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, int type)
virtual	~btMultiBodyConstraint ()
void	updateJacobianSizes ()
void	allocateJacobiansMultiDof ()
int	getConstraintType () const
virtual void	setFrameInB (const btMatrix3x3 &frameInB)
int	getNumRows () const
btMultiBody *	getMultiBodyA ()
btMultiBody *	getMultiBodyB ()
int	getLinkA () const
int	getLinkB () const
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	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_type
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, btScalar damping=1.0)

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 102 of file btMultiBodyPoint2Point.cpp.

debugDraw()

void btMultiBodyPoint2Point::debugDraw ( class btIDebugDraw * drawer )

virtual

Implements btMultiBodyConstraint.

Definition at line 186 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 59 of file btMultiBodyPoint2Point.cpp.

getIslandIdB()

int btMultiBodyPoint2Point::getIslandIdB ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 81 of file btMultiBodyPoint2Point.cpp.

getPivotInB()

const btVector3 & btMultiBodyPoint2Point::getPivotInB ( ) const

inline

Definition at line 51 of file btMultiBodyPoint2Point.h.

setPivotInB()

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

inlinevirtual

Reimplemented from btMultiBodyConstraint.

Definition at line 56 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