#include <btMultiBody.h>

Collaboration diagram for btMultiBody:

[legend]

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btMultiBody (int n_links, btScalar mass, const btVector3 &inertia, bool fixedBase, bool canSleep, bool deprecatedMultiDof=true)

virtual	~btMultiBody ()

void	setupFixed (int linkIndex, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true)

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 btMultibodyLink &	getLink (int index) const

btMultibodyLink &	getLink (int index)

void	setBaseCollider (btMultiBodyLinkCollider *collider)

const btMultiBodyLinkCollider *	getBaseCollider () const

btMultiBodyLinkCollider *	getBaseCollider ()

btMultiBodyLinkCollider *	getLinkCollider (int index)

int	getParent (int link_num) const

int	getNumLinks () const

int	getNumDofs () const

int	getNumPosVars () const

btScalar	getBaseMass () const

const btVector3 &	getBaseInertia () const

btScalar	getLinkMass (int i) const

const btVector3 &	getLinkInertia (int i) const

void	setBaseMass (btScalar mass)

void	setBaseInertia (const btVector3 &inertia)

const btVector3 &	getBasePos () const

const btVector3	getBaseVel () const

const btQuaternion &	getWorldToBaseRot () 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

btScalar *	getJointVelMultiDof (int i)

btScalar *	getJointPosMultiDof (int i)

const btScalar *	getJointVelMultiDof (int i) const

const btScalar *	getJointPosMultiDof (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 btScalar *	getVelocityVector () const

const btVector3 &	getRVector (int i) const

const btQuaternion &	getParentToLocalRot (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

btMatrix3x3	localFrameToWorld (int i, const btMatrix3x3 &mat) 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 btVector3 &	getBaseForce () const

const btVector3 &	getBaseTorque () const

const btVector3 &	getLinkForce (int i) const

const btVector3 &	getLinkTorque (int i) const

btScalar	getJointTorque (int i) const

btScalar *	getJointTorqueMultiDof (int i)

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

void	stepVelocitiesMultiDof (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m, bool isConstraintPass=false)
	stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead More...

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

void	applyDeltaVeeMultiDof2 (const btScalar *delta_vee, btScalar multiplier)

void	processDeltaVeeMultiDof2 ()

void	applyDeltaVeeMultiDof (const btScalar *delta_vee, btScalar multiplier)

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

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	fillConstraintJacobianMultiDof (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

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	compTreeLinkVelocities (btVector3 omega, btVector3 vel) const

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...

void *	getUserPointer () const
	users can point to their objects, userPointer is not used by Bullet More...

int	getUserIndex () const

int	getUserIndex2 () const

void	setUserPointer (void *userPointer)
	users can point to their objects, userPointer is not used by Bullet More...

void	setUserIndex (int index)
	users can point to their objects, userPointer is not used by Bullet More...

void	setUserIndex2 (int index)

Private Member Functions
	btMultiBody (const btMultiBody &)

void	operator= (const btMultiBody &)

void	solveImatrix (const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar 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
btMultiBodyLinkCollider *	m_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< btMultibodyLink >	m_links

btAlignedObjectArray< btScalar >	m_deltaV

btAlignedObjectArray< btScalar >	m_realBuf

btAlignedObjectArray< btVector3 >	m_vectorBuf

btAlignedObjectArray< btMatrix3x3 >	m_matrixBuf

btMatrix3x3	m_cachedInertiaTopLeft

btMatrix3x3	m_cachedInertiaTopRight

btMatrix3x3	m_cachedInertiaLowerLeft

btMatrix3x3	m_cachedInertiaLowerRight

bool	m_cachedInertiaValid

bool	m_fixedBase

bool	m_awake

bool	m_canSleep

btScalar	m_sleepTimer

void *	m_userObjectPointer

int	m_userIndex2

int	m_userIndex

int	m_companionId

btScalar	m_linearDamping

btScalar	m_angularDamping

bool	m_useGyroTerm

btScalar	m_maxAppliedImpulse

btScalar	m_maxCoordinateVelocity

bool	m_hasSelfCollision

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 51 of file btMultiBody.h.

Constructor & Destructor Documentation

btMultiBody::btMultiBody	(	int	n_links,
		btScalar	mass,
		const btVector3 &	inertia,
		bool	fixedBase,
		bool	canSleep,
		bool	deprecatedMultiDof = `true`
	)

Definition at line 94 of file btMultiBody.cpp.

btMultiBody::~btMultiBody ( )

virtual

Definition at line 145 of file btMultiBody.cpp.

btMultiBody::btMultiBody ( const btMultiBody & )

private

Member Function Documentation

void btMultiBody::addBaseConstraintForce ( const btVector3 & f )

inline

Definition at line 316 of file btMultiBody.h.

void btMultiBody::addBaseConstraintTorque ( const btVector3 & t )

inline

Definition at line 320 of file btMultiBody.h.

void btMultiBody::addBaseForce ( const btVector3 & f )

inline

Definition at line 308 of file btMultiBody.h.

void btMultiBody::addBaseTorque ( const btVector3 & t )

inline

Definition at line 312 of file btMultiBody.h.

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

Definition at line 657 of file btMultiBody.cpp.

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

Definition at line 662 of file btMultiBody.cpp.

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

Definition at line 667 of file btMultiBody.cpp.

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

Definition at line 645 of file btMultiBody.cpp.

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

Definition at line 650 of file btMultiBody.cpp.

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

Definition at line 635 of file btMultiBody.cpp.

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

Definition at line 640 of file btMultiBody.cpp.

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

inline

Definition at line 400 of file btMultiBody.h.

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

inline

Definition at line 383 of file btMultiBody.h.

btMultiBody::BT_DECLARE_ALIGNED_ALLOCATOR ( )

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

Definition at line 1418 of file btMultiBody.cpp.

int btMultiBody::calculateSerializeBufferSize ( ) const

virtual

Definition at line 1988 of file btMultiBody.cpp.

void btMultiBody::checkMotionAndSleepIfRequired ( btScalar timestep )

Definition at line 1858 of file btMultiBody.cpp.

void btMultiBody::clearConstraintForces ( )

Definition at line 604 of file btMultiBody.cpp.

void btMultiBody::clearForcesAndTorques ( )

Definition at line 615 of file btMultiBody.cpp.

void btMultiBody::clearVelocities ( )

Definition at line 628 of file btMultiBody.cpp.

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

Definition at line 527 of file btMultiBody.cpp.

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

Definition at line 717 of file btMultiBody.cpp.

void btMultiBody::fillConstraintJacobianMultiDof	(	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 1716 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 439 of file btMultiBody.h.

void btMultiBody::finalizeMultiDof ( )

Definition at line 346 of file btMultiBody.cpp.

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

base + num m_links

Definition at line 1889 of file btMultiBody.cpp.

btScalar btMultiBody::getAngularDamping ( ) const

inline

Definition at line 505 of file btMultiBody.h.

btVector3 btMultiBody::getAngularMomentum ( ) const

Definition at line 584 of file btMultiBody.cpp.

const btMultiBodyLinkCollider* btMultiBody::getBaseCollider ( ) const

inline

Definition at line 134 of file btMultiBody.h.

btMultiBodyLinkCollider* btMultiBody::getBaseCollider ( )

inline

Definition at line 138 of file btMultiBody.h.

const btVector3& btMultiBody::getBaseForce ( ) const

inline

Definition at line 329 of file btMultiBody.h.

const btVector3& btMultiBody::getBaseInertia ( ) const

inline

Definition at line 168 of file btMultiBody.h.

btScalar btMultiBody::getBaseMass ( ) const

inline

Definition at line 167 of file btMultiBody.h.

const char* btMultiBody::getBaseName ( ) const

inline

Definition at line 581 of file btMultiBody.h.

btVector3 btMultiBody::getBaseOmega ( ) const

inline

Definition at line 195 of file btMultiBody.h.

const btVector3& btMultiBody::getBasePos ( ) const

inline

Definition at line 186 of file btMultiBody.h.

const btVector3& btMultiBody::getBaseTorque ( ) const

inline

Definition at line 330 of file btMultiBody.h.

const btVector3 btMultiBody::getBaseVel ( ) const

inline

Definition at line 187 of file btMultiBody.h.

btTransform btMultiBody::getBaseWorldTransform ( ) const

inline

Definition at line 209 of file btMultiBody.h.

bool btMultiBody::getCanSleep ( ) const

inline

Definition at line 467 of file btMultiBody.h.

int btMultiBody::getCompanionId ( ) const

inline

Definition at line 482 of file btMultiBody.h.

btScalar btMultiBody::getJointPos ( int i ) const

Definition at line 374 of file btMultiBody.cpp.

btScalar * btMultiBody::getJointPosMultiDof ( int i )

Definition at line 384 of file btMultiBody.cpp.

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

Definition at line 394 of file btMultiBody.cpp.

btScalar btMultiBody::getJointTorque ( int i ) const

Definition at line 683 of file btMultiBody.cpp.

btScalar * btMultiBody::getJointTorqueMultiDof ( int i )

Definition at line 688 of file btMultiBody.cpp.

btScalar btMultiBody::getJointVel ( int i ) const

Definition at line 379 of file btMultiBody.cpp.

btScalar * btMultiBody::getJointVelMultiDof ( int i )

Definition at line 389 of file btMultiBody.cpp.

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

Definition at line 399 of file btMultiBody.cpp.

btScalar btMultiBody::getKineticEnergy ( ) const

Definition at line 564 of file btMultiBody.cpp.

btScalar btMultiBody::getLinearDamping ( ) const

inline

Definition at line 497 of file btMultiBody.h.

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

inline

Definition at line 119 of file btMultiBody.h.

btMultibodyLink& btMultiBody::getLink ( int index )

inline

Definition at line 124 of file btMultiBody.h.

btMultiBodyLinkCollider* btMultiBody::getLinkCollider ( int index )

inline

Definition at line 143 of file btMultiBody.h.

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

Definition at line 673 of file btMultiBody.cpp.

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

Definition at line 369 of file btMultiBody.cpp.

btScalar btMultiBody::getLinkMass ( int i ) const

Definition at line 364 of file btMultiBody.cpp.

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

Definition at line 678 of file btMultiBody.cpp.

btScalar btMultiBody::getMaxAppliedImpulse ( ) const

inline

Definition at line 531 of file btMultiBody.h.

btScalar btMultiBody::getMaxCoordinateVelocity ( ) const

inline

Definition at line 522 of file btMultiBody.h.

int btMultiBody::getNumDofs ( ) const

inline

Definition at line 165 of file btMultiBody.h.

int btMultiBody::getNumLinks ( ) const

inline

Definition at line 164 of file btMultiBody.h.

int btMultiBody::getNumPosVars ( ) const

inline

Definition at line 166 of file btMultiBody.h.

int btMultiBody::getParent ( int link_num ) const

Definition at line 359 of file btMultiBody.cpp.

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

Definition at line 435 of file btMultiBody.cpp.

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

Definition at line 430 of file btMultiBody.cpp.

bool btMultiBody::getUseGyroTerm ( ) const

inline

Definition at line 514 of file btMultiBody.h.

int btMultiBody::getUserIndex ( ) const

inline

Definition at line 597 of file btMultiBody.h.

int btMultiBody::getUserIndex2 ( ) const

inline

Definition at line 602 of file btMultiBody.h.

void* btMultiBody::getUserPointer ( ) const

inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 592 of file btMultiBody.h.

const btScalar* btMultiBody::getVelocityVector ( ) const

inline

Definition at line 258 of file btMultiBody.h.

const btQuaternion& btMultiBody::getWorldToBaseRot ( ) const

inline

Definition at line 191 of file btMultiBody.h.

void btMultiBody::goToSleep ( )

Definition at line 1853 of file btMultiBody.cpp.

bool btMultiBody::hasFixedBase ( ) const

inline

Definition at line 477 of file btMultiBody.h.

bool btMultiBody::hasSelfCollision ( ) const

inline

Definition at line 543 of file btMultiBody.h.

bool btMultiBody::internalNeedsJointFeedback ( ) const

inline

Definition at line 566 of file btMultiBody.h.

bool btMultiBody::isAwake ( ) const

inline

Definition at line 472 of file btMultiBody.h.

bool btMultiBody::isPosUpdated ( ) const

inline

Definition at line 556 of file btMultiBody.h.

bool btMultiBody::isUsingGlobalVelocities ( ) const

inline

Definition at line 554 of file btMultiBody.h.

bool btMultiBody::isUsingRK4Integration ( ) const

inline

Definition at line 552 of file btMultiBody.h.

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

Definition at line 482 of file btMultiBody.cpp.

btMatrix3x3 btMultiBody::localFrameToWorld	(	int	i,
		const btMatrix3x3 &	mat
	)		const

Definition at line 517 of file btMultiBody.cpp.

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

Definition at line 440 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 1403 of file btMultiBody.cpp.

void btMultiBody::operator= ( const btMultiBody & )

private

void btMultiBody::processDeltaVeeMultiDof2 ( )

inline

Definition at line 390 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 1995 of file btMultiBody.cpp.

void btMultiBody::setAngularDamping ( btScalar damp )

inline

Definition at line 509 of file btMultiBody.h.

void btMultiBody::setBaseCollider ( btMultiBodyLinkCollider * collider )

inline

Definition at line 130 of file btMultiBody.h.

void btMultiBody::setBaseInertia ( const btVector3 & inertia )

inline

Definition at line 179 of file btMultiBody.h.

void btMultiBody::setBaseMass ( btScalar mass )

inline

Definition at line 178 of file btMultiBody.h.

void btMultiBody::setBaseName ( const char * name )

inline

memory of setBaseName needs to be manager by user

Definition at line 586 of file btMultiBody.h.

void btMultiBody::setBaseOmega ( const btVector3 & omega )

inline

Definition at line 226 of file btMultiBody.h.

void btMultiBody::setBasePos ( const btVector3 & pos )

inline

Definition at line 197 of file btMultiBody.h.

void btMultiBody::setBaseVel ( const btVector3 & vel )

inline

Definition at line 217 of file btMultiBody.h.

void btMultiBody::setBaseWorldTransform ( const btTransform & tr )

inline

Definition at line 202 of file btMultiBody.h.

void btMultiBody::setCanSleep ( bool canSleep )

inline

Definition at line 462 of file btMultiBody.h.

void btMultiBody::setCompanionId ( int id )

inline

Definition at line 486 of file btMultiBody.h.

void btMultiBody::setHasSelfCollision ( bool hasSelfCollision )

inline

Definition at line 539 of file btMultiBody.h.

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

Definition at line 405 of file btMultiBody.cpp.

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

Definition at line 411 of file btMultiBody.cpp.

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

Definition at line 419 of file btMultiBody.cpp.

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

Definition at line 424 of file btMultiBody.cpp.

void btMultiBody::setLinearDamping ( btScalar damp )

inline

Definition at line 501 of file btMultiBody.h.

void btMultiBody::setMaxAppliedImpulse ( btScalar maxImp )

inline

Definition at line 535 of file btMultiBody.h.

void btMultiBody::setMaxCoordinateVelocity ( btScalar maxVel )

inline

Definition at line 526 of file btMultiBody.h.

void btMultiBody::setNumLinks ( int numLinks )

inline

Definition at line 492 of file btMultiBody.h.

void btMultiBody::setPosUpdated ( bool updated )

inline

Definition at line 560 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	deprecatedDisableParentCollision = `true`
	)

Definition at line 149 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 297 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 180 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 218 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 256 of file btMultiBody.cpp.

void btMultiBody::setUseGyroTerm ( bool useGyro )

inline

Definition at line 518 of file btMultiBody.h.

void btMultiBody::setUserIndex ( int index )

inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 613 of file btMultiBody.h.

void btMultiBody::setUserIndex2 ( int index )

inline

Definition at line 618 of file btMultiBody.h.

void btMultiBody::setUserPointer ( void * userPointer )

inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 607 of file btMultiBody.h.

void btMultiBody::setWorldToBaseRot ( const btQuaternion & rot )

inline

Definition at line 222 of file btMultiBody.h.

void btMultiBody::solveImatrix	(	const btVector3 &	rhs_top,
		const btVector3 &	rhs_bot,
		btScalar	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 1271 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 1344 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 1583 of file btMultiBody.cpp.

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

inline

stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead

Definition at line 363 of file btMultiBody.h.

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

Definition at line 1935 of file btMultiBody.cpp.

void btMultiBody::updateLinksDofOffsets ( )

inlineprivate

Definition at line 631 of file btMultiBody.h.

void btMultiBody::useGlobalVelocities ( bool use )

inline

Definition at line 553 of file btMultiBody.h.

void btMultiBody::useRK4Integration ( bool use )

inline

Definition at line 551 of file btMultiBody.h.

void btMultiBody::wakeUp ( )

Definition at line 1847 of file btMultiBody.cpp.

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

Definition at line 501 of file btMultiBody.cpp.

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

Definition at line 464 of file btMultiBody.cpp.

Member Data Documentation

bool btMultiBody::__posUpdated

private

Definition at line 710 of file btMultiBody.h.

btScalar btMultiBody::m_angularDamping

private

Definition at line 704 of file btMultiBody.h.

bool btMultiBody::m_awake

private

Definition at line 694 of file btMultiBody.h.

btMultiBodyLinkCollider* btMultiBody::m_baseCollider

private

Definition at line 646 of file btMultiBody.h.

btVector3 btMultiBody::m_baseConstraintForce

private

Definition at line 658 of file btMultiBody.h.

btVector3 btMultiBody::m_baseConstraintTorque

private

Definition at line 659 of file btMultiBody.h.

btVector3 btMultiBody::m_baseForce

private

Definition at line 655 of file btMultiBody.h.

btVector3 btMultiBody::m_baseInertia

private

Definition at line 653 of file btMultiBody.h.

btScalar btMultiBody::m_baseMass

private

Definition at line 652 of file btMultiBody.h.

const char* btMultiBody::m_baseName

private

Definition at line 647 of file btMultiBody.h.

btVector3 btMultiBody::m_basePos

private

Definition at line 649 of file btMultiBody.h.

btQuaternion btMultiBody::m_baseQuat

private

Definition at line 650 of file btMultiBody.h.

btVector3 btMultiBody::m_baseTorque

private

Definition at line 656 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaLowerLeft

private

Definition at line 687 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaLowerRight

private

Definition at line 688 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaTopLeft

private

Definition at line 685 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaTopRight

private

Definition at line 686 of file btMultiBody.h.

bool btMultiBody::m_cachedInertiaValid

private

Definition at line 689 of file btMultiBody.h.

bool btMultiBody::m_canSleep

private

Definition at line 695 of file btMultiBody.h.

int btMultiBody::m_companionId

private

Definition at line 702 of file btMultiBody.h.

btAlignedObjectArray<btScalar> btMultiBody::m_deltaV

private

Definition at line 679 of file btMultiBody.h.

int btMultiBody::m_dofCount

private

Definition at line 711 of file btMultiBody.h.

bool btMultiBody::m_fixedBase

private

Definition at line 691 of file btMultiBody.h.

bool btMultiBody::m_hasSelfCollision

private

Definition at line 708 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 718 of file btMultiBody.h.

btScalar btMultiBody::m_linearDamping

private

Definition at line 703 of file btMultiBody.h.

btAlignedObjectArray<btMultibodyLink> btMultiBody::m_links

private

Definition at line 661 of file btMultiBody.h.

btAlignedObjectArray<btMatrix3x3> btMultiBody::m_matrixBuf

private

Definition at line 682 of file btMultiBody.h.

btScalar btMultiBody::m_maxAppliedImpulse

private

Definition at line 706 of file btMultiBody.h.

btScalar btMultiBody::m_maxCoordinateVelocity

private

Definition at line 707 of file btMultiBody.h.

int btMultiBody::m_posVarCnt

private

Definition at line 711 of file btMultiBody.h.

btAlignedObjectArray<btScalar> btMultiBody::m_realBuf

private

Definition at line 680 of file btMultiBody.h.

btScalar btMultiBody::m_sleepTimer

private

Definition at line 696 of file btMultiBody.h.

bool btMultiBody::m_useGlobalVelocities

private

Definition at line 713 of file btMultiBody.h.

bool btMultiBody::m_useGyroTerm

private

Definition at line 705 of file btMultiBody.h.

int btMultiBody::m_userIndex

private

Definition at line 700 of file btMultiBody.h.

int btMultiBody::m_userIndex2

private

Definition at line 699 of file btMultiBody.h.

bool btMultiBody::m_useRK4

private

Definition at line 713 of file btMultiBody.h.

void* btMultiBody::m_userObjectPointer

private

Definition at line 698 of file btMultiBody.h.

btAlignedObjectArray<btVector3> btMultiBody::m_vectorBuf

private

Definition at line 681 of file btMultiBody.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation