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

#include <btMultiBodyFixedConstraint.h>

Inheritance diagram for btMultiBodyFixedConstraint:

Collaboration diagram for btMultiBodyFixedConstraint:

[legend]

Public Member Functions
	btMultiBodyFixedConstraint (btMultiBody body, int link, btRigidBody bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)

	btMultiBodyFixedConstraint (btMultiBody bodyA, int linkA, btMultiBody bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)

virtual	~btMultiBodyFixedConstraint ()

virtual void	finalizeMultiDof ()

virtual int	getIslandIdA () const

virtual int	getIslandIdB () const

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

const btVector3 &	getPivotInA () const

void	setPivotInA (const btVector3 &pivotInA)

const btVector3 &	getPivotInB () const

virtual void	setPivotInB (const btVector3 &pivotInB)

const btMatrix3x3 &	getFrameInA () const

void	setFrameInA (const btMatrix3x3 &frameInA)

const btMatrix3x3 &	getFrameInB () const

virtual void	setFrameInB (const btMatrix3x3 &frameInB)

virtual void	debugDraw (class btIDebugDraw *drawer)

Public Member Functions inherited from btMultiBodyConstraint
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btMultiBodyConstraint (btMultiBody bodyA, btMultiBody bodyB, int linkA, int linkB, int numRows, bool isUnilateral)

virtual	~btMultiBodyConstraint ()

void	updateJacobianSizes ()

void	allocateJacobiansMultiDof ()

virtual void	setFrameInB (const btMatrix3x3 &frameInB)

virtual void	setPivotInB (const btVector3 &pivotInB)

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

btMultiBody *	getMultiBodyA ()

btMultiBody *	getMultiBodyB ()

void	internalSetAppliedImpulse (int dof, btScalar appliedImpulse)

btScalar	getAppliedImpulse (int dof)

btScalar	getPosition (int row) const

void	setPosition (int row, btScalar pos)

bool	isUnilateral () const

btScalar *	jacobianA (int row)

const btScalar *	jacobianA (int row) const

btScalar *	jacobianB (int row)

const btScalar *	jacobianB (int row) const

btScalar	getMaxAppliedImpulse () const

void	setMaxAppliedImpulse (btScalar maxImp)

virtual void	debugDraw (class btIDebugDraw *drawer)=0

virtual void	setGearRatio (btScalar ratio)

virtual void	setGearAuxLink (int gearAuxLink)

virtual void	setRelativePositionTarget (btScalar relPosTarget)

virtual void	setErp (btScalar erp)

Protected Attributes
btRigidBody *	m_rigidBodyA

btRigidBody *	m_rigidBodyB

btVector3	m_pivotInA

btVector3	m_pivotInB

btMatrix3x3	m_frameInA

btMatrix3x3	m_frameInB

Protected Attributes inherited from btMultiBodyConstraint
btMultiBody *	m_bodyA

btMultiBody *	m_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< btScalar >	m_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 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, 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 23 of file btMultiBodyFixedConstraint.h.

Constructor & Destructor Documentation

◆ btMultiBodyFixedConstraint() [1/2]

btMultiBodyFixedConstraint::btMultiBodyFixedConstraint	(	btMultiBody *	body,
		int	link,
		btRigidBody *	bodyB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB,
		const btMatrix3x3 &	frameInA,
		const btMatrix3x3 &	frameInB
	)

Definition at line 26 of file btMultiBodyFixedConstraint.cpp.

◆ btMultiBodyFixedConstraint() [2/2]

btMultiBodyFixedConstraint::btMultiBodyFixedConstraint	(	btMultiBody *	bodyA,
		int	linkA,
		btMultiBody *	bodyB,
		int	linkB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB,
		const btMatrix3x3 &	frameInA,
		const btMatrix3x3 &	frameInB
	)

Definition at line 38 of file btMultiBodyFixedConstraint.cpp.

◆ ~btMultiBodyFixedConstraint()

btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint ( )

virtual

Definition at line 56 of file btMultiBodyFixedConstraint.cpp.

Member Function Documentation

◆ createConstraintRows()

void btMultiBodyFixedConstraint::createConstraintRows	(	btMultiBodyConstraintArray &	constraintRows,
		btMultiBodyJacobianData &	data,
		const btContactSolverInfo &	infoGlobal
	)