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

#include <btMultiBodyJointMotor.h>

Inheritance diagram for btMultiBodyJointMotor:
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Public Member Functions

 btMultiBodyJointMotor (btMultiBody *body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
 This file was written by Erwin Coumans. More...
 
 btMultiBodyJointMotor (btMultiBody *body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse)
 
virtual ~btMultiBodyJointMotor ()
 
virtual void finalizeMultiDof ()
 
virtual int getIslandIdA () const
 
virtual int getIslandIdB () const
 
virtual void createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
 
virtual void setVelocityTarget (btScalar velTarget)
 
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_desiredVelocity
 
- 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 24 of file btMultiBodyJointMotor.h.

Constructor & Destructor Documentation

btMultiBodyJointMotor::btMultiBodyJointMotor ( btMultiBody body,
int  link,
btScalar  desiredVelocity,
btScalar  maxMotorImpulse 
)

This file was written by Erwin Coumans.

Definition at line 24 of file btMultiBodyJointMotor.cpp.

btMultiBodyJointMotor::btMultiBodyJointMotor ( btMultiBody body,
int  link,
int  linkDoF,
btScalar  desiredVelocity,
btScalar  maxMotorImpulse 
)

Definition at line 51 of file btMultiBodyJointMotor.cpp.

btMultiBodyJointMotor::~btMultiBodyJointMotor ( )
virtual

Definition at line 61 of file btMultiBodyJointMotor.cpp.

Member Function Documentation

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

Implements btMultiBodyConstraint.

Definition at line 94 of file btMultiBodyJointMotor.cpp.

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

Implements btMultiBodyConstraint.

Definition at line 50 of file btMultiBodyJointMotor.h.

void btMultiBodyJointMotor::finalizeMultiDof ( )
virtual

Implements btMultiBodyConstraint.

Definition at line 36 of file btMultiBodyJointMotor.cpp.

int btMultiBodyJointMotor::getIslandIdA ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 65 of file btMultiBodyJointMotor.cpp.

int btMultiBodyJointMotor::getIslandIdB ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 78 of file btMultiBodyJointMotor.cpp.

virtual void btMultiBodyJointMotor::setVelocityTarget ( btScalar  velTarget)
inlinevirtual

Definition at line 45 of file btMultiBodyJointMotor.h.

Member Data Documentation

btScalar btMultiBodyJointMotor::m_desiredVelocity
protected

Definition at line 29 of file btMultiBodyJointMotor.h.


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