Bullet Collision Detection & Physics Library
Public Member Functions | Protected Attributes | List of all members
btMultiBodyPoint2Point Class Reference

This file was written by Erwin Coumans. More...

#include <btMultiBodyPoint2Point.h>

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Public Member Functions

 btMultiBodyPoint2Point (btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB)
 
 btMultiBodyPoint2Point (btMultiBody *bodyA, int linkA, btMultiBody *bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB)
 
virtual ~btMultiBodyPoint2Point ()
 
virtual void finalizeMultiDof ()
 
virtual int getIslandIdA () const
 
virtual int getIslandIdB () const
 
virtual void createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
 
const btVector3getPivotInB () const
 
void setPivotInB (const btVector3 &pivotInB)
 
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

btRigidBodym_rigidBodyA
 
btRigidBodym_rigidBodyB
 
btVector3 m_pivotInA
 
btVector3 m_pivotInB
 
- 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

This file was written by Erwin Coumans.

Definition at line 25 of file btMultiBodyPoint2Point.h.

Constructor & Destructor Documentation

btMultiBodyPoint2Point::btMultiBodyPoint2Point ( btMultiBody body,
int  link,
btRigidBody bodyB,
const btVector3 pivotInA,
const btVector3 pivotInB 
)

Definition at line 29 of file btMultiBodyPoint2Point.cpp.

btMultiBodyPoint2Point::btMultiBodyPoint2Point ( btMultiBody bodyA,
int  linkA,
btMultiBody bodyB,
int  linkB,
const btVector3 pivotInA,
const btVector3 pivotInB 
)

Definition at line 39 of file btMultiBodyPoint2Point.cpp.

btMultiBodyPoint2Point::~btMultiBodyPoint2Point ( )
virtual

Definition at line 55 of file btMultiBodyPoint2Point.cpp.

Member Function Documentation

void btMultiBodyPoint2Point::createConstraintRows ( btMultiBodyConstraintArray constraintRows,
btMultiBodyJacobianData data,
const btContactSolverInfo infoGlobal 
)
virtual

Implements btMultiBodyConstraint.

Definition at line 101 of file btMultiBodyPoint2Point.cpp.

void btMultiBodyPoint2Point::debugDraw ( class btIDebugDraw drawer)
virtual

Implements btMultiBodyConstraint.

Definition at line 191 of file btMultiBodyPoint2Point.cpp.

void btMultiBodyPoint2Point::finalizeMultiDof ( )
virtual

Implements btMultiBodyConstraint.

Definition at line 49 of file btMultiBodyPoint2Point.cpp.

int btMultiBodyPoint2Point::getIslandIdA ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 60 of file btMultiBodyPoint2Point.cpp.

int btMultiBodyPoint2Point::getIslandIdB ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 79 of file btMultiBodyPoint2Point.cpp.

const btVector3& btMultiBodyPoint2Point::getPivotInB ( ) const
inline

Definition at line 51 of file btMultiBodyPoint2Point.h.

void btMultiBodyPoint2Point::setPivotInB ( const btVector3 pivotInB)
inline

Definition at line 56 of file btMultiBodyPoint2Point.h.

Member Data Documentation

btVector3 btMultiBodyPoint2Point::m_pivotInA
protected

Definition at line 31 of file btMultiBodyPoint2Point.h.

btVector3 btMultiBodyPoint2Point::m_pivotInB
protected

Definition at line 32 of file btMultiBodyPoint2Point.h.

btRigidBody* btMultiBodyPoint2Point::m_rigidBodyA
protected

Definition at line 29 of file btMultiBodyPoint2Point.h.

btRigidBody* btMultiBodyPoint2Point::m_rigidBodyB
protected

Definition at line 30 of file btMultiBodyPoint2Point.h.


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