virtual int getIslandIdB() const
btScalar * jacobianB(int row)
const btMultibodyLink & getLink(int index) const
btVector3 m_relpos1CrossNormal
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btVector3 m_contactNormal2
virtual ~btMultiBodyJointMotor()
btScalar m_maxAppliedImpulse
eFeatherstoneJointType m_jointType
class btMultiBodyLinkCollider * m_collider
btMultiBodyConstraint * m_orgConstraint
btScalar * jacobianA(int row)
btScalar * getJointVelMultiDof(int i)
virtual void finalizeMultiDof()
btMultiBodyJointMotor(btMultiBody *body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
This file was written by Erwin Coumans.
virtual int getIslandIdA() const
btSpatialMotionVector m_axes[6]
btScalar m_desiredPosition
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
btVector3 m_relpos2CrossNormal
btTransform m_cachedWorldTransform
const btMultiBodyLinkCollider * getBaseCollider() const
void allocateJacobiansMultiDof()
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)
btVector3 m_contactNormal1
btScalar * getJointPosMultiDof(int i)
btScalar m_desiredVelocity