Bullet Collision Detection & Physics Library
Public Types | Public Member Functions | Public Attributes | List of all members
btMultibodyLink Struct Reference

#include <btMultiBodyLink.h>

Collaboration diagram for btMultibodyLink:
Collaboration graph
[legend]

Public Types

enum  eFeatherstoneJointType {
  eRevolute = 0,
  ePrismatic = 1,
  eSpherical = 2,
  ePlanar = 3,
  eFixed = 4,
  eInvalid
}
 

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
void setAxisTop (int dof, const btVector3 &axis)
 
void setAxisBottom (int dof, const btVector3 &axis)
 
void setAxisTop (int dof, const btScalar &x, const btScalar &y, const btScalar &z)
 
void setAxisBottom (int dof, const btScalar &x, const btScalar &y, const btScalar &z)
 
const btVector3getAxisTop (int dof) const
 
const btVector3getAxisBottom (int dof) const
 
 btMultibodyLink ()
 
void updateCache ()
 
void updateCacheMultiDof (btScalar *pq=0)
 

Public Attributes

btScalar m_mass
 
btVector3 m_inertiaLocal
 
int m_parent
 
btQuaternion m_zeroRotParentToThis
 
btVector3 m_dVector
 
btVector3 m_eVector
 
btSpatialMotionVector m_absFrameTotVelocity
 
btSpatialMotionVector m_absFrameLocVelocity
 
btSpatialMotionVector m_axes [6]
 
int m_dofOffset
 
int m_cfgOffset
 
btQuaternion m_cachedRotParentToThis
 
btVector3 m_cachedRVector
 
btVector3 m_appliedForce
 
btVector3 m_appliedTorque
 
btVector3 m_appliedConstraintForce
 
btVector3 m_appliedConstraintTorque
 
btScalar m_jointPos [7]
 
btScalar m_jointTorque [6]
 
class btMultiBodyLinkColliderm_collider
 
int m_flags
 
int m_dofCount
 
int m_posVarCount
 
eFeatherstoneJointType m_jointType
 
struct btMultiBodyJointFeedbackm_jointFeedback
 
btTransform m_cachedWorldTransform
 
const char * m_linkName
 
const char * m_jointName
 

Detailed Description

Definition at line 47 of file btMultiBodyLink.h.

Member Enumeration Documentation

Enumerator
eRevolute 
ePrismatic 
eSpherical 
ePlanar 
eFixed 
eInvalid 

Definition at line 71 of file btMultiBodyLink.h.

Constructor & Destructor Documentation

btMultibodyLink::btMultibodyLink ( )
inline

Definition at line 137 of file btMultiBodyLink.h.

Member Function Documentation

btMultibodyLink::BT_DECLARE_ALIGNED_ALLOCATOR ( )
const btVector3& btMultibodyLink::getAxisBottom ( int  dof) const
inline

Definition at line 102 of file btMultiBodyLink.h.

const btVector3& btMultibodyLink::getAxisTop ( int  dof) const
inline

Definition at line 101 of file btMultiBodyLink.h.

void btMultibodyLink::setAxisBottom ( int  dof,
const btVector3 axis 
)
inline

Definition at line 98 of file btMultiBodyLink.h.

void btMultibodyLink::setAxisBottom ( int  dof,
const btScalar x,
const btScalar y,
const btScalar z 
)
inline

Definition at line 100 of file btMultiBodyLink.h.

void btMultibodyLink::setAxisTop ( int  dof,
const btVector3 axis 
)
inline

Definition at line 97 of file btMultiBodyLink.h.

void btMultibodyLink::setAxisTop ( int  dof,
const btScalar x,
const btScalar y,
const btScalar z 
)
inline

Definition at line 99 of file btMultiBodyLink.h.

void btMultibodyLink::updateCache ( )
inline

Definition at line 168 of file btMultiBodyLink.h.

void btMultibodyLink::updateCacheMultiDof ( btScalar pq = 0)
inline

Definition at line 182 of file btMultiBodyLink.h.

Member Data Documentation

btSpatialMotionVector btMultibodyLink::m_absFrameLocVelocity

Definition at line 69 of file btMultiBodyLink.h.

btSpatialMotionVector btMultibodyLink::m_absFrameTotVelocity

Definition at line 69 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_appliedConstraintForce

Definition at line 112 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_appliedConstraintTorque

Definition at line 113 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_appliedForce

Definition at line 109 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_appliedTorque

Definition at line 110 of file btMultiBodyLink.h.

btSpatialMotionVector btMultibodyLink::m_axes[6]

Definition at line 96 of file btMultiBodyLink.h.

btQuaternion btMultibodyLink::m_cachedRotParentToThis

Definition at line 106 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_cachedRVector

Definition at line 107 of file btMultiBodyLink.h.

btTransform btMultibodyLink::m_cachedWorldTransform

Definition at line 131 of file btMultiBodyLink.h.

int btMultibodyLink::m_cfgOffset

Definition at line 104 of file btMultiBodyLink.h.

class btMultiBodyLinkCollider* btMultibodyLink::m_collider

Definition at line 121 of file btMultiBodyLink.h.

int btMultibodyLink::m_dofCount

Definition at line 125 of file btMultiBodyLink.h.

int btMultibodyLink::m_dofOffset

Definition at line 104 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_dVector

Definition at line 59 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_eVector

Definition at line 67 of file btMultiBodyLink.h.

int btMultibodyLink::m_flags

Definition at line 122 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_inertiaLocal

Definition at line 53 of file btMultiBodyLink.h.

struct btMultiBodyJointFeedback* btMultibodyLink::m_jointFeedback

Definition at line 129 of file btMultiBodyLink.h.

const char* btMultibodyLink::m_jointName

Definition at line 134 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_jointPos[7]

Definition at line 115 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_jointTorque[6]

Definition at line 119 of file btMultiBodyLink.h.

eFeatherstoneJointType btMultibodyLink::m_jointType

Definition at line 127 of file btMultiBodyLink.h.

const char* btMultibodyLink::m_linkName

Definition at line 133 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_mass

Definition at line 52 of file btMultiBodyLink.h.

int btMultibodyLink::m_parent

Definition at line 55 of file btMultiBodyLink.h.

int btMultibodyLink::m_posVarCount

Definition at line 125 of file btMultiBodyLink.h.

btQuaternion btMultibodyLink::m_zeroRotParentToThis

Definition at line 57 of file btMultiBodyLink.h.


The documentation for this struct was generated from the following file: