btMultiBodyPoint2Point Class Reference

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

#include <btMultiBodyPoint2Point.h>

Inheritance diagram for btMultiBodyPoint2Point:

Collaboration diagram for btMultiBodyPoint2Point:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	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 btVector3 &	getPivotInB () const
virtual void	setPivotInB (const btVector3 &pivotInB)
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
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 25 of file btMultiBodyPoint2Point.h.

Constructor & Destructor Documentation

btMultiBodyPoint2Point() [1/2]

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

Definition at line 29 of file btMultiBodyPoint2Point.cpp.

btMultiBodyPoint2Point() [2/2]

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::~btMultiBodyPoint2Point ( )

virtual

Definition at line 55 of file btMultiBodyPoint2Point.cpp.

Member Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

btMultiBodyPoint2Point::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

createConstraintRows()

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

virtual

Implements btMultiBodyConstraint.

Definition at line 101 of file btMultiBodyPoint2Point.cpp.

debugDraw()

void btMultiBodyPoint2Point::debugDraw ( class btIDebugDraw *  drawer )

virtual

Implements btMultiBodyConstraint.

Definition at line 191 of file btMultiBodyPoint2Point.cpp.

finalizeMultiDof()

void btMultiBodyPoint2Point::finalizeMultiDof ( )

virtual

Implements btMultiBodyConstraint.

Definition at line 49 of file btMultiBodyPoint2Point.cpp.

getIslandIdA()

int btMultiBodyPoint2Point::getIslandIdA ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 60 of file btMultiBodyPoint2Point.cpp.

getIslandIdB()

int btMultiBodyPoint2Point::getIslandIdB ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 79 of file btMultiBodyPoint2Point.cpp.

getPivotInB()

const btVector3 & btMultiBodyPoint2Point::getPivotInB ( ) const

inline

Definition at line 53 of file btMultiBodyPoint2Point.h.

setPivotInB()

virtual void btMultiBodyPoint2Point::setPivotInB ( const btVector3 &  pivotInB )

inlinevirtual

Reimplemented from btMultiBodyConstraint.

Definition at line 58 of file btMultiBodyPoint2Point.h.

Member Data Documentation

m_pivotInA

btVector3 btMultiBodyPoint2Point::m_pivotInA

protected

Definition at line 31 of file btMultiBodyPoint2Point.h.

m_pivotInB

btVector3 btMultiBodyPoint2Point::m_pivotInB

protected

Definition at line 32 of file btMultiBodyPoint2Point.h.

m_rigidBodyA

btRigidBody* btMultiBodyPoint2Point::m_rigidBodyA

protected

Definition at line 29 of file btMultiBodyPoint2Point.h.

m_rigidBodyB

btRigidBody* btMultiBodyPoint2Point::m_rigidBodyB

protected

Definition at line 30 of file btMultiBodyPoint2Point.h.

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

• btMultiBodyPoint2Point.h
• btMultiBodyPoint2Point.cpp