#include <btMultiBodyConstraint.h>
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| | BT_DECLARE_ALIGNED_ALLOCATOR () |
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| | btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type) |
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| virtual | ~btMultiBodyConstraint () |
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| void | updateJacobianSizes () |
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| void | allocateJacobiansMultiDof () |
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| int | getConstraintType () const |
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| virtual void | setFrameInB (const btMatrix3x3 &frameInB) |
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| virtual void | setPivotInB (const btVector3 &pivotInB) |
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| virtual void | finalizeMultiDof ()=0 |
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| virtual int | getIslandIdA () const =0 |
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| virtual int | getIslandIdB () const =0 |
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| virtual void | createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)=0 |
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| int | getNumRows () const |
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| btMultiBody * | getMultiBodyA () |
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| btMultiBody * | getMultiBodyB () |
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| int | getLinkA () const |
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| int | getLinkB () const |
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| void | internalSetAppliedImpulse (int dof, btScalar appliedImpulse) |
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| btScalar | getAppliedImpulse (int dof) |
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| btScalar | getPosition (int row) const |
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| void | setPosition (int row, btScalar pos) |
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| bool | isUnilateral () const |
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| btScalar * | jacobianA (int row) |
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| const btScalar * | jacobianA (int row) const |
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| btScalar * | jacobianB (int row) |
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| const btScalar * | jacobianB (int row) const |
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| btScalar | getMaxAppliedImpulse () const |
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| void | setMaxAppliedImpulse (btScalar maxImp) |
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| virtual void | debugDraw (class btIDebugDraw *drawer)=0 |
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| virtual void | setGearRatio (btScalar ratio) |
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| virtual void | setGearAuxLink (int gearAuxLink) |
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| virtual void | setRelativePositionTarget (btScalar relPosTarget) |
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| virtual void | setErp (btScalar erp) |
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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, btScalar damping=1.0) |
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Definition at line 55 of file btMultiBodyConstraint.h.
◆ btMultiBodyConstraint()
| btMultiBodyConstraint::btMultiBodyConstraint |
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btMultiBody * | bodyA, |
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btMultiBody * | bodyB, |
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int | linkA, |
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int | linkB, |
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int | numRows, |
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bool | isUnilateral, |
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int | type ) |
◆ ~btMultiBodyConstraint()
| btMultiBodyConstraint::~btMultiBodyConstraint |
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virtual |
◆ allocateJacobiansMultiDof()
| void btMultiBodyConstraint::allocateJacobiansMultiDof |
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◆ applyDeltaVee()
◆ BT_DECLARE_ALIGNED_ALLOCATOR()
| btMultiBodyConstraint::BT_DECLARE_ALIGNED_ALLOCATOR |
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◆ createConstraintRows()
◆ debugDraw()
| virtual void btMultiBodyConstraint::debugDraw |
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class btIDebugDraw * | drawer | ) |
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pure virtual |
◆ fillMultiBodyConstraint()
| btScalar btMultiBodyConstraint::fillMultiBodyConstraint |
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btMultiBodySolverConstraint & | solverConstraint, |
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btMultiBodyJacobianData & | data, |
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btScalar * | jacOrgA, |
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btScalar * | jacOrgB, |
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const btVector3 & | constraintNormalAng, |
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const btVector3 & | constraintNormalLin, |
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const btVector3 & | posAworld, |
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const btVector3 & | posBworld, |
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btScalar | posError, |
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const btContactSolverInfo & | infoGlobal, |
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btScalar | lowerLimit, |
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btScalar | upperLimit, |
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bool | angConstraint = false, |
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btScalar | relaxation = 1.f, |
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bool | isFriction = false, |
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btScalar | desiredVelocity = 0, |
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btScalar | cfmSlip = 0, |
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btScalar | damping = 1.0 ) |
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protected |
◆ finalizeMultiDof()
| virtual void btMultiBodyConstraint::finalizeMultiDof |
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pure virtual |
◆ getAppliedImpulse()
| btScalar btMultiBodyConstraint::getAppliedImpulse |
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int | dof | ) |
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inline |
◆ getConstraintType()
| int btMultiBodyConstraint::getConstraintType |
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const |
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inline |
◆ getIslandIdA()
| virtual int btMultiBodyConstraint::getIslandIdA |
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const |
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pure virtual |
◆ getIslandIdB()
| virtual int btMultiBodyConstraint::getIslandIdB |
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const |
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pure virtual |
◆ getLinkA()
| int btMultiBodyConstraint::getLinkA |
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const |
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inline |
◆ getLinkB()
| int btMultiBodyConstraint::getLinkB |
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const |
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inline |
◆ getMaxAppliedImpulse()
| btScalar btMultiBodyConstraint::getMaxAppliedImpulse |
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const |
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inline |
◆ getMultiBodyA()
◆ getMultiBodyB()
◆ getNumRows()
| int btMultiBodyConstraint::getNumRows |
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const |
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inline |
◆ getPosition()
| btScalar btMultiBodyConstraint::getPosition |
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int | row | ) |
const |
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inline |
◆ internalSetAppliedImpulse()
| void btMultiBodyConstraint::internalSetAppliedImpulse |
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int | dof, |
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btScalar | appliedImpulse ) |
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inline |
◆ isUnilateral()
| bool btMultiBodyConstraint::isUnilateral |
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const |
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inline |
◆ jacobianA() [1/2]
| btScalar * btMultiBodyConstraint::jacobianA |
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int | row | ) |
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inline |
◆ jacobianA() [2/2]
| const btScalar * btMultiBodyConstraint::jacobianA |
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int | row | ) |
const |
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inline |
◆ jacobianB() [1/2]
| btScalar * btMultiBodyConstraint::jacobianB |
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int | row | ) |
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inline |
◆ jacobianB() [2/2]
| const btScalar * btMultiBodyConstraint::jacobianB |
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int | row | ) |
const |
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inline |
◆ setErp()
| virtual void btMultiBodyConstraint::setErp |
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btScalar | erp | ) |
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inlinevirtual |
◆ setFrameInB()
| virtual void btMultiBodyConstraint::setFrameInB |
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const btMatrix3x3 & | frameInB | ) |
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inlinevirtual |
◆ setGearAuxLink()
| virtual void btMultiBodyConstraint::setGearAuxLink |
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int | gearAuxLink | ) |
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inlinevirtual |
◆ setGearRatio()
| virtual void btMultiBodyConstraint::setGearRatio |
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btScalar | ratio | ) |
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inlinevirtual |
◆ setMaxAppliedImpulse()
| void btMultiBodyConstraint::setMaxAppliedImpulse |
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btScalar | maxImp | ) |
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inline |
◆ setPivotInB()
| virtual void btMultiBodyConstraint::setPivotInB |
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const btVector3 & | pivotInB | ) |
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inlinevirtual |
◆ setPosition()
| void btMultiBodyConstraint::setPosition |
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int | row, |
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btScalar | pos ) |
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inline |
◆ setRelativePositionTarget()
| virtual void btMultiBodyConstraint::setRelativePositionTarget |
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btScalar | relPosTarget | ) |
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inlinevirtual |
◆ updateJacobianSizes()
| void btMultiBodyConstraint::updateJacobianSizes |
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| ) |
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◆ m_bodyA
◆ m_bodyB
◆ m_data
◆ m_isUnilateral
| bool btMultiBodyConstraint::m_isUnilateral |
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protected |
◆ m_jacSizeA
| int btMultiBodyConstraint::m_jacSizeA |
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protected |
◆ m_jacSizeBoth
| int btMultiBodyConstraint::m_jacSizeBoth |
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protected |
◆ m_linkA
| int btMultiBodyConstraint::m_linkA |
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protected |
◆ m_linkB
| int btMultiBodyConstraint::m_linkB |
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protected |
◆ m_maxAppliedImpulse
| btScalar btMultiBodyConstraint::m_maxAppliedImpulse |
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protected |
◆ m_numDofsFinalized
| int btMultiBodyConstraint::m_numDofsFinalized |
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protected |
◆ m_numRows
| int btMultiBodyConstraint::m_numRows |
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protected |
◆ m_posOffset
| int btMultiBodyConstraint::m_posOffset |
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protected |
◆ m_type
| int btMultiBodyConstraint::m_type |
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protected |
The documentation for this class was generated from the following files: