Bullet Collision Detection & Physics Library
Public Member Functions | Private Member Functions | Private Attributes | List of all members
btMultiBody Class Reference

#include <btMultiBody.h>

Collaboration diagram for btMultiBody:
Collaboration graph
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btMultiBody (int n_links, btScalar mass, const btVector3 &inertia, bool fixedBase, bool canSleep, bool multiDof=false)
 
virtual ~btMultiBody ()
 
void setupFixed (int linkIndex, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision)
 
void setupPrismatic (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision)
 
void setupRevolute (int linkIndex, btScalar mass, const btVector3 &inertia, int parentIndex, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)
 
void setupSpherical (int linkIndex, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)
 
void setupPlanar (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &rotationAxis, const btVector3 &parentComToThisComOffset, bool disableParentCollision=false)
 
const btMultibodyLinkgetLink (int index) const
 
btMultibodyLinkgetLink (int index)
 
void setBaseCollider (btMultiBodyLinkCollider *collider)
 
const btMultiBodyLinkCollidergetBaseCollider () const
 
btMultiBodyLinkCollidergetBaseCollider ()
 
int getParent (int link_num) const
 
int getNumLinks () const
 
int getNumDofs () const
 
int getNumPosVars () const
 
btScalar getBaseMass () const
 
const btVector3getBaseInertia () const
 
btScalar getLinkMass (int i) const
 
const btVector3getLinkInertia (int i) const
 
void setBaseMass (btScalar mass)
 
void setBaseInertia (const btVector3 &inertia)
 
const btVector3getBasePos () const
 
const btVector3 getBaseVel () const
 
const btQuaterniongetWorldToBaseRot () const
 
btVector3 getBaseOmega () const
 
void setBasePos (const btVector3 &pos)
 
void setBaseWorldTransform (const btTransform &tr)
 
btTransform getBaseWorldTransform () const
 
void setBaseVel (const btVector3 &vel)
 
void setWorldToBaseRot (const btQuaternion &rot)
 
void setBaseOmega (const btVector3 &omega)
 
btScalar getJointPos (int i) const
 
btScalar getJointVel (int i) const
 
btScalargetJointVelMultiDof (int i)
 
btScalargetJointPosMultiDof (int i)
 
const btScalargetJointVelMultiDof (int i) const
 
const btScalargetJointPosMultiDof (int i) const
 
void setJointPos (int i, btScalar q)
 
void setJointVel (int i, btScalar qdot)
 
void setJointPosMultiDof (int i, btScalar *q)
 
void setJointVelMultiDof (int i, btScalar *qdot)
 
const btScalargetVelocityVector () const
 
const btVector3getRVector (int i) const
 
const btQuaterniongetParentToLocalRot (int i) const
 
btVector3 localPosToWorld (int i, const btVector3 &vec) const
 
btVector3 localDirToWorld (int i, const btVector3 &vec) const
 
btVector3 worldPosToLocal (int i, const btVector3 &vec) const
 
btVector3 worldDirToLocal (int i, const btVector3 &vec) const
 
btScalar getKineticEnergy () const
 
btVector3 getAngularMomentum () const
 
void clearForcesAndTorques ()
 
void clearConstraintForces ()
 
void clearVelocities ()
 
void addBaseForce (const btVector3 &f)
 
void addBaseTorque (const btVector3 &t)
 
void addLinkForce (int i, const btVector3 &f)
 
void addLinkTorque (int i, const btVector3 &t)
 
void addBaseConstraintForce (const btVector3 &f)
 
void addBaseConstraintTorque (const btVector3 &t)
 
void addLinkConstraintForce (int i, const btVector3 &f)
 
void addLinkConstraintTorque (int i, const btVector3 &t)
 
void addJointTorque (int i, btScalar Q)
 
void addJointTorqueMultiDof (int i, int dof, btScalar Q)
 
void addJointTorqueMultiDof (int i, const btScalar *Q)
 
const btVector3getBaseForce () const
 
const btVector3getBaseTorque () const
 
const btVector3getLinkForce (int i) const
 
const btVector3getLinkTorque (int i) const
 
btScalar getJointTorque (int i) const
 
btScalargetJointTorqueMultiDof (int i)
 
void stepVelocities (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m)
 
void stepVelocitiesMultiDof (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m, bool isConstraintPass=false)
 
void calcAccelerationDeltas (const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const
 
void calcAccelerationDeltasMultiDof (const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const
 
void applyDeltaVee (const btScalar *delta_vee)
 
void applyDeltaVee (const btScalar *delta_vee, btScalar multiplier)
 
void applyDeltaVeeMultiDof2 (const btScalar *delta_vee, btScalar multiplier)
 
void processDeltaVeeMultiDof2 ()
 
void applyDeltaVeeMultiDof (const btScalar *delta_vee, btScalar multiplier)
 
void stepPositions (btScalar dt)
 
void stepPositionsMultiDof (btScalar dt, btScalar *pq=0, btScalar *pqd=0)
 
void fillContactJacobian (int link, const btVector3 &contact_point, const btVector3 &normal, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const
 
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
 
void filConstraintJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal_ang, const btVector3 &normal_lin, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const
 
void setCanSleep (bool canSleep)
 
bool getCanSleep () const
 
bool isAwake () const
 
void wakeUp ()
 
void goToSleep ()
 
void checkMotionAndSleepIfRequired (btScalar timestep)
 
bool hasFixedBase () const
 
int getCompanionId () const
 
void setCompanionId (int id)
 
void setNumLinks (int numLinks)
 
btScalar getLinearDamping () const
 
void setLinearDamping (btScalar damp)
 
btScalar getAngularDamping () const
 
void setAngularDamping (btScalar damp)
 
bool getUseGyroTerm () const
 
void setUseGyroTerm (bool useGyro)
 
btScalar getMaxCoordinateVelocity () const
 
void setMaxCoordinateVelocity (btScalar maxVel)
 
btScalar getMaxAppliedImpulse () const
 
void setMaxAppliedImpulse (btScalar maxImp)
 
void setHasSelfCollision (bool hasSelfCollision)
 
bool hasSelfCollision () const
 
bool isMultiDof ()
 
void finalizeMultiDof ()
 
void useRK4Integration (bool use)
 
bool isUsingRK4Integration () const
 
void useGlobalVelocities (bool use)
 
bool isUsingGlobalVelocities () const
 
bool isPosUpdated () const
 
void setPosUpdated (bool updated)
 
bool internalNeedsJointFeedback () const
 
void forwardKinematics (btAlignedObjectArray< btQuaternion > &scratch_q, btAlignedObjectArray< btVector3 > &scratch_m)
 
void updateCollisionObjectWorldTransforms (btAlignedObjectArray< btQuaternion > &scratch_q, btAlignedObjectArray< btVector3 > &scratch_m)
 
virtual int calculateSerializeBufferSize () const
 
virtual const char * serialize (void *dataBuffer, class btSerializer *serializer) const
 fills the dataBuffer and returns the struct name (and 0 on failure) More...
 
const char * getBaseName () const
 
void setBaseName (const char *name)
 memory of setBaseName needs to be manager by user More...
 

Private Member Functions

 btMultiBody (const btMultiBody &)
 
void operator= (const btMultiBody &)
 
void compTreeLinkVelocities (btVector3 *omega, btVector3 *vel) const
 
void solveImatrix (const btVector3 &rhs_top, const btVector3 &rhs_bot, float result[6]) const
 
void solveImatrix (const btSpatialForceVector &rhs, btSpatialMotionVector &result) const
 
void updateLinksDofOffsets ()
 
void mulMatrix (btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
 

Private Attributes

btMultiBodyLinkColliderm_baseCollider
 
const char * m_baseName
 
btVector3 m_basePos
 
btQuaternion m_baseQuat
 
btScalar m_baseMass
 
btVector3 m_baseInertia
 
btVector3 m_baseForce
 
btVector3 m_baseTorque
 
btVector3 m_baseConstraintForce
 
btVector3 m_baseConstraintTorque
 
btAlignedObjectArray< btMultibodyLinkm_links
 
btAlignedObjectArray< btMultiBodyLinkCollider * > m_colliders
 
btAlignedObjectArray< btScalarm_deltaV
 
btAlignedObjectArray< btScalarm_realBuf
 
btAlignedObjectArray< btVector3m_vectorBuf
 
btAlignedObjectArray< btMatrix3x3m_matrixBuf
 
btMatrix3x3 m_cachedInertiaTopLeft
 
btMatrix3x3 m_cachedInertiaTopRight
 
btMatrix3x3 m_cachedInertiaLowerLeft
 
btMatrix3x3 m_cachedInertiaLowerRight
 
bool m_fixedBase
 
bool m_awake
 
bool m_canSleep
 
btScalar m_sleepTimer
 
int m_companionId
 
btScalar m_linearDamping
 
btScalar m_angularDamping
 
bool m_useGyroTerm
 
btScalar m_maxAppliedImpulse
 
btScalar m_maxCoordinateVelocity
 
bool m_hasSelfCollision
 
bool m_isMultiDof
 
bool __posUpdated
 
int m_dofCount
 
int m_posVarCnt
 
bool m_useRK4
 
bool m_useGlobalVelocities
 
bool m_internalNeedsJointFeedback
 the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only More...
 

Detailed Description

Definition at line 48 of file btMultiBody.h.

Constructor & Destructor Documentation

btMultiBody::btMultiBody ( int  n_links,
btScalar  mass,
const btVector3 inertia,
bool  fixedBase,
bool  canSleep,
bool  multiDof = false 
)

Definition at line 90 of file btMultiBody.cpp.

btMultiBody::~btMultiBody ( )
virtual

Definition at line 139 of file btMultiBody.cpp.

btMultiBody::btMultiBody ( const btMultiBody )
private

Member Function Documentation

void btMultiBody::addBaseConstraintForce ( const btVector3 f)
inline

Definition at line 302 of file btMultiBody.h.

void btMultiBody::addBaseConstraintTorque ( const btVector3 t)
inline

Definition at line 306 of file btMultiBody.h.

void btMultiBody::addBaseForce ( const btVector3 f)
inline

Definition at line 294 of file btMultiBody.h.

void btMultiBody::addBaseTorque ( const btVector3 t)
inline

Definition at line 298 of file btMultiBody.h.

void btMultiBody::addJointTorque ( int  i,
btScalar  Q 
)

Definition at line 612 of file btMultiBody.cpp.

void btMultiBody::addJointTorqueMultiDof ( int  i,
int  dof,
btScalar  Q 
)

Definition at line 617 of file btMultiBody.cpp.

void btMultiBody::addJointTorqueMultiDof ( int  i,
const btScalar Q 
)

Definition at line 622 of file btMultiBody.cpp.

void btMultiBody::addLinkConstraintForce ( int  i,
const btVector3 f 
)

Definition at line 600 of file btMultiBody.cpp.

void btMultiBody::addLinkConstraintTorque ( int  i,
const btVector3 t 
)

Definition at line 605 of file btMultiBody.cpp.

void btMultiBody::addLinkForce ( int  i,
const btVector3 f 
)

Definition at line 590 of file btMultiBody.cpp.

void btMultiBody::addLinkTorque ( int  i,
const btVector3 t 
)

Definition at line 595 of file btMultiBody.cpp.

void btMultiBody::applyDeltaVee ( const btScalar delta_vee)
inline

Definition at line 366 of file btMultiBody.h.

void btMultiBody::applyDeltaVee ( const btScalar delta_vee,
btScalar  multiplier 
)
inline

Definition at line 375 of file btMultiBody.h.

void btMultiBody::applyDeltaVeeMultiDof ( const btScalar delta_vee,
btScalar  multiplier 
)
inline

Definition at line 422 of file btMultiBody.h.

void btMultiBody::applyDeltaVeeMultiDof2 ( const btScalar delta_vee,
btScalar  multiplier 
)
inline

Definition at line 405 of file btMultiBody.h.

btMultiBody::BT_DECLARE_ALIGNED_ALLOCATOR ( )
void btMultiBody::calcAccelerationDeltas ( const btScalar force,
btScalar output,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v 
) const

Definition at line 1796 of file btMultiBody.cpp.

void btMultiBody::calcAccelerationDeltasMultiDof ( const btScalar force,
btScalar output,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v 
) const

Definition at line 1633 of file btMultiBody.cpp.

int btMultiBody::calculateSerializeBufferSize ( ) const
virtual

Definition at line 2481 of file btMultiBody.cpp.

void btMultiBody::checkMotionAndSleepIfRequired ( btScalar  timestep)

Definition at line 2344 of file btMultiBody.cpp.

void btMultiBody::clearConstraintForces ( )

Definition at line 559 of file btMultiBody.cpp.

void btMultiBody::clearForcesAndTorques ( )

Definition at line 570 of file btMultiBody.cpp.

void btMultiBody::clearVelocities ( )

Definition at line 583 of file btMultiBody.cpp.

void btMultiBody::compTreeLinkVelocities ( btVector3 omega,
btVector3 vel 
) const
private

Definition at line 498 of file btMultiBody.cpp.

void btMultiBody::filConstraintJacobianMultiDof ( int  link,
const btVector3 contact_point,
const btVector3 normal_ang,
const btVector3 normal_lin,
btScalar jac,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m 
) const

Definition at line 2111 of file btMultiBody.cpp.

void btMultiBody::fillContactJacobian ( 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 at line 2241 of file btMultiBody.cpp.

void btMultiBody::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
inline

Definition at line 470 of file btMultiBody.h.

void btMultiBody::finalizeMultiDof ( )

Definition at line 358 of file btMultiBody.cpp.

void btMultiBody::forwardKinematics ( btAlignedObjectArray< btQuaternion > &  scratch_q,
btAlignedObjectArray< btVector3 > &  scratch_m 
)

base + num m_links

Definition at line 2382 of file btMultiBody.cpp.

btScalar btMultiBody::getAngularDamping ( ) const
inline

Definition at line 536 of file btMultiBody.h.

btVector3 btMultiBody::getAngularMomentum ( ) const

Definition at line 539 of file btMultiBody.cpp.

const btMultiBodyLinkCollider* btMultiBody::getBaseCollider ( ) const
inline

Definition at line 133 of file btMultiBody.h.

btMultiBodyLinkCollider* btMultiBody::getBaseCollider ( )
inline

Definition at line 137 of file btMultiBody.h.

const btVector3& btMultiBody::getBaseForce ( ) const
inline

Definition at line 315 of file btMultiBody.h.

const btVector3& btMultiBody::getBaseInertia ( ) const
inline

Definition at line 158 of file btMultiBody.h.

btScalar btMultiBody::getBaseMass ( ) const
inline

Definition at line 157 of file btMultiBody.h.

const char* btMultiBody::getBaseName ( ) const
inline

Definition at line 610 of file btMultiBody.h.

btVector3 btMultiBody::getBaseOmega ( ) const
inline

Definition at line 185 of file btMultiBody.h.

const btVector3& btMultiBody::getBasePos ( ) const
inline

Definition at line 176 of file btMultiBody.h.

const btVector3& btMultiBody::getBaseTorque ( ) const
inline

Definition at line 316 of file btMultiBody.h.

const btVector3 btMultiBody::getBaseVel ( ) const
inline

Definition at line 177 of file btMultiBody.h.

btTransform btMultiBody::getBaseWorldTransform ( ) const
inline

Definition at line 199 of file btMultiBody.h.

bool btMultiBody::getCanSleep ( ) const
inline

Definition at line 498 of file btMultiBody.h.

int btMultiBody::getCompanionId ( ) const
inline

Definition at line 513 of file btMultiBody.h.

btScalar btMultiBody::getJointPos ( int  i) const

Definition at line 384 of file btMultiBody.cpp.

btScalar * btMultiBody::getJointPosMultiDof ( int  i)

Definition at line 394 of file btMultiBody.cpp.

const btScalar * btMultiBody::getJointPosMultiDof ( int  i) const

Definition at line 404 of file btMultiBody.cpp.

btScalar btMultiBody::getJointTorque ( int  i) const

Definition at line 638 of file btMultiBody.cpp.

btScalar * btMultiBody::getJointTorqueMultiDof ( int  i)

Definition at line 643 of file btMultiBody.cpp.

btScalar btMultiBody::getJointVel ( int  i) const

Definition at line 389 of file btMultiBody.cpp.

btScalar * btMultiBody::getJointVelMultiDof ( int  i)

Definition at line 399 of file btMultiBody.cpp.

const btScalar * btMultiBody::getJointVelMultiDof ( int  i) const

Definition at line 409 of file btMultiBody.cpp.

btScalar btMultiBody::getKineticEnergy ( ) const

Definition at line 519 of file btMultiBody.cpp.

btScalar btMultiBody::getLinearDamping ( ) const
inline

Definition at line 528 of file btMultiBody.h.

const btMultibodyLink& btMultiBody::getLink ( int  index) const
inline

Definition at line 118 of file btMultiBody.h.

btMultibodyLink& btMultiBody::getLink ( int  index)
inline

Definition at line 123 of file btMultiBody.h.

const btVector3 & btMultiBody::getLinkForce ( int  i) const

Definition at line 628 of file btMultiBody.cpp.

const btVector3 & btMultiBody::getLinkInertia ( int  i) const

Definition at line 379 of file btMultiBody.cpp.

btScalar btMultiBody::getLinkMass ( int  i) const

Definition at line 374 of file btMultiBody.cpp.

const btVector3 & btMultiBody::getLinkTorque ( int  i) const

Definition at line 633 of file btMultiBody.cpp.

btScalar btMultiBody::getMaxAppliedImpulse ( ) const
inline

Definition at line 562 of file btMultiBody.h.

btScalar btMultiBody::getMaxCoordinateVelocity ( ) const
inline

Definition at line 553 of file btMultiBody.h.

int btMultiBody::getNumDofs ( ) const
inline

Definition at line 155 of file btMultiBody.h.

int btMultiBody::getNumLinks ( ) const
inline

Definition at line 154 of file btMultiBody.h.

int btMultiBody::getNumPosVars ( ) const
inline

Definition at line 156 of file btMultiBody.h.

int btMultiBody::getParent ( int  link_num) const

Definition at line 369 of file btMultiBody.cpp.

const btQuaternion & btMultiBody::getParentToLocalRot ( int  i) const

Definition at line 445 of file btMultiBody.cpp.

const btVector3 & btMultiBody::getRVector ( int  i) const

Definition at line 440 of file btMultiBody.cpp.

bool btMultiBody::getUseGyroTerm ( ) const
inline

Definition at line 545 of file btMultiBody.h.

const btScalar* btMultiBody::getVelocityVector ( ) const
inline

Definition at line 248 of file btMultiBody.h.

const btQuaternion& btMultiBody::getWorldToBaseRot ( ) const
inline

Definition at line 181 of file btMultiBody.h.

void btMultiBody::goToSleep ( )

Definition at line 2339 of file btMultiBody.cpp.

bool btMultiBody::hasFixedBase ( ) const
inline

Definition at line 508 of file btMultiBody.h.

bool btMultiBody::hasSelfCollision ( ) const
inline

Definition at line 574 of file btMultiBody.h.

bool btMultiBody::internalNeedsJointFeedback ( ) const
inline

Definition at line 597 of file btMultiBody.h.

bool btMultiBody::isAwake ( ) const
inline

Definition at line 503 of file btMultiBody.h.

bool btMultiBody::isMultiDof ( )
inline

Definition at line 579 of file btMultiBody.h.

bool btMultiBody::isPosUpdated ( ) const
inline

Definition at line 587 of file btMultiBody.h.

bool btMultiBody::isUsingGlobalVelocities ( ) const
inline

Definition at line 585 of file btMultiBody.h.

bool btMultiBody::isUsingRK4Integration ( ) const
inline

Definition at line 583 of file btMultiBody.h.

btVector3 btMultiBody::localDirToWorld ( int  i,
const btVector3 vec 
) const

Definition at line 478 of file btMultiBody.cpp.

btVector3 btMultiBody::localPosToWorld ( int  i,
const btVector3 vec 
) const

Definition at line 450 of file btMultiBody.cpp.

void btMultiBody::mulMatrix ( btScalar pA,
btScalar pB,
int  rowsA,
int  colsA,
int  rowsB,
int  colsB,
btScalar pC 
) const
private

Definition at line 1618 of file btMultiBody.cpp.

void btMultiBody::operator= ( const btMultiBody )
private
void btMultiBody::processDeltaVeeMultiDof2 ( )
inline

Definition at line 412 of file btMultiBody.h.

const char * btMultiBody::serialize ( void *  dataBuffer,
class btSerializer serializer 
) const
virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Definition at line 2488 of file btMultiBody.cpp.

void btMultiBody::setAngularDamping ( btScalar  damp)
inline

Definition at line 540 of file btMultiBody.h.

void btMultiBody::setBaseCollider ( btMultiBodyLinkCollider collider)
inline

Definition at line 129 of file btMultiBody.h.

void btMultiBody::setBaseInertia ( const btVector3 inertia)
inline

Definition at line 169 of file btMultiBody.h.

void btMultiBody::setBaseMass ( btScalar  mass)
inline

Definition at line 168 of file btMultiBody.h.

void btMultiBody::setBaseName ( const char *  name)
inline

memory of setBaseName needs to be manager by user

Definition at line 615 of file btMultiBody.h.

void btMultiBody::setBaseOmega ( const btVector3 omega)
inline

Definition at line 216 of file btMultiBody.h.

void btMultiBody::setBasePos ( const btVector3 pos)
inline

Definition at line 187 of file btMultiBody.h.

void btMultiBody::setBaseVel ( const btVector3 vel)
inline

Definition at line 207 of file btMultiBody.h.

void btMultiBody::setBaseWorldTransform ( const btTransform tr)
inline

Definition at line 192 of file btMultiBody.h.

void btMultiBody::setCanSleep ( bool  canSleep)
inline

Definition at line 493 of file btMultiBody.h.

void btMultiBody::setCompanionId ( int  id)
inline

Definition at line 517 of file btMultiBody.h.

void btMultiBody::setHasSelfCollision ( bool  hasSelfCollision)
inline

Definition at line 570 of file btMultiBody.h.

void btMultiBody::setJointPos ( int  i,
btScalar  q 
)

Definition at line 415 of file btMultiBody.cpp.

void btMultiBody::setJointPosMultiDof ( int  i,
btScalar q 
)

Definition at line 421 of file btMultiBody.cpp.

void btMultiBody::setJointVel ( int  i,
btScalar  qdot 
)

Definition at line 429 of file btMultiBody.cpp.

void btMultiBody::setJointVelMultiDof ( int  i,
btScalar qdot 
)

Definition at line 434 of file btMultiBody.cpp.

void btMultiBody::setLinearDamping ( btScalar  damp)
inline

Definition at line 532 of file btMultiBody.h.

void btMultiBody::setMaxAppliedImpulse ( btScalar  maxImp)
inline

Definition at line 566 of file btMultiBody.h.

void btMultiBody::setMaxCoordinateVelocity ( btScalar  maxVel)
inline

Definition at line 557 of file btMultiBody.h.

void btMultiBody::setNumLinks ( int  numLinks)
inline

Definition at line 523 of file btMultiBody.h.

void btMultiBody::setPosUpdated ( bool  updated)
inline

Definition at line 591 of file btMultiBody.h.

void btMultiBody::setupFixed ( int  linkIndex,
btScalar  mass,
const btVector3 inertia,
int  parent,
const btQuaternion rotParentToThis,
const btVector3 parentComToThisPivotOffset,
const btVector3 thisPivotToThisComOffset,
bool  disableParentCollision 
)

Definition at line 143 of file btMultiBody.cpp.

void btMultiBody::setupPlanar ( int  i,
btScalar  mass,
const btVector3 inertia,
int  parent,
const btQuaternion rotParentToThis,
const btVector3 rotationAxis,
const btVector3 parentComToThisComOffset,
bool  disableParentCollision = false 
)

Definition at line 309 of file btMultiBody.cpp.

void btMultiBody::setupPrismatic ( int  i,
btScalar  mass,
const btVector3 inertia,
int  parent,
const btQuaternion rotParentToThis,
const btVector3 jointAxis,
const btVector3 parentComToThisPivotOffset,
const btVector3 thisPivotToThisComOffset,
bool  disableParentCollision 
)

Definition at line 179 of file btMultiBody.cpp.

void btMultiBody::setupRevolute ( int  linkIndex,
btScalar  mass,
const btVector3 inertia,
int  parentIndex,
const btQuaternion rotParentToThis,
const btVector3 jointAxis,
const btVector3 parentComToThisPivotOffset,
const btVector3 thisPivotToThisComOffset,
bool  disableParentCollision = false 
)

Definition at line 223 of file btMultiBody.cpp.

void btMultiBody::setupSpherical ( int  linkIndex,
btScalar  mass,
const btVector3 inertia,
int  parent,
const btQuaternion rotParentToThis,
const btVector3 parentComToThisPivotOffset,
const btVector3 thisPivotToThisComOffset,
bool  disableParentCollision = false 
)

Definition at line 268 of file btMultiBody.cpp.

void btMultiBody::setUseGyroTerm ( bool  useGyro)
inline

Definition at line 549 of file btMultiBody.h.

void btMultiBody::setWorldToBaseRot ( const btQuaternion rot)
inline

Definition at line 212 of file btMultiBody.h.

void btMultiBody::solveImatrix ( const btVector3 rhs_top,
const btVector3 rhs_bot,
float  result[6] 
) const
private

solve I * x = rhs, so the result = invI * rhs

Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices

Definition at line 1530 of file btMultiBody.cpp.

void btMultiBody::solveImatrix ( const btSpatialForceVector rhs,
btSpatialMotionVector result 
) const
private

solve I * x = rhs, so the result = invI * rhs

Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices

Definition at line 1578 of file btMultiBody.cpp.

void btMultiBody::stepPositions ( btScalar  dt)

Definition at line 1942 of file btMultiBody.cpp.

void btMultiBody::stepPositionsMultiDof ( btScalar  dt,
btScalar pq = 0,
btScalar pqd = 0 
)

baseBody => quat is alibi and omega is local coor

Definition at line 1978 of file btMultiBody.cpp.

void btMultiBody::stepVelocities ( btScalar  dt,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m 
)

Definition at line 1215 of file btMultiBody.cpp.

void btMultiBody::stepVelocitiesMultiDof ( btScalar  dt,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m,
bool  isConstraintPass = false 
)

Definition at line 672 of file btMultiBody.cpp.

void btMultiBody::updateCollisionObjectWorldTransforms ( btAlignedObjectArray< btQuaternion > &  scratch_q,
btAlignedObjectArray< btVector3 > &  scratch_m 
)

Definition at line 2428 of file btMultiBody.cpp.

void btMultiBody::updateLinksDofOffsets ( )
inlineprivate

Definition at line 629 of file btMultiBody.h.

void btMultiBody::useGlobalVelocities ( bool  use)
inline

Definition at line 584 of file btMultiBody.h.

void btMultiBody::useRK4Integration ( bool  use)
inline

Definition at line 582 of file btMultiBody.h.

void btMultiBody::wakeUp ( )

Definition at line 2334 of file btMultiBody.cpp.

btVector3 btMultiBody::worldDirToLocal ( int  i,
const btVector3 vec 
) const

Definition at line 489 of file btMultiBody.cpp.

btVector3 btMultiBody::worldPosToLocal ( int  i,
const btVector3 vec 
) const

Definition at line 467 of file btMultiBody.cpp.

Member Data Documentation

bool btMultiBody::__posUpdated
private

Definition at line 704 of file btMultiBody.h.

btScalar btMultiBody::m_angularDamping
private

Definition at line 698 of file btMultiBody.h.

bool btMultiBody::m_awake
private

Definition at line 692 of file btMultiBody.h.

btMultiBodyLinkCollider* btMultiBody::m_baseCollider
private

Definition at line 644 of file btMultiBody.h.

btVector3 btMultiBody::m_baseConstraintForce
private

Definition at line 656 of file btMultiBody.h.

btVector3 btMultiBody::m_baseConstraintTorque
private

Definition at line 657 of file btMultiBody.h.

btVector3 btMultiBody::m_baseForce
private

Definition at line 653 of file btMultiBody.h.

btVector3 btMultiBody::m_baseInertia
private

Definition at line 651 of file btMultiBody.h.

btScalar btMultiBody::m_baseMass
private

Definition at line 650 of file btMultiBody.h.

const char* btMultiBody::m_baseName
private

Definition at line 645 of file btMultiBody.h.

btVector3 btMultiBody::m_basePos
private

Definition at line 647 of file btMultiBody.h.

btQuaternion btMultiBody::m_baseQuat
private

Definition at line 648 of file btMultiBody.h.

btVector3 btMultiBody::m_baseTorque
private

Definition at line 654 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaLowerLeft
private

Definition at line 686 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaLowerRight
private

Definition at line 687 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaTopLeft
private

Definition at line 684 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaTopRight
private

Definition at line 685 of file btMultiBody.h.

bool btMultiBody::m_canSleep
private

Definition at line 693 of file btMultiBody.h.

btAlignedObjectArray<btMultiBodyLinkCollider*> btMultiBody::m_colliders
private

Definition at line 660 of file btMultiBody.h.

int btMultiBody::m_companionId
private

Definition at line 696 of file btMultiBody.h.

btAlignedObjectArray<btScalar> btMultiBody::m_deltaV
private

Definition at line 678 of file btMultiBody.h.

int btMultiBody::m_dofCount
private

Definition at line 705 of file btMultiBody.h.

bool btMultiBody::m_fixedBase
private

Definition at line 689 of file btMultiBody.h.

bool btMultiBody::m_hasSelfCollision
private

Definition at line 702 of file btMultiBody.h.

bool btMultiBody::m_internalNeedsJointFeedback
private

the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only

Definition at line 709 of file btMultiBody.h.

bool btMultiBody::m_isMultiDof
private

Definition at line 703 of file btMultiBody.h.

btScalar btMultiBody::m_linearDamping
private

Definition at line 697 of file btMultiBody.h.

btAlignedObjectArray<btMultibodyLink> btMultiBody::m_links
private

Definition at line 659 of file btMultiBody.h.

btAlignedObjectArray<btMatrix3x3> btMultiBody::m_matrixBuf
private

Definition at line 681 of file btMultiBody.h.

btScalar btMultiBody::m_maxAppliedImpulse
private

Definition at line 700 of file btMultiBody.h.

btScalar btMultiBody::m_maxCoordinateVelocity
private

Definition at line 701 of file btMultiBody.h.

int btMultiBody::m_posVarCnt
private

Definition at line 705 of file btMultiBody.h.

btAlignedObjectArray<btScalar> btMultiBody::m_realBuf
private

Definition at line 679 of file btMultiBody.h.

btScalar btMultiBody::m_sleepTimer
private

Definition at line 694 of file btMultiBody.h.

bool btMultiBody::m_useGlobalVelocities
private

Definition at line 706 of file btMultiBody.h.

bool btMultiBody::m_useGyroTerm
private

Definition at line 699 of file btMultiBody.h.

bool btMultiBody::m_useRK4
private

Definition at line 706 of file btMultiBody.h.

btAlignedObjectArray<btVector3> btMultiBody::m_vectorBuf
private

Definition at line 680 of file btMultiBody.h.


The documentation for this class was generated from the following files: