#include <btMultiBodyConstraint.h>

Inheritance diagram for btMultiBodyConstraint:

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Collaboration diagram for btMultiBodyConstraint:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btMultiBodyConstraint (btMultiBody bodyA, btMultiBody bodyB, int linkA, int linkB, int numRows, bool isUnilateral)

virtual	~btMultiBodyConstraint ()

void	updateJacobianSizes ()

void	allocateJacobiansMultiDof ()

virtual void	setFrameInB (const btMatrix3x3 &frameInB)

virtual void	setPivotInB (const btVector3 &pivotInB)

virtual void	finalizeMultiDof ()=0

virtual int	getIslandIdA () const =0

virtual int	getIslandIdB () const =0

virtual void	createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)=0

int	getNumRows () const

btMultiBody *	getMultiBodyA ()

btMultiBody *	getMultiBodyB ()

int	getLinkA () const

int	getLinkB () const

void	internalSetAppliedImpulse (int dof, btScalar appliedImpulse)

btScalar	getAppliedImpulse (int dof)

btScalar	getPosition (int row) const

void	setPosition (int row, btScalar pos)

bool	isUnilateral () const

btScalar *	jacobianA (int row)

const btScalar *	jacobianA (int row) const

btScalar *	jacobianB (int row)

const btScalar *	jacobianB (int row) const

btScalar	getMaxAppliedImpulse () const

void	setMaxAppliedImpulse (btScalar maxImp)

virtual void	debugDraw (class btIDebugDraw *drawer)=0

virtual void	setGearRatio (btScalar ratio)

virtual void	setGearAuxLink (int gearAuxLink)

virtual void	setRelativePositionTarget (btScalar relPosTarget)

virtual void	setErp (btScalar erp)

Protected Member Functions
void	applyDeltaVee (btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof)

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)

Protected Attributes
btMultiBody *	m_bodyA

btMultiBody *	m_bodyB

int	m_linkA

int	m_linkB

int	m_numRows

int	m_jacSizeA

int	m_jacSizeBoth

int	m_posOffset

bool	m_isUnilateral

int	m_numDofsFinalized

btScalar	m_maxAppliedImpulse

btAlignedObjectArray< btScalar >	m_data

Detailed Description

Definition at line 42 of file btMultiBodyConstraint.h.

Constructor & Destructor Documentation

btMultiBodyConstraint::btMultiBodyConstraint	(	btMultiBody *	bodyA,
		btMultiBody *	bodyB,
		int	linkA,
		int	linkB,
		int	numRows,
		bool	isUnilateral
	)

Definition at line 7 of file btMultiBodyConstraint.cpp.

btMultiBodyConstraint::~btMultiBodyConstraint ( )

virtual

Definition at line 45 of file btMultiBodyConstraint.cpp.

Member Function Documentation

void btMultiBodyConstraint::allocateJacobiansMultiDof ( )

Definition at line 37 of file btMultiBodyConstraint.cpp.

void btMultiBodyConstraint::applyDeltaVee	(	btMultiBodyJacobianData &	data,
		btScalar *	delta_vee,
		btScalar	impulse,
		int	velocityIndex,
		int	ndof
	)

protected

Definition at line 49 of file btMultiBodyConstraint.cpp.

btMultiBodyConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

virtual void btMultiBodyConstraint::createConstraintRows	(	btMultiBodyConstraintArray &	constraintRows,
		btMultiBodyJacobianData &	data,
		const btContactSolverInfo &	infoGlobal
	)

pure virtual

Implemented in btMultiBodyGearConstraint, btMultiBodyPoint2Point, btMultiBodySliderConstraint, btMultiBodyFixedConstraint, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

virtual void btMultiBodyConstraint::debugDraw ( class btIDebugDraw * drawer )

pure virtual

Implemented in btMultiBodySliderConstraint, btMultiBodyGearConstraint, btMultiBodyFixedConstraint, btMultiBodyJointMotor, btMultiBodyPoint2Point, and btMultiBodyJointLimitConstraint.

btScalar btMultiBodyConstraint::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`
	)

protected

warm starting (or zero if disabled)

Definition at line 55 of file btMultiBodyConstraint.cpp.

virtual void btMultiBodyConstraint::finalizeMultiDof ( )

pure virtual

Implemented in btMultiBodyGearConstraint, btMultiBodyPoint2Point, btMultiBodySliderConstraint, btMultiBodyFixedConstraint, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

btScalar btMultiBodyConstraint::getAppliedImpulse ( int dof )

inline

Definition at line 138 of file btMultiBodyConstraint.h.

virtual int btMultiBodyConstraint::getIslandIdA ( ) const

pure virtual

Implemented in btMultiBodyGearConstraint, btMultiBodyPoint2Point, btMultiBodySliderConstraint, btMultiBodyFixedConstraint, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

virtual int btMultiBodyConstraint::getIslandIdB ( ) const

pure virtual

Implemented in btMultiBodyGearConstraint, btMultiBodyPoint2Point, btMultiBodySliderConstraint, btMultiBodyFixedConstraint, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

int btMultiBodyConstraint::getLinkA ( ) const

inline

Definition at line 122 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::getLinkB ( ) const

inline

Definition at line 126 of file btMultiBodyConstraint.h.

btScalar btMultiBodyConstraint::getMaxAppliedImpulse ( ) const

inline

Definition at line 183 of file btMultiBodyConstraint.h.

btMultiBody* btMultiBodyConstraint::getMultiBodyA ( )

inline

Definition at line 113 of file btMultiBodyConstraint.h.

btMultiBody* btMultiBodyConstraint::getMultiBodyB ( )

inline

Definition at line 117 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::getNumRows ( ) const

inline

Definition at line 108 of file btMultiBodyConstraint.h.

btScalar btMultiBodyConstraint::getPosition ( int row ) const

inline

Definition at line 147 of file btMultiBodyConstraint.h.

void btMultiBodyConstraint::internalSetAppliedImpulse	(	int	dof,
		btScalar	appliedImpulse
	)

inline

Definition at line 130 of file btMultiBodyConstraint.h.

bool btMultiBodyConstraint::isUnilateral ( ) const

inline

Definition at line 158 of file btMultiBodyConstraint.h.

btScalar* btMultiBodyConstraint::jacobianA ( int row )

inline

Definition at line 166 of file btMultiBodyConstraint.h.

const btScalar* btMultiBodyConstraint::jacobianA ( int row ) const

inline

Definition at line 170 of file btMultiBodyConstraint.h.

btScalar* btMultiBodyConstraint::jacobianB ( int row )

inline

Definition at line 174 of file btMultiBodyConstraint.h.

const btScalar* btMultiBodyConstraint::jacobianB ( int row ) const

inline

Definition at line 178 of file btMultiBodyConstraint.h.

virtual void btMultiBodyConstraint::setErp ( btScalar erp )

inlinevirtual

Reimplemented in btMultiBodyGearConstraint, and btMultiBodyJointMotor.

Definition at line 197 of file btMultiBodyConstraint.h.

virtual void btMultiBodyConstraint::setFrameInB ( const btMatrix3x3 & frameInB )

inlinevirtual

Reimplemented in btMultiBodyGearConstraint, btMultiBodySliderConstraint, and btMultiBodyFixedConstraint.

Definition at line 96 of file btMultiBodyConstraint.h.

virtual void btMultiBodyConstraint::setGearAuxLink ( int gearAuxLink )

inlinevirtual

Reimplemented in btMultiBodyGearConstraint.

Definition at line 195 of file btMultiBodyConstraint.h.

virtual void btMultiBodyConstraint::setGearRatio ( btScalar ratio )

inlinevirtual

Reimplemented in btMultiBodyGearConstraint.

Definition at line 194 of file btMultiBodyConstraint.h.

void btMultiBodyConstraint::setMaxAppliedImpulse ( btScalar maxImp )

inline

Definition at line 187 of file btMultiBodyConstraint.h.

virtual void btMultiBodyConstraint::setPivotInB ( const btVector3 & pivotInB )

inlinevirtual

Reimplemented in btMultiBodyGearConstraint, btMultiBodySliderConstraint, btMultiBodyFixedConstraint, and btMultiBodyPoint2Point.

Definition at line 97 of file btMultiBodyConstraint.h.

void btMultiBodyConstraint::setPosition	(	int	row,
		btScalar	pos
	)

inline

Definition at line 152 of file btMultiBodyConstraint.h.

virtual void btMultiBodyConstraint::setRelativePositionTarget ( btScalar relPosTarget )

inlinevirtual

Reimplemented in btMultiBodyGearConstraint.

Definition at line 196 of file btMultiBodyConstraint.h.

void btMultiBodyConstraint::updateJacobianSizes ( )

Definition at line 22 of file btMultiBodyConstraint.cpp.

Member Data Documentation

btMultiBody* btMultiBodyConstraint::m_bodyA

protected

Definition at line 46 of file btMultiBodyConstraint.h.

btMultiBody* btMultiBodyConstraint::m_bodyB

protected

Definition at line 47 of file btMultiBodyConstraint.h.

btAlignedObjectArray<btScalar> btMultiBodyConstraint::m_data

protected

Definition at line 66 of file btMultiBodyConstraint.h.

bool btMultiBodyConstraint::m_isUnilateral

protected

Definition at line 56 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_jacSizeA

protected

Definition at line 52 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_jacSizeBoth

protected

Definition at line 53 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_linkA

protected

Definition at line 48 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_linkB

protected

Definition at line 49 of file btMultiBodyConstraint.h.

btScalar btMultiBodyConstraint::m_maxAppliedImpulse

protected

Definition at line 58 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_numDofsFinalized

protected

Definition at line 57 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_numRows

protected

Definition at line 51 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_posOffset

protected

Definition at line 54 of file btMultiBodyConstraint.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation