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

#include <btMultiBodyJointLimitConstraint.h>

Inheritance diagram for btMultiBodyJointLimitConstraint:
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Public Member Functions

 btMultiBodyJointLimitConstraint (btMultiBody *body, int link, btScalar lower, btScalar upper)
 This file was written by Erwin Coumans. More...
 
virtual ~btMultiBodyJointLimitConstraint ()
 
virtual void finalizeMultiDof ()
 
virtual int getIslandIdA () const
 
virtual int getIslandIdB () const
 
virtual void createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
 
virtual void debugDraw (class btIDebugDraw *drawer)
 
- Public Member Functions inherited from btMultiBodyConstraint
 btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral)
 
virtual ~btMultiBodyConstraint ()
 
void updateJacobianSizes ()
 
void allocateJacobiansMultiDof ()
 
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)
 

Protected Attributes

btScalar m_lowerBound
 
btScalar m_upperBound
 
- Protected Attributes inherited from btMultiBodyConstraint
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
 

Additional Inherited Members

- Protected Member Functions inherited from btMultiBodyConstraint
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)
 

Detailed Description

Definition at line 22 of file btMultiBodyJointLimitConstraint.h.

Constructor & Destructor Documentation

btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint ( btMultiBody body,
int  link,
btScalar  lower,
btScalar  upper 
)

This file was written by Erwin Coumans.

Definition at line 25 of file btMultiBodyJointLimitConstraint.cpp.

btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint ( )
virtual

Definition at line 52 of file btMultiBodyJointLimitConstraint.cpp.

Member Function Documentation

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

Implements btMultiBodyConstraint.

Definition at line 91 of file btMultiBodyJointLimitConstraint.cpp.

virtual void btMultiBodyJointLimitConstraint::debugDraw ( class btIDebugDraw drawer)
inlinevirtual

Implements btMultiBodyConstraint.

Definition at line 42 of file btMultiBodyJointLimitConstraint.h.

void btMultiBodyJointLimitConstraint::finalizeMultiDof ( )
virtual

Implements btMultiBodyConstraint.

Definition at line 34 of file btMultiBodyJointLimitConstraint.cpp.

int btMultiBodyJointLimitConstraint::getIslandIdA ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 56 of file btMultiBodyJointLimitConstraint.cpp.

int btMultiBodyJointLimitConstraint::getIslandIdB ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 72 of file btMultiBodyJointLimitConstraint.cpp.

Member Data Documentation

btScalar btMultiBodyJointLimitConstraint::m_lowerBound
protected

Definition at line 26 of file btMultiBodyJointLimitConstraint.h.

btScalar btMultiBodyJointLimitConstraint::m_upperBound
protected

Definition at line 27 of file btMultiBodyJointLimitConstraint.h.


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