() const
535  {
536  return m_canSleep;
537  }
538 
539  bool getCanWakeup() const
540  {
541  return m_canWakeup;
542  }
543 
544  void setCanWakeup(bool canWakeup)
545  {
546  m_canWakeup = canWakeup;
547  }
548  bool isAwake() const { return m_awake; }
549  void wakeUp();
550  void goToSleep();
551  void checkMotionAndSleepIfRequired(btScalar timestep);
552 
553  bool hasFixedBase() const;
554 
555  bool isBaseKinematic() const;
556 
557  bool isBaseStaticOrKinematic() const;
558 
559  // set the dynamic type in the base's collision flags.
560  void setBaseDynamicType(int dynamicType);
561 
562  void setFixedBase(bool fixedBase)
563  {
564  m_fixedBase = fixedBase;
565  if(m_fixedBase)
566  setBaseDynamicType(btCollisionObject::CF_STATIC_OBJECT);
567  else
568  setBaseDynamicType(btCollisionObject::CF_DYNAMIC_OBJECT);
569  }
570 
571  int getCompanionId() const
572  {
573  return m_companionId;
574  }
575  void setCompanionId(int id)
576  {
577  //printf("for %p setCompanionId(%d)\n",this, id);
578  m_companionId = id;
579  }
580 
581  void setNumLinks(int numLinks) //careful: when changing the number of m_links, make sure to re-initialize or update existing m_links
582  {
583  m_links.resize(numLinks);
584  }
585 
587  {
588  return m_linearDamping;
589  }
591  {
592  m_linearDamping = damp;
593  }
595  {
596  return m_angularDamping;
597  }
599  {
600  m_angularDamping = damp;
601  }
602 
603  bool getUseGyroTerm() const
604  {
605  return m_useGyroTerm;
606  }
607  void setUseGyroTerm(bool useGyro)
608  {
609  m_useGyroTerm = useGyro;
610  }
612  {
613  return m_maxCoordinateVelocity;
614  }
616  {
617  m_maxCoordinateVelocity = maxVel;
618  }
619 
621  {
622  return m_maxAppliedImpulse;
623  }
625  {
626  m_maxAppliedImpulse = maxImp;
627  }
628  void setHasSelfCollision(bool hasSelfCollision)
629  {
630  m_hasSelfCollision = hasSelfCollision;
631  }
632  bool hasSelfCollision() const
633  {
634  return m_hasSelfCollision;
635  }
636 
637  void finalizeMultiDof();
638 
639  void useRK4Integration(bool use) { m_useRK4 = use; }
640  bool isUsingRK4Integration() const { return m_useRK4; }
641  void useGlobalVelocities(bool use) { m_useGlobalVelocities = use; }
642  bool isUsingGlobalVelocities() const { return m_useGlobalVelocities; }
643 
644  bool isPosUpdated() const
645  {
646  return __posUpdated;
647  }
648  void setPosUpdated(bool updated)
649  {
650  __posUpdated = updated;
651  }
652 
653  //internalNeedsJointFeedback is for internal use only
655  {
656  return m_internalNeedsJointFeedback;
657  }
658  void forwardKinematics(btAlignedObjectArray<btQuaternion>& world_to_local, btAlignedObjectArray<btVector3> & local_origin);
659 
660  void compTreeLinkVelocities(btVector3 * omega, btVector3 * vel) const;
661 
662  void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin);
663  void updateCollisionObjectInterpolationWorldTransforms(btAlignedObjectArray<btQuaternion> & world_to_local, btAlignedObjectArray<btVector3> & local_origin);
664 
665  virtual int calculateSerializeBufferSize() const;
666 
668  virtual const char *serialize(void *dataBuffer, class btSerializer *serializer) const;
669 
670  const char *getBaseName() const
671  {
672  return m_baseName;
673  }
675  void setBaseName(const char *name)
676  {
677  m_baseName = name;
678  }
679 
681  void *getUserPointer() const
682  {
683  return m_userObjectPointer;
684  }
685 
686  int getUserIndex() const
687  {
688  return m_userIndex;
689  }
690 
691  int getUserIndex2() const
692  {
693  return m_userIndex2;
694  }
696  void setUserPointer(void *userPointer)
697  {
698  m_userObjectPointer = userPointer;
699  }
700 
702  void setUserIndex(int index)
703  {
704  m_userIndex = index;
705  }
706 
707  void setUserIndex2(int index)
708  {
709  m_userIndex2 = index;
710  }
711 
712  static void spatialTransform(const btMatrix3x3 &rotation_matrix, // rotates vectors in 'from' frame to vectors in 'to' frame
713  const btVector3 &displacement, // vector from origin of 'from' frame to origin of 'to' frame, in 'to' coordinates
714  const btVector3 &top_in, // top part of input vector
715  const btVector3 &bottom_in, // bottom part of input vector
716  btVector3 &top_out, // top part of output vector
717  btVector3 &bottom_out); // bottom part of output vector
718 
719  void setLinkDynamicType(const int i, int type);
720 
721  bool isLinkStaticOrKinematic(const int i) const;
722 
723  bool isLinkKinematic(const int i) const;
724 
725  bool isLinkAndAllAncestorsStaticOrKinematic(const int i) const;
726 
727  bool isLinkAndAllAncestorsKinematic(const int i) const;
728 
729 private:
730  btMultiBody(const btMultiBody &); // not implemented
731  void operator=(const btMultiBody &); // not implemented
732 
733  void solveImatrix(const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar result[6]) const;
734  void solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const;
735 
737  {
738  int dofOffset = 0, cfgOffset = 0;
739  for (int bidx = 0; bidx < m_links.size(); ++bidx)
740  {
741  m_links[bidx].m_dofOffset = dofOffset;
742  m_links[bidx].m_cfgOffset = cfgOffset;
743  dofOffset += m_links[bidx].m_dofCount;
744  cfgOffset += m_links[bidx].m_posVarCount;
745  }
746  }
747 
748  void mulMatrix(btScalar * pA, btScalar * pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
749 
750 private:
752  const char *m_baseName; //memory needs to be manager by user!
753 
754  btVector3 m_basePos; // position of COM of base (world frame)
755  btVector3 m_basePos_interpolate; // position of interpolated COM of base (world frame)
756  btQuaternion m_baseQuat; // rotates world points into base frame
758 
759  btScalar m_baseMass; // mass of the base
760  btVector3 m_baseInertia; // inertia of the base (in local frame; diagonal)
761 
762  btVector3 m_baseForce; // external force applied to base. World frame.
763  btVector3 m_baseTorque; // external torque applied to base. World frame.
764 
765  btVector3 m_baseConstraintForce; // external force applied to base. World frame.
766  btVector3 m_baseConstraintTorque; // external torque applied to base. World frame.
767 
768  btAlignedObjectArray<btMultibodyLink> m_links; // array of m_links, excluding the base. index from 0 to num_links-1.
769 
770  //
771  // realBuf:
772  // offset size array
773  // 0 6 + num_links v (base_omega; base_vel; joint_vels) MULTIDOF [sysdof x sysdof for D matrices (TOO MUCH!) + pos_delta which is sys-cfg sized]
774  // 6+num_links num_links D
775  //
776  // vectorBuf:
777  // offset size array
778  // 0 num_links h_top
779  // num_links num_links h_bottom
780  //
781  // matrixBuf:
782  // offset size array
783  // 0 num_links+1 rot_from_parent
784  //
790 
796 
798 
799  // Sleep parameters.
800  bool m_awake;
804 
808 
816 
818  int m_dofCount, m_posVarCnt;
819 
820  bool m_useRK4, m_useGlobalVelocities;
821  //for global velocities, see 8.3.2B Proposed resolution in Jakub Stepien PhD Thesis
822  //https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
823 
826 
827  //If enabled, calculate the velocity based on kinematic transform changes. Currently only implemented for the base.
829 };
830 
832 {
838 
839  btVector3DoubleData m_linkInertia; // inertia of the base (in local frame; diagonal)
844 
845  double m_linkMass;
848 
851  double m_jointPos[7];
852  double m_jointVel[6];
853  double m_jointTorque[6];
854 
861 
862  char *m_linkName;
863  char *m_jointName;
866 };
867 
869 {
875  btVector3FloatData m_linkInertia; // inertia of the base (in local frame; diagonal)
880 
882  float m_linkMass;
885 
886  float m_jointPos[7];
887  float m_jointVel[6];
888  float m_jointTorque[6];
896 
897  char *m_linkName;
898  char *m_jointName;
901 };
902 
905 {
910  btVector3DoubleData m_baseInertia; // inertia of the base (in local frame; diagonal)
911  double m_baseMass;
913  char m_padding[4];
914 
915  char *m_baseName;
918 };
919 
922 {
927 
928  btVector3FloatData m_baseInertia; // inertia of the base (in local frame; diagonal)
929  float m_baseMass;
931 
932  char *m_baseName;
935 };
936 
937 #endif
btMultiBody::m_awake
bool m_awake
Definition: btMultiBody.h:800
btMultiBody::setBaseMass
void setBaseMass(btScalar mass)
Definition: btMultiBody.h:178
btCollisionObject::m_userIndex
int m_userIndex
Definition: btCollisionObject.h:102
btMultiBody::getBaseVel
const btVector3 getBaseVel() const
Definition: btMultiBody.h:189
btMultiBody::setBaseName
void setBaseName(const char *name)
memory of setBaseName needs to be manager by user
Definition: btMultiBody.h:675
btMultiBody::getLinearDamping
btScalar getLinearDamping() const
Definition: btMultiBody.h:586
btMultiBody::btMultiBody
btMultiBody(const btMultiBody &)
btMultiBody::addBaseConstraintTorque
void addBaseConstraintTorque(const btVector3 &t)
Definition: btMultiBody.h:367
btMultiBodyLinkFloatData::m_jointMaxVelocity
float m_jointMaxVelocity
Definition: btMultiBody.h:895
btMultiBody::getUserPointer
void * getUserPointer() const
users can point to their objects, userPointer is not used by Bullet
Definition: btMultiBody.h:681
btMultiBody::getUserIndex
int getUserIndex() const
Definition: btMultiBody.h:686
btMultiBodyLinkDoubleData::m_posVarCount
int m_posVarCount
Definition: btMultiBody.h:850
btMultiBodyDoubleData::m_baseName
char * m_baseName
Definition: btMultiBody.h:915
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btQuaternion getRotation() const
Return a quaternion representing the rotation.
Definition: btTransform.h:118
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btMultiBodyLinkFloatData * m_links
Definition: btMultiBody.h:933
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bool isUsingGlobalVelocities() const
Definition: btMultiBody.h:642
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These spatial algebra classes are used for btMultiBody, see BulletDynamics/Featherstone.
Definition: btSpatialAlgebra.h:24
btQuaternion
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:50
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int getCompanionId() const
Definition: btMultiBody.h:571
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void processDeltaVeeMultiDof2()
Definition: btMultiBody.h:455
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Definition: btMultiBody.h:812
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float m_jointVel[6]
Definition: btMultiBody.h:887
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BT_DECLARE_ALIGNED_ALLOCATOR()
btMultiBody::getNumLinks
int getNumLinks() const
Definition: btMultiBody.h:166
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btMultiBodyFloatData::m_baseName
char * m_baseName
Definition: btMultiBody.h:932
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btVector3 m_baseForce
Definition: btMultiBody.h:762
btMultiBody::m_canSleep
bool m_canSleep
Definition: btMultiBody.h:801
btMultiBody::internalNeedsJointFeedback
bool internalNeedsJointFeedback() const
Definition: btMultiBody.h:654
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btVector3DoubleData m_parentComToThisPivotOffset
Definition: btMultiBody.h:834
btMultiBody::m_baseConstraintTorque
btVector3 m_baseConstraintTorque
Definition: btMultiBody.h:766
btMultiBody::setWorldToBaseRot
void setWorldToBaseRot(const btQuaternion &rot)
Definition: btMultiBody.h:257
btCollisionObjectDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionObject.h:615
btCollisionObjectFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionObject.h:650
btMultiBodyLinkFloatData::m_absFrameTotVelocityBottom
btVector3FloatData m_absFrameTotVelocityBottom
Definition: btMultiBody.h:877
btMultiBody::getWorldToBaseRot
const btQuaternion & getWorldToBaseRot() const
Definition: btMultiBody.h:193
btQuaternion::inverse
btQuaternion inverse() const
Return the inverse of this quaternion.
Definition: btQuaternion.h:497
btMultiBodyLinkDoubleData
Definition: btMultiBody.h:832
btMultiBody::m_fixedBase
bool m_fixedBase
Definition: btMultiBody.h:797
btMultiBodyLinkDoubleData::m_jointTorque
double m_jointTorque[6]
Definition: btMultiBody.h:853
btMultiBodyLinkDoubleData::m_linkInertia
btVector3DoubleData m_linkInertia
Definition: btMultiBody.h:839
btMultiBodyLinkFloatData::m_absFrameLocVelocityTop
btVector3FloatData m_absFrameLocVelocityTop
Definition: btMultiBody.h:878
btQuaternionFloatData
Definition: btQuaternion.h:967
btMultiBodyLinkDoubleData::m_dofCount
int m_dofCount
Definition: btMultiBody.h:849
btMultiBody::isPosUpdated
bool isPosUpdated() const
Definition: btMultiBody.h:644
btMultiBodyLinkDoubleData::m_absFrameTotVelocityTop
btVector3DoubleData m_absFrameTotVelocityTop
Definition: btMultiBody.h:840
btMultiBody::m_matrixBuf
btAlignedObjectArray< btMatrix3x3 > m_matrixBuf
Definition: btMultiBody.h:789
btMultiBodyFloatData::m_baseMass
float m_baseMass
Definition: btMultiBody.h:929
btMultiBodyLinkDoubleData::m_jointLowerLimit
double m_jointLowerLimit
Definition: btMultiBody.h:857
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const char * getBaseName() const
Definition: btMultiBody.h:670
btMultiBodyDoubleData::m_baseWorldOrientation
btQuaternionDoubleData m_baseWorldOrientation
Definition: btMultiBody.h:907
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@ CF_DYNAMIC_OBJECT
Definition: btCollisionObject.h:130
btQuaternionDoubleData
Definition: btQuaternion.h:972
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btMultiBodyLinkCollider * getBaseCollider()
Definition: btMultiBody.h:132
btMultiBody::setNumLinks
void setNumLinks(int numLinks)
Definition: btMultiBody.h:581
btMatrix3x3.h
btMultiBody::m_useRK4
bool m_useRK4
Definition: btMultiBody.h:820
btMultiBody::m_baseCollider
btMultiBodyLinkCollider * m_baseCollider
Definition: btMultiBody.h:751
btMultiBodyLinkDoubleData::m_jointFriction
double m_jointFriction
Definition: btMultiBody.h:856
btMultiBody::getAngularDamping
btScalar getAngularDamping() const
Definition: btMultiBody.h:594
btMultiBody::m_deltaV
btAlignedObjectArray< btScalar > m_deltaV
Definition: btMultiBody.h:786
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bool getCanWakeup() const
Definition: btMultiBody.h:539
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btScalar getMaxCoordinateVelocity() const
Definition: btMultiBody.h:611
inverse
btQuaternion inverse(const btQuaternion &q)
Return the inverse of a quaternion.
Definition: btQuaternion.h:909
btMultiBody::m_canWakeup
bool m_canWakeup
Definition: btMultiBody.h:802
btMultiBody::m_userIndex2
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Definition: btMultiBody.h:806
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btMatrix3x3 m_cachedInertiaLowerRight
Definition: btMultiBody.h:794
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btTransform getBaseWorldTransform() const
Definition: btMultiBody.h:228
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const btScalar * getDeltaVelocityVector() const
Definition: btMultiBody.h:307
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Definition: btMultiBody.h:874
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double m_linkMass
Definition: btMultiBody.h:845
btMultiBody::isUsingRK4Integration
bool isUsingRK4Integration() const
Definition: btMultiBody.h:640
btMultiBody::setBaseVel
void setBaseVel(const btVector3 &vel)
Definition: btMultiBody.h:250
btMultiBodyFloatData::m_baseAngularVelocity
btVector3FloatData m_baseAngularVelocity
Definition: btMultiBody.h:926
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btScalar m_maxCoordinateVelocity
Definition: btMultiBody.h:814
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char * m_jointName
Definition: btMultiBody.h:898
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Definition: btVector3.h:1282
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void addBaseTorque(const btVector3 &t)
Definition: btMultiBody.h:359
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float m_jointUpperLimit
Definition: btMultiBody.h:893
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btVector3FloatData m_jointAxisTop[6]
Definition: btMultiBody.h:873
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bool getCanSleep() const
Definition: btMultiBody.h:534
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Definition: btMultiBody.h:465
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Definition: btMultiBody.h:894
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Definition: btMultiBody.h:795
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Definition: btMultiBody.h:217
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Definition: btMultiBody.h:911
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Definition: btMultiBody.h:803
btMultiBody::setUserIndex
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users can point to their objects, userPointer is not used by Bullet
Definition: btMultiBody.h:702
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Definition: btMultiBody.h:124
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Definition: btVector3.h:1287
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btScalar getMaxAppliedImpulse() const
Definition: btMultiBody.h:620
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Definition: btMultiBody.h:603
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Definition: btMultiBody.h:869
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Definition: btMinMax.h:57
btMultiBodyLinkDoubleData::m_absFrameLocVelocityBottom
btVector3DoubleData m_absFrameLocVelocityBottom
Definition: btMultiBody.h:843
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Definition: btMultiBody.h:899
btMultiBodyLinkDoubleData::m_absFrameLocVelocityTop
btVector3DoubleData m_absFrameLocVelocityTop
Definition: btMultiBody.h:842
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Definition: btMultiBody.h:924
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const btMultiBodyLinkCollider * getLinkCollider(int index) const
Definition: btMultiBody.h:137
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Definition: btMultiBody.h:562
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btMultibodyLink & getLink(int index)
Definition: btMultiBody.h:119
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Definition: btMultiBody.h:765
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Definition: btMultiBody.h:876
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int m_companionId
Definition: btMultiBody.h:809
btMultiBodyLinkDoubleData::m_jointMaxForce
double m_jointMaxForce
Definition: btMultiBody.h:859
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int getNumDofs() const
Definition: btMultiBody.h:167
btTransform::setRotation
void setRotation(const btQuaternion &q)
Set the rotational element by btQuaternion.
Definition: btTransform.h:160
btMultiBody::m_internalNeedsJointFeedback
bool m_internalNeedsJointFeedback
the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal ...
Definition: btMultiBody.h:825
btMultiBody::m_maxAppliedImpulse
btScalar m_maxAppliedImpulse
Definition: btMultiBody.h:813
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const btVector3 & getBaseInertia() const
Definition: btMultiBody.h:170
btMultiBody::setLinearDamping
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Definition: btMultiBody.h:590
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Definition: btMultiBody.h:208
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Definition: btMultiBody.h:544
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virtual int calculateSerializeBufferSize() const
Definition: btMultiBodyLinkCollider.h:176
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Definition: btMultiBody.h:355
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bool isAwake() const
Definition: btMultiBody.h:548
btMultiBody::hasSelfCollision
bool hasSelfCollision() const
Definition: btMultiBody.h:632
btMultiBody::applyDeltaSplitVeeMultiDof
void applyDeltaSplitVeeMultiDof(const btScalar *delta_vee, btScalar multiplier)
Definition: btMultiBody.h:435
btMultiBody::m_cachedInertiaLowerLeft
btMatrix3x3 m_cachedInertiaLowerLeft
Definition: btMultiBody.h:793
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
btMultiBody::getBaseMass
btScalar getBaseMass() const
Definition: btMultiBody.h:169
btMultiBodyLinkFloatData::m_posVarCount
int m_posVarCount
Definition: btMultiBody.h:889
btMultiBody::m_baseTorque
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Definition: btMultiBody.h:763
btMultiBody::setBaseOmega
void setBaseOmega(const btVector3 &omega)
Definition: btMultiBody.h:269
btMultiBody::addSplitV
void addSplitV()
Definition: btMultiBody.h:442
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btMultiBodyLinkCollider
Definition: btMultiBodyLinkCollider.h:33
btQuaternion.h
btMultiBodyLinkDoubleData::m_jointAxisBottom
btVector3DoubleData m_jointAxisBottom[6]
Definition: btMultiBody.h:837
btMultiBodyDoubleData::m_baseLinearVelocity
btVector3DoubleData m_baseLinearVelocity
Definition: btMultiBody.h:908
btMultiBodyLinkDoubleData::m_zeroRotParentToThis
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Definition: btMultiBody.h:833
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Definition: btMultiBody.h:879
btMultiBodyLinkFloatData::m_parentIndex
int m_parentIndex
Definition: btMultiBody.h:883
btMultiBody::getInterpolateBaseWorldTransform
btTransform getInterpolateBaseWorldTransform() const
Definition: btMultiBody.h:242
btMultiBody::m_cachedInertiaTopLeft
btMatrix3x3 m_cachedInertiaTopLeft
Definition: btMultiBody.h:791
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btQuaternionFloatData m_zeroRotParentToThis
Definition: btMultiBody.h:870
btMultiBodyLinkFloatData::m_jointDamping
float m_jointDamping
Definition: btMultiBody.h:890
btMultiBodyLinkDoubleData::m_jointUpperLimit
double m_jointUpperLimit
Definition: btMultiBody.h:858
btMultiBody::m_basePos_interpolate
btVector3 m_basePos_interpolate
Definition: btMultiBody.h:755
btMultiBody::getLink
const btMultibodyLink & getLink(int index) const
Definition: btMultiBody.h:114
btMultiBody::m_baseQuat_interpolate
btQuaternion m_baseQuat_interpolate
Definition: btMultiBody.h:757
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btMultiBody::m_splitV
btAlignedObjectArray< btScalar > m_splitV
Definition: btMultiBody.h:785
btMultiBodyLinkDoubleData::m_absFrameTotVelocityBottom
btVector3DoubleData m_absFrameTotVelocityBottom
Definition: btMultiBody.h:841
btMultiBodyDoubleData::m_numLinks
int m_numLinks
Definition: btMultiBody.h:912
btMultiBody::setHasSelfCollision
void setHasSelfCollision(bool hasSelfCollision)
Definition: btMultiBody.h:628
btMultiBody::getNumPosVars
int getNumPosVars() const
Definition: btMultiBody.h:168
btMultiBody::getInterpolateWorldToBaseRot
const btQuaternion & getInterpolateWorldToBaseRot() const
Definition: btMultiBody.h:202
btMultiBody::setMaxCoordinateVelocity
void setMaxCoordinateVelocity(btScalar maxVel)
Definition: btMultiBody.h:615
btMultiBodyDoubleData::m_baseInertia
btVector3DoubleData m_baseInertia
Definition: btMultiBody.h:910
btMultiBody::m_baseName
const char * m_baseName
Definition: btMultiBody.h:752
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
btMultiBody
Definition: btMultiBody.h:51
btMultiBodyLinkFloatData::m_dofCount
int m_dofCount
Definition: btMultiBody.h:881
btMultiBodyLinkFloatData::m_linkName
char * m_linkName
Definition: btMultiBody.h:897
btMultiBodyLinkDoubleData::m_jointMaxVelocity
double m_jointMaxVelocity
Definition: btMultiBody.h:860
btCollisionObject::CF_STATIC_OBJECT
@ CF_STATIC_OBJECT
Definition: btCollisionObject.h:131
btMultiBody::m_posVarCnt
int m_posVarCnt
Definition: btMultiBody.h:818
btMultiBodyLinkDoubleData::m_jointVel
double m_jointVel[6]
Definition: btMultiBody.h:852
btMultiBodyLinkFloatData::m_parentComToThisPivotOffset
btVector3FloatData m_parentComToThisPivotOffset
Definition: btMultiBody.h:871
btMultiBody::setUseGyroTerm
void setUseGyroTerm(bool useGyro)
Definition: btMultiBody.h:607
btMultiBody::m_baseQuat
btQuaternion m_baseQuat
Definition: btMultiBody.h:756
btMultiBody::updateLinksDofOffsets
void updateLinksDofOffsets()
Definition: btMultiBody.h:736
btMultiBody::setCompanionId
void setCompanionId(int id)
Definition: btMultiBody.h:575
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btMultiBodyDoubleData::m_baseWorldPosition
btVector3DoubleData m_baseWorldPosition
Definition: btMultiBody.h:906
btMultiBody::m_hasSelfCollision
bool m_hasSelfCollision
Definition: btMultiBody.h:815
btMultiBody::m_basePos
btVector3 m_basePos
Definition: btMultiBody.h:754
btMultiBodyLinkFloatData::m_jointTorque
float m_jointTorque[6]
Definition: btMultiBody.h:888
output
#define output
btAlignedObjectArray< btScalar >
btMultiBodyLinkFloatData::m_linkMass
float m_linkMass
Definition: btMultiBody.h:882
btMultiBody::setInterpolateBaseWorldTransform
void setInterpolateBaseWorldTransform(const btTransform &tr)
Definition: btMultiBody.h:236
btMultiBodyLinkDoubleData::m_linkName
char * m_linkName
Definition: btMultiBody.h:862
btMultiBodyLinkDoubleData::m_jointType
int m_jointType
Definition: btMultiBody.h:847
btSerializer
Definition: btSerializer.h:66
btMultiBody::setPosUpdated
void setPosUpdated(bool updated)
Definition: btMultiBody.h:648
btMultiBody::operator=
void operator=(const btMultiBody &)
btMultiBody::m_userObjectPointer
void * m_userObjectPointer
Definition: btMultiBody.h:805
btMultiBody::fillContactJacobianMultiDof
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
Definition: btMultiBody.h:504
btMultiBody::getInterpolateBasePos
const btVector3 & getInterpolateBasePos() const
Definition: btMultiBody.h:198
btMultiBodyDoubleData::m_padding
char m_padding[4]
Definition: btMultiBody.h:913
btMultiBody::setMaxAppliedImpulse
void setMaxAppliedImpulse(btScalar maxImp)
Definition: btMultiBody.h:624
btMultiBodyLinkCollider::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btMultiBodyLinkCollider.h:181
btSpatialMotionVector
Definition: btSpatialAlgebra.h:95
btMultiBodyLinkFloatData::m_jointLowerLimit
float m_jointLowerLimit
Definition: btMultiBody.h:892
btMultiBodyDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btMultiBody.h:905
btMultiBody::setAngularDamping
void setAngularDamping(btScalar damp)
Definition: btMultiBody.h:598
btMultiBodyLinkDoubleData::m_jointPos
double m_jointPos[7]
Definition: btMultiBody.h:851
btMultiBodyLinkDoubleData::m_thisPivotToThisComOffset
btVector3DoubleData m_thisPivotToThisComOffset
Definition: btMultiBody.h:835
btMultiBody::setUserPointer
void setUserPointer(void *userPointer)
users can point to their objects, userPointer is not used by Bullet
Definition: btMultiBody.h:696
btMultiBody::m_vectorBuf
btAlignedObjectArray< btVector3 > m_vectorBuf
Definition: btMultiBody.h:788
btMultiBodyFloatData::m_baseInertia
btVector3FloatData m_baseInertia
Definition: btMultiBody.h:928
btMultiBody::getVelocityVector
const btScalar * getVelocityVector() const
Definition: btMultiBody.h:302
btMultiBodyFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btMultiBody.h:922
btMultiBody::m_cachedInertiaTopRight
btMatrix3x3 m_cachedInertiaTopRight
Definition: btMultiBody.h:792
btMultiBodyFloatData::m_numLinks
int m_numLinks
Definition: btMultiBody.h:930
btMultiBodyLinkFloatData::m_thisPivotToThisComOffset
btVector3FloatData m_thisPivotToThisComOffset
Definition: btMultiBody.h:872
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btVector3 m_baseInertia
Definition: btMultiBody.h:760
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Definition: btMultiBody.h:875
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Definition: btMultiBody.h:179
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Definition: btMultiBody.h:264
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Definition: btMultiBody.h:428
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Definition: btMultiBody.h:787
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Definition: btMultiBody.h:363
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Definition: btMultiBody.h:811
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Definition: btMultiBody.h:375
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Definition: btMultiBody.h:923
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Definition: btMultiBody.h:817
btAlignedObjectArray.h
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Definition: btMultiBody.h:846
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Definition: btMultiBody.h:807
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Definition: btMultiBody.h:828
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Definition: btMultiBody.h:312
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Definition: btMultiBody.h:707
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Definition: btMultiBody.h:810
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Definition: btMultiBody.h:641
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Definition: btMultiBody.h:865
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Definition: btMultiBody.h:925
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Definition: btMultiBody.h:526
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Definition: btMultiBody.h:900
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Definition: btMultiBody.h:884
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Definition: btMultiBody.h:639
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Definition: btMultiBody.h:891
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Definition: btMultiBody.h:185
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Definition: btMultiBody.h:446
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Definition: btMultiBody.h:917
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Definition: btMultiBody.h:863
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Definition: btTransform.h:146
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Definition: btMultiBody.h:855
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Definition: btMultiBody.h:864
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Definition: btMultiBody.h:909
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Definition: btMultiBody.h:128
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Definition: btMultiBody.h:376
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Definition: btMultiBody.h:768
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Definition: btMultiBody.h:210
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Definition: btMultiBody.h:759
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Definition: btMultiBody.h:146
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Definition: btMultiBody.h:691
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Definition: btCollisionObject.h:79
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Definition: btMultiBody.h:886
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Definition: btCollisionObject.h:100
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Definition: btMultiBody.h:222