Bullet Collision Detection & Physics Library
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
btMultiBodyConstraint Class Referenceabstract

#include <btMultiBodyConstraint.h>

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Public Member Functions

 btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral)
 
virtual ~btMultiBodyConstraint ()
 
void updateJacobianSizes ()
 
void allocateJacobiansMultiDof ()
 
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
 
btMultiBodygetMultiBodyA ()
 
btMultiBodygetMultiBodyB ()
 
void internalSetAppliedImpulse (int dof, btScalar appliedImpulse)
 
btScalar getAppliedImpulse (int dof)
 
btScalar getPosition (int row) const
 
void setPosition (int row, btScalar pos)
 
bool isUnilateral () const
 
btScalarjacobianA (int row)
 
const btScalarjacobianA (int row) const
 
btScalarjacobianB (int row)
 
const btScalarjacobianB (int row) const
 
btScalar getMaxAppliedImpulse () const
 
void setMaxAppliedImpulse (btScalar maxImp)
 
virtual void debugDraw (class btIDebugDraw *drawer)=0
 

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 &contactNormalOnB, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)
 

Protected Attributes

btMultiBodym_bodyA
 
btMultiBodym_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< btScalarm_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 51 of file btMultiBodyConstraint.cpp.

Member Function Documentation

void btMultiBodyConstraint::allocateJacobiansMultiDof ( )

Definition at line 43 of file btMultiBodyConstraint.cpp.

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

Definition at line 55 of file btMultiBodyConstraint.cpp.

virtual void btMultiBodyConstraint::createConstraintRows ( btMultiBodyConstraintArray constraintRows,
btMultiBodyJacobianData data,
const btContactSolverInfo infoGlobal 
)
pure virtual
virtual void btMultiBodyConstraint::debugDraw ( class btIDebugDraw drawer)
pure virtual
btScalar btMultiBodyConstraint::fillMultiBodyConstraint ( btMultiBodySolverConstraint solverConstraint,
btMultiBodyJacobianData data,
btScalar jacOrgA,
btScalar jacOrgB,
const btVector3 contactNormalOnB,
const btVector3 posAworld,
const btVector3 posBworld,
btScalar  posError,
const btContactSolverInfo infoGlobal,
btScalar  lowerLimit,
btScalar  upperLimit,
btScalar  relaxation = 1.f,
bool  isFriction = false,
btScalar  desiredVelocity = 0,
btScalar  cfmSlip = 0 
)
protected

warm starting (or zero if disabled)

Definition at line 61 of file btMultiBodyConstraint.cpp.

virtual void btMultiBodyConstraint::finalizeMultiDof ( )
pure virtual
btScalar btMultiBodyConstraint::getAppliedImpulse ( int  dof)
inline

Definition at line 119 of file btMultiBodyConstraint.h.

virtual int btMultiBodyConstraint::getIslandIdA ( ) const
pure virtual
virtual int btMultiBodyConstraint::getIslandIdB ( ) const
pure virtual
btScalar btMultiBodyConstraint::getMaxAppliedImpulse ( ) const
inline

Definition at line 164 of file btMultiBodyConstraint.h.

btMultiBody* btMultiBodyConstraint::getMultiBodyA ( )
inline

Definition at line 103 of file btMultiBodyConstraint.h.

btMultiBody* btMultiBodyConstraint::getMultiBodyB ( )
inline

Definition at line 107 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::getNumRows ( ) const
inline

Definition at line 98 of file btMultiBodyConstraint.h.

btScalar btMultiBodyConstraint::getPosition ( int  row) const
inline

Definition at line 128 of file btMultiBodyConstraint.h.

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

Definition at line 112 of file btMultiBodyConstraint.h.

bool btMultiBodyConstraint::isUnilateral ( ) const
inline

Definition at line 139 of file btMultiBodyConstraint.h.

btScalar* btMultiBodyConstraint::jacobianA ( int  row)
inline

Definition at line 147 of file btMultiBodyConstraint.h.

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

Definition at line 151 of file btMultiBodyConstraint.h.

btScalar* btMultiBodyConstraint::jacobianB ( int  row)
inline

Definition at line 155 of file btMultiBodyConstraint.h.

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

Definition at line 159 of file btMultiBodyConstraint.h.

void btMultiBodyConstraint::setMaxAppliedImpulse ( btScalar  maxImp)
inline

Definition at line 168 of file btMultiBodyConstraint.h.

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

Definition at line 133 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: