Bullet Collision Detection & Physics Library
Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
btMultiBody Class Reference

#include <btMultiBody.h>

Collaboration diagram for btMultiBody:
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btMultiBody (int n_links, btScalar mass, const btVector3 &inertia, bool fixedBase, bool canSleep, bool deprecatedMultiDof=true)
 
virtual ~btMultiBody ()
 
void setupFixed (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true)
 
void setupPrismatic (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision)
 
void setupRevolute (int i, btScalar mass, const btVector3 &inertia, int parentIndex, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)
 
void setupSpherical (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)
 
void setupPlanar (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &rotationAxis, const btVector3 &parentComToThisComOffset, bool disableParentCollision=false)
 
const btMultibodyLink & getLink (int index) const
 
btMultibodyLink & getLink (int index)
 
void setBaseCollider (btMultiBodyLinkCollider *collider)
 
const btMultiBodyLinkCollider * getBaseCollider () const
 
btMultiBodyLinkCollider * getBaseCollider ()
 
const btMultiBodyLinkCollider * getLinkCollider (int index) const
 
btMultiBodyLinkCollider * getLinkCollider (int index)
 
int getParent (int link_num) const
 
int getNumLinks () const
 
int getNumDofs () const
 
int getNumPosVars () const
 
btScalar getBaseMass () const
 
const btVector3 & getBaseInertia () const
 
btScalar getLinkMass (int i) const
 
const btVector3 & getLinkInertia (int i) const
 
void setBaseMass (btScalar mass)
 
void setBaseInertia (const btVector3 &inertia)
 
const btVector3 & getBasePos () const
 
const btVector3 getBaseVel () const
 
const btQuaternion & getWorldToBaseRot () const
 
const btVector3 & getInterpolateBasePos () const
 
const btQuaternion & getInterpolateWorldToBaseRot () const
 
btVector3 getBaseOmega () const
 
void setBasePos (const btVector3 &pos)
 
void setInterpolateBasePos (const btVector3 &pos)
 
void setBaseWorldTransform (const btTransform &tr)
 
btTransform getBaseWorldTransform () const
 
void setInterpolateBaseWorldTransform (const btTransform &tr)
 
btTransform getInterpolateBaseWorldTransform () const
 
void setBaseVel (const btVector3 &vel)
 
void setWorldToBaseRot (const btQuaternion &rot)
 
void setInterpolateWorldToBaseRot (const btQuaternion &rot)
 
void setBaseOmega (const btVector3 &omega)
 
void saveKinematicState (btScalar timeStep)
 
btScalar getJointPos (int i) const
 
btScalar getJointVel (int i) const
 
btScalar * getJointVelMultiDof (int i)
 
btScalar * getJointPosMultiDof (int i)
 
const btScalar * getJointVelMultiDof (int i) const
 
const btScalar * getJointPosMultiDof (int i) const
 
void setJointPos (int i, btScalar q)
 
void setJointVel (int i, btScalar qdot)
 
void setJointPosMultiDof (int i, const double *q)
 
void setJointVelMultiDof (int i, const double *qdot)
 
void setJointPosMultiDof (int i, const float *q)
 
void setJointVelMultiDof (int i, const float *qdot)
 
const btScalar * getVelocityVector () const
 
const btScalar * getDeltaVelocityVector () const
 
const btScalar * getSplitVelocityVector () const
 
const btVector3 & getRVector (int i) const
 
const btQuaternion & getParentToLocalRot (int i) const
 
const btVector3 & getInterpolateRVector (int i) const
 
const btQuaternion & getInterpolateParentToLocalRot (int i) const
 
btVector3 localPosToWorld (int i, const btVector3 &local_pos) const
 
btVector3 localDirToWorld (int i, const btVector3 &local_dir) const
 
btVector3 worldPosToLocal (int i, const btVector3 &world_pos) const
 
btVector3 worldDirToLocal (int i, const btVector3 &world_dir) const
 
btMatrix3x3 localFrameToWorld (int i, const btMatrix3x3 &local_frame) const
 
void clearForcesAndTorques ()
 
void clearConstraintForces ()
 
void clearVelocities ()
 
void addBaseForce (const btVector3 &f)
 
void addBaseTorque (const btVector3 &t)
 
void addLinkForce (int i, const btVector3 &f)
 
void addLinkTorque (int i, const btVector3 &t)
 
void addBaseConstraintForce (const btVector3 &f)
 
void addBaseConstraintTorque (const btVector3 &t)
 
void addLinkConstraintForce (int i, const btVector3 &f)
 
void addLinkConstraintTorque (int i, const btVector3 &t)
 
void addJointTorque (int i, btScalar Q)
 
void addJointTorqueMultiDof (int i, int dof, btScalar Q)
 
void addJointTorqueMultiDof (int i, const btScalar *Q)
 
const btVector3 & getBaseForce () const
 
const btVector3 & getBaseTorque () const
 
const btVector3 & getLinkForce (int i) const
 
const btVector3 & getLinkTorque (int i) const
 
btScalar getJointTorque (int i) const
 
btScalar * getJointTorqueMultiDof (int i)
 
void computeAccelerationsArticulatedBodyAlgorithmMultiDof (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m, bool isConstraintPass, bool jointFeedbackInWorldSpace, bool jointFeedbackInJointFrame)
 
void calcAccelerationDeltasMultiDof (const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const
 stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
 
void applyDeltaVeeMultiDof2 (const btScalar *delta_vee, btScalar multiplier)
 
void applyDeltaSplitVeeMultiDof (const btScalar *delta_vee, btScalar multiplier)
 
void addSplitV ()
 
void substractSplitV ()
 
void processDeltaVeeMultiDof2 ()
 
void applyDeltaVeeMultiDof (const btScalar *delta_vee, btScalar multiplier)
 
void stepPositionsMultiDof (btScalar dt, btScalar *pq=0, btScalar *pqd=0)
 
void predictPositionsMultiDof (btScalar dt)
 
void fillContactJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const
 
void fillConstraintJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal_ang, const btVector3 &normal_lin, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const
 
void setCanSleep (bool canSleep)
 
bool getCanSleep () const
 
bool getCanWakeup () const
 
void setCanWakeup (bool canWakeup)
 
bool isAwake () const
 
void wakeUp ()
 
void goToSleep ()
 
void checkMotionAndSleepIfRequired (btScalar timestep)
 
bool hasFixedBase () const
 
bool isBaseKinematic () const
 
bool isBaseStaticOrKinematic () const
 
void setBaseDynamicType (int dynamicType)
 
void setFixedBase (bool fixedBase)
 
int getCompanionId () const
 
void setCompanionId (int id)
 
void setNumLinks (int numLinks)
 
btScalar getLinearDamping () const
 
void setLinearDamping (btScalar damp)
 
btScalar getAngularDamping () const
 
void setAngularDamping (btScalar damp)
 
bool getUseGyroTerm () const
 
void setUseGyroTerm (bool useGyro)
 
btScalar getMaxCoordinateVelocity () const
 
void setMaxCoordinateVelocity (btScalar maxVel)
 
btScalar getMaxAppliedImpulse () const
 
void setMaxAppliedImpulse (btScalar maxImp)
 
void setHasSelfCollision (bool hasSelfCollision)
 
bool hasSelfCollision () const
 
void finalizeMultiDof ()
 
void useRK4Integration (bool use)
 
bool isUsingRK4Integration () const
 
void useGlobalVelocities (bool use)
 
bool isUsingGlobalVelocities () const
 
bool isPosUpdated () const
 
void setPosUpdated (bool updated)
 
bool internalNeedsJointFeedback () const
 
void forwardKinematics (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin)
 
void compTreeLinkVelocities (btVector3 *omega, btVector3 *vel) const
 
void updateCollisionObjectWorldTransforms (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin)
 
void updateCollisionObjectInterpolationWorldTransforms (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin)
 
virtual int calculateSerializeBufferSize () const
 
virtual const char * serialize (void *dataBuffer, class btSerializer *serializer) const
 fills the dataBuffer and returns the struct name (and 0 on failure)
 
const char * getBaseName () const
 
void setBaseName (const char *name)
 memory of setBaseName needs to be manager by user
 
void * getUserPointer () const
 users can point to their objects, userPointer is not used by Bullet
 
int getUserIndex () const
 
int getUserIndex2 () const
 
void setUserPointer (void *userPointer)
 users can point to their objects, userPointer is not used by Bullet
 
void setUserIndex (int index)
 users can point to their objects, userPointer is not used by Bullet
 
void setUserIndex2 (int index)
 
void setLinkDynamicType (const int i, int type)
 
bool isLinkStaticOrKinematic (const int i) const
 
bool isLinkKinematic (const int i) const
 
bool isLinkAndAllAncestorsStaticOrKinematic (const int i) const
 
bool isLinkAndAllAncestorsKinematic (const int i) const
 
void setSleepThreshold (btScalar sleepThreshold)
 
void setSleepTimeout (btScalar sleepTimeout)
 

Static Public Member Functions

static void spatialTransform (const btMatrix3x3 &rotation_matrix, const btVector3 &displacement, const btVector3 &top_in, const btVector3 &bottom_in, btVector3 &top_out, btVector3 &bottom_out)
 

Private Member Functions

 btMultiBody (const btMultiBody &)
 
void operator= (const btMultiBody &)
 
void solveImatrix (const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar result[6]) const
 
void solveImatrix (const btSpatialForceVector &rhs, btSpatialMotionVector &result) const
 
void updateLinksDofOffsets ()
 
void mulMatrix (const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
 

Private Attributes

btMultiBodyLinkCollider * m_baseCollider
 
const char * m_baseName
 
btVector3 m_basePos
 
btVector3 m_basePos_interpolate
 
btQuaternion m_baseQuat
 
btQuaternion m_baseQuat_interpolate
 
btScalar m_baseMass
 
btVector3 m_baseInertia
 
btVector3 m_baseForce
 
btVector3 m_baseTorque
 
btVector3 m_baseConstraintForce
 
btVector3 m_baseConstraintTorque
 
btAlignedObjectArray< btMultibodyLink > m_links
 
btAlignedObjectArray< btScalar > m_splitV
 
btAlignedObjectArray< btScalar > m_deltaV
 
btAlignedObjectArray< btScalar > m_realBuf
 
btAlignedObjectArray< btVector3 > m_vectorBuf
 
btAlignedObjectArray< btMatrix3x3 > m_matrixBuf
 
btMatrix3x3 m_cachedInertiaTopLeft
 
btMatrix3x3 m_cachedInertiaTopRight
 
btMatrix3x3 m_cachedInertiaLowerLeft
 
btMatrix3x3 m_cachedInertiaLowerRight
 
bool m_cachedInertiaValid
 
bool m_fixedBase
 
bool m_awake
 
bool m_canSleep
 
bool m_canWakeup
 
btScalar m_sleepTimer
 
btScalar m_sleepEpsilon
 
btScalar m_sleepTimeout
 
void * m_userObjectPointer
 
int m_userIndex2
 
int m_userIndex
 
int m_companionId
 
btScalar m_linearDamping
 
btScalar m_angularDamping
 
bool m_useGyroTerm
 
btScalar m_maxAppliedImpulse
 
btScalar m_maxCoordinateVelocity
 
bool m_hasSelfCollision
 
bool __posUpdated
 
int m_dofCount
 
int m_posVarCnt
 
bool m_useRK4
 
bool m_useGlobalVelocities
 
bool m_internalNeedsJointFeedback
 the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only
 
bool m_kinematic_calculate_velocity
 

Detailed Description

Definition at line 49 of file btMultiBody.h.

Constructor & Destructor Documentation

◆ btMultiBody() [1/2]

btMultiBody::btMultiBody ( int  n_links,
btScalar  mass,
const btVector3 &  inertia,
bool  fixedBase,
bool  canSleep,
bool  deprecatedMultiDof = true 
)

Definition at line 93 of file btMultiBody.cpp.

◆ ~btMultiBody()

btMultiBody::~btMultiBody ( )
virtual

Definition at line 150 of file btMultiBody.cpp.

◆ btMultiBody() [2/2]

btMultiBody::btMultiBody ( const btMultiBody &  )
private

Member Function Documentation

◆ addBaseConstraintForce()

void btMultiBody::addBaseConstraintForce ( const btVector3 &  f)
inline

Definition at line 363 of file btMultiBody.h.

◆ addBaseConstraintTorque()

void btMultiBody::addBaseConstraintTorque ( const btVector3 &  t)
inline

Definition at line 367 of file btMultiBody.h.

◆ addBaseForce()

void btMultiBody::addBaseForce ( const btVector3 &  f)
inline

Definition at line 355 of file btMultiBody.h.

◆ addBaseTorque()

void btMultiBody::addBaseTorque ( const btVector3 &  t)
inline

Definition at line 359 of file btMultiBody.h.

◆ addJointTorque()

void btMultiBody::addJointTorque ( int  i,
btScalar  Q 
)

Definition at line 644 of file btMultiBody.cpp.

◆ addJointTorqueMultiDof() [1/2]

void btMultiBody::addJointTorqueMultiDof ( int  i,
const btScalar *  Q 
)

Definition at line 654 of file btMultiBody.cpp.

◆ addJointTorqueMultiDof() [2/2]

void btMultiBody::addJointTorqueMultiDof ( int  i,
int  dof,
btScalar  Q 
)

Definition at line 649 of file btMultiBody.cpp.

◆ addLinkConstraintForce()

void btMultiBody::addLinkConstraintForce ( int  i,
const btVector3 &  f 
)

Definition at line 634 of file btMultiBody.cpp.

◆ addLinkConstraintTorque()

void btMultiBody::addLinkConstraintTorque ( int  i,
const btVector3 &  t 
)

Definition at line 639 of file btMultiBody.cpp.

◆ addLinkForce()

void btMultiBody::addLinkForce ( int  i,
const btVector3 &  f 
)

Definition at line 624 of file btMultiBody.cpp.

◆ addLinkTorque()

void btMultiBody::addLinkTorque ( int  i,
const btVector3 &  t 
)

Definition at line 629 of file btMultiBody.cpp.

◆ addSplitV()

void btMultiBody::addSplitV ( )
inline

Definition at line 442 of file btMultiBody.h.

◆ applyDeltaSplitVeeMultiDof()

void btMultiBody::applyDeltaSplitVeeMultiDof ( const btScalar *  delta_vee,
btScalar  multiplier 
)
inline

Definition at line 435 of file btMultiBody.h.

◆ applyDeltaVeeMultiDof()

void btMultiBody::applyDeltaVeeMultiDof ( const btScalar *  delta_vee,
btScalar  multiplier 
)
inline

Definition at line 465 of file btMultiBody.h.

◆ applyDeltaVeeMultiDof2()

void btMultiBody::applyDeltaVeeMultiDof2 ( const btScalar *  delta_vee,
btScalar  multiplier 
)
inline

Definition at line 428 of file btMultiBody.h.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btMultiBody::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calcAccelerationDeltasMultiDof()

void btMultiBody::calcAccelerationDeltasMultiDof ( const btScalar *  force,
btScalar *  output,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v 
) const

stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead

Definition at line 1432 of file btMultiBody.cpp.

◆ calculateSerializeBufferSize()

int btMultiBody::calculateSerializeBufferSize ( ) const
virtual

Definition at line 2283 of file btMultiBody.cpp.

◆ checkMotionAndSleepIfRequired()

void btMultiBody::checkMotionAndSleepIfRequired ( btScalar  timestep)

Definition at line 2091 of file btMultiBody.cpp.

◆ clearConstraintForces()

void btMultiBody::clearConstraintForces ( )

Definition at line 593 of file btMultiBody.cpp.

◆ clearForcesAndTorques()

void btMultiBody::clearForcesAndTorques ( )

Definition at line 604 of file btMultiBody.cpp.

◆ clearVelocities()

void btMultiBody::clearVelocities ( )

Definition at line 617 of file btMultiBody.cpp.

◆ compTreeLinkVelocities()

void btMultiBody::compTreeLinkVelocities ( btVector3 *  omega,
btVector3 *  vel 
) const

Definition at line 564 of file btMultiBody.cpp.

◆ computeAccelerationsArticulatedBodyAlgorithmMultiDof()

void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof ( btScalar  dt,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m,
bool  isConstraintPass,
bool  jointFeedbackInWorldSpace,
bool  jointFeedbackInJointFrame 
)

Definition at line 728 of file btMultiBody.cpp.

◆ fillConstraintJacobianMultiDof()

void btMultiBody::fillConstraintJacobianMultiDof ( int  link,
const btVector3 &  contact_point,
const btVector3 &  normal_ang,
const btVector3 &  normal_lin,
btScalar *  jac,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m 
) const

Definition at line 1937 of file btMultiBody.cpp.

◆ fillContactJacobianMultiDof()

void btMultiBody::fillContactJacobianMultiDof ( int  link,
const btVector3 &  contact_point,
const btVector3 &  normal,
btScalar *  jac,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m 
) const
inline

Definition at line 504 of file btMultiBody.h.

◆ finalizeMultiDof()

void btMultiBody::finalizeMultiDof ( )

Definition at line 347 of file btMultiBody.cpp.

◆ forwardKinematics()

void btMultiBody::forwardKinematics ( btAlignedObjectArray< btQuaternion > &  world_to_local,
btAlignedObjectArray< btVector3 > &  local_origin 
)

base + num m_links

Definition at line 2129 of file btMultiBody.cpp.

◆ getAngularDamping()

btScalar btMultiBody::getAngularDamping ( ) const
inline

Definition at line 597 of file btMultiBody.h.

◆ getBaseCollider() [1/2]

btMultiBodyLinkCollider * btMultiBody::getBaseCollider ( )
inline

Definition at line 132 of file btMultiBody.h.

◆ getBaseCollider() [2/2]

const btMultiBodyLinkCollider * btMultiBody::getBaseCollider ( ) const
inline

Definition at line 128 of file btMultiBody.h.

◆ getBaseForce()

const btVector3 & btMultiBody::getBaseForce ( ) const
inline

Definition at line 375 of file btMultiBody.h.

◆ getBaseInertia()

const btVector3 & btMultiBody::getBaseInertia ( ) const
inline

Definition at line 170 of file btMultiBody.h.

◆ getBaseMass()

btScalar btMultiBody::getBaseMass ( ) const
inline

Definition at line 169 of file btMultiBody.h.

◆ getBaseName()

const char * btMultiBody::getBaseName ( ) const
inline

Definition at line 673 of file btMultiBody.h.

◆ getBaseOmega()

btVector3 btMultiBody::getBaseOmega ( ) const
inline

Definition at line 208 of file btMultiBody.h.

◆ getBasePos()

const btVector3 & btMultiBody::getBasePos ( ) const
inline

Definition at line 185 of file btMultiBody.h.

◆ getBaseTorque()

const btVector3 & btMultiBody::getBaseTorque ( ) const
inline

Definition at line 376 of file btMultiBody.h.

◆ getBaseVel()

const btVector3 btMultiBody::getBaseVel ( ) const
inline

Definition at line 189 of file btMultiBody.h.

◆ getBaseWorldTransform()

btTransform btMultiBody::getBaseWorldTransform ( ) const
inline

Definition at line 228 of file btMultiBody.h.

◆ getCanSleep()

bool btMultiBody::getCanSleep ( ) const
inline

Definition at line 534 of file btMultiBody.h.

◆ getCanWakeup()

bool btMultiBody::getCanWakeup ( ) const
inline

Definition at line 539 of file btMultiBody.h.

◆ getCompanionId()

int btMultiBody::getCompanionId ( ) const
inline

Definition at line 574 of file btMultiBody.h.

◆ getDeltaVelocityVector()

const btScalar * btMultiBody::getDeltaVelocityVector ( ) const
inline

Definition at line 307 of file btMultiBody.h.

◆ getInterpolateBasePos()

const btVector3 & btMultiBody::getInterpolateBasePos ( ) const
inline

Definition at line 198 of file btMultiBody.h.

◆ getInterpolateBaseWorldTransform()

btTransform btMultiBody::getInterpolateBaseWorldTransform ( ) const
inline

Definition at line 242 of file btMultiBody.h.

◆ getInterpolateParentToLocalRot()

const btQuaternion & btMultiBody::getInterpolateParentToLocalRot ( int  i) const

Definition at line 465 of file btMultiBody.cpp.

◆ getInterpolateRVector()

const btVector3 & btMultiBody::getInterpolateRVector ( int  i) const

Definition at line 460 of file btMultiBody.cpp.

◆ getInterpolateWorldToBaseRot()

const btQuaternion & btMultiBody::getInterpolateWorldToBaseRot ( ) const
inline

Definition at line 202 of file btMultiBody.h.

◆ getJointPos()

btScalar btMultiBody::getJointPos ( int  i) const

Definition at line 378 of file btMultiBody.cpp.

◆ getJointPosMultiDof() [1/2]

btScalar * btMultiBody::getJointPosMultiDof ( int  i)

Definition at line 388 of file btMultiBody.cpp.

◆ getJointPosMultiDof() [2/2]

const btScalar * btMultiBody::getJointPosMultiDof ( int  i) const

Definition at line 398 of file btMultiBody.cpp.

◆ getJointTorque()

btScalar btMultiBody::getJointTorque ( int  i) const

Definition at line 670 of file btMultiBody.cpp.

◆ getJointTorqueMultiDof()

btScalar * btMultiBody::getJointTorqueMultiDof ( int  i)

Definition at line 675 of file btMultiBody.cpp.

◆ getJointVel()

btScalar btMultiBody::getJointVel ( int  i) const

Definition at line 383 of file btMultiBody.cpp.

◆ getJointVelMultiDof() [1/2]

btScalar * btMultiBody::getJointVelMultiDof ( int  i)

Definition at line 393 of file btMultiBody.cpp.

◆ getJointVelMultiDof() [2/2]

const btScalar * btMultiBody::getJointVelMultiDof ( int  i) const

Definition at line 403 of file btMultiBody.cpp.

◆ getLinearDamping()

btScalar btMultiBody::getLinearDamping ( ) const
inline

Definition at line 589 of file btMultiBody.h.

◆ getLink() [1/2]

btMultibodyLink & btMultiBody::getLink ( int  index)
inline

Definition at line 119 of file btMultiBody.h.

◆ getLink() [2/2]

const btMultibodyLink & btMultiBody::getLink ( int  index) const
inline

Definition at line 114 of file btMultiBody.h.

◆ getLinkCollider() [1/2]

btMultiBodyLinkCollider * btMultiBody::getLinkCollider ( int  index)
inline

Definition at line 146 of file btMultiBody.h.

◆ getLinkCollider() [2/2]

const btMultiBodyLinkCollider * btMultiBody::getLinkCollider ( int  index) const
inline

Definition at line 137 of file btMultiBody.h.

◆ getLinkForce()

const btVector3 & btMultiBody::getLinkForce ( int  i) const

Definition at line 660 of file btMultiBody.cpp.

◆ getLinkInertia()

const btVector3 & btMultiBody::getLinkInertia ( int  i) const

Definition at line 373 of file btMultiBody.cpp.

◆ getLinkMass()

btScalar btMultiBody::getLinkMass ( int  i) const

Definition at line 368 of file btMultiBody.cpp.

◆ getLinkTorque()

const btVector3 & btMultiBody::getLinkTorque ( int  i) const

Definition at line 665 of file btMultiBody.cpp.

◆ getMaxAppliedImpulse()

btScalar btMultiBody::getMaxAppliedImpulse ( ) const
inline

Definition at line 623 of file btMultiBody.h.

◆ getMaxCoordinateVelocity()

btScalar btMultiBody::getMaxCoordinateVelocity ( ) const
inline

Definition at line 614 of file btMultiBody.h.

◆ getNumDofs()

int btMultiBody::getNumDofs ( ) const
inline

Definition at line 167 of file btMultiBody.h.

◆ getNumLinks()

int btMultiBody::getNumLinks ( ) const
inline

Definition at line 166 of file btMultiBody.h.

◆ getNumPosVars()

int btMultiBody::getNumPosVars ( ) const
inline

Definition at line 168 of file btMultiBody.h.

◆ getParent()

int btMultiBody::getParent ( int  link_num) const

Definition at line 363 of file btMultiBody.cpp.

◆ getParentToLocalRot()

const btQuaternion & btMultiBody::getParentToLocalRot ( int  i) const

Definition at line 455 of file btMultiBody.cpp.

◆ getRVector()

const btVector3 & btMultiBody::getRVector ( int  i) const

Definition at line 450 of file btMultiBody.cpp.

◆ getSplitVelocityVector()

const btScalar * btMultiBody::getSplitVelocityVector ( ) const
inline

Definition at line 312 of file btMultiBody.h.

◆ getUseGyroTerm()

bool btMultiBody::getUseGyroTerm ( ) const
inline

Definition at line 606 of file btMultiBody.h.

◆ getUserIndex()

int btMultiBody::getUserIndex ( ) const
inline

Definition at line 689 of file btMultiBody.h.

◆ getUserIndex2()

int btMultiBody::getUserIndex2 ( ) const
inline

Definition at line 694 of file btMultiBody.h.

◆ getUserPointer()

void * btMultiBody::getUserPointer ( ) const
inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 684 of file btMultiBody.h.

◆ getVelocityVector()

const btScalar * btMultiBody::getVelocityVector ( ) const
inline

Definition at line 302 of file btMultiBody.h.

◆ getWorldToBaseRot()

const btQuaternion & btMultiBody::getWorldToBaseRot ( ) const
inline

Definition at line 193 of file btMultiBody.h.

◆ goToSleep()

void btMultiBody::goToSleep ( )

Definition at line 2086 of file btMultiBody.cpp.

◆ hasFixedBase()

bool btMultiBody::hasFixedBase ( ) const

Definition at line 680 of file btMultiBody.cpp.

◆ hasSelfCollision()

bool btMultiBody::hasSelfCollision ( ) const
inline

Definition at line 635 of file btMultiBody.h.

◆ internalNeedsJointFeedback()

bool btMultiBody::internalNeedsJointFeedback ( ) const
inline

Definition at line 657 of file btMultiBody.h.

◆ isAwake()

bool btMultiBody::isAwake ( ) const
inline

Definition at line 548 of file btMultiBody.h.

◆ isBaseKinematic()

bool btMultiBody::isBaseKinematic ( ) const

Definition at line 690 of file btMultiBody.cpp.

◆ isBaseStaticOrKinematic()

bool btMultiBody::isBaseStaticOrKinematic ( ) const

Definition at line 685 of file btMultiBody.cpp.

◆ isLinkAndAllAncestorsKinematic()

bool btMultiBody::isLinkAndAllAncestorsKinematic ( const int  i) const

Definition at line 2452 of file btMultiBody.cpp.

◆ isLinkAndAllAncestorsStaticOrKinematic()

bool btMultiBody::isLinkAndAllAncestorsStaticOrKinematic ( const int  i) const

Definition at line 2441 of file btMultiBody.cpp.

◆ isLinkKinematic()

bool btMultiBody::isLinkKinematic ( const int  i) const

Definition at line 2427 of file btMultiBody.cpp.

◆ isLinkStaticOrKinematic()

bool btMultiBody::isLinkStaticOrKinematic ( const int  i) const

Definition at line 2413 of file btMultiBody.cpp.

◆ isPosUpdated()

bool btMultiBody::isPosUpdated ( ) const
inline

Definition at line 647 of file btMultiBody.h.

◆ isUsingGlobalVelocities()

bool btMultiBody::isUsingGlobalVelocities ( ) const
inline

Definition at line 645 of file btMultiBody.h.

◆ isUsingRK4Integration()

bool btMultiBody::isUsingRK4Integration ( ) const
inline

Definition at line 643 of file btMultiBody.h.

◆ localDirToWorld()

btVector3 btMultiBody::localDirToWorld ( int  i,
const btVector3 &  local_dir 
) const

Definition at line 516 of file btMultiBody.cpp.

◆ localFrameToWorld()

btMatrix3x3 btMultiBody::localFrameToWorld ( int  i,
const btMatrix3x3 &  local_frame 
) const

Definition at line 554 of file btMultiBody.cpp.

◆ localPosToWorld()

btVector3 btMultiBody::localPosToWorld ( int  i,
const btVector3 &  local_pos 
) const

Definition at line 470 of file btMultiBody.cpp.

◆ mulMatrix()

void btMultiBody::mulMatrix ( const btScalar *  pA,
const btScalar *  pB,
int  rowsA,
int  colsA,
int  rowsB,
int  colsB,
btScalar *  pC 
) const
private

Definition at line 1417 of file btMultiBody.cpp.

◆ operator=()

void btMultiBody::operator= ( const btMultiBody &  )
private

◆ predictPositionsMultiDof()

void btMultiBody::predictPositionsMultiDof ( btScalar  dt)

baseBody => quat is alibi and omega is local coor

Definition at line 1594 of file btMultiBody.cpp.

◆ processDeltaVeeMultiDof2()

void btMultiBody::processDeltaVeeMultiDof2 ( )
inline

Definition at line 455 of file btMultiBody.h.

◆ saveKinematicState()

void btMultiBody::saveKinematicState ( btScalar  timeStep)

Definition at line 2385 of file btMultiBody.cpp.

◆ serialize()

const char * btMultiBody::serialize ( void *  dataBuffer,
class btSerializer *  serializer 
) const
virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Definition at line 2290 of file btMultiBody.cpp.

◆ setAngularDamping()

void btMultiBody::setAngularDamping ( btScalar  damp)
inline

Definition at line 601 of file btMultiBody.h.

◆ setBaseCollider()

void btMultiBody::setBaseCollider ( btMultiBodyLinkCollider *  collider)
inline

Definition at line 124 of file btMultiBody.h.

◆ setBaseDynamicType()

void btMultiBody::setBaseDynamicType ( int  dynamicType)

Definition at line 695 of file btMultiBody.cpp.

◆ setBaseInertia()

void btMultiBody::setBaseInertia ( const btVector3 &  inertia)
inline

Definition at line 179 of file btMultiBody.h.

◆ setBaseMass()

void btMultiBody::setBaseMass ( btScalar  mass)
inline

Definition at line 178 of file btMultiBody.h.

◆ setBaseName()

void btMultiBody::setBaseName ( const char *  name)
inline

memory of setBaseName needs to be manager by user

Definition at line 678 of file btMultiBody.h.

◆ setBaseOmega()

void btMultiBody::setBaseOmega ( const btVector3 &  omega)
inline

Definition at line 269 of file btMultiBody.h.

◆ setBasePos()

void btMultiBody::setBasePos ( const btVector3 &  pos)
inline

Definition at line 210 of file btMultiBody.h.

◆ setBaseVel()

void btMultiBody::setBaseVel ( const btVector3 &  vel)
inline

Definition at line 250 of file btMultiBody.h.

◆ setBaseWorldTransform()

void btMultiBody::setBaseWorldTransform ( const btTransform &  tr)
inline

Definition at line 222 of file btMultiBody.h.

◆ setCanSleep()

void btMultiBody::setCanSleep ( bool  canSleep)
inline

Definition at line 526 of file btMultiBody.h.

◆ setCanWakeup()

void btMultiBody::setCanWakeup ( bool  canWakeup)
inline

Definition at line 544 of file btMultiBody.h.

◆ setCompanionId()

void btMultiBody::setCompanionId ( int  id)
inline

Definition at line 578 of file btMultiBody.h.

◆ setFixedBase()

void btMultiBody::setFixedBase ( bool  fixedBase)
inline

Definition at line 565 of file btMultiBody.h.

◆ setHasSelfCollision()

void btMultiBody::setHasSelfCollision ( bool  hasSelfCollision)
inline

Definition at line 631 of file btMultiBody.h.

◆ setInterpolateBasePos()

void btMultiBody::setInterpolateBasePos ( const btVector3 &  pos)
inline

Definition at line 217 of file btMultiBody.h.

◆ setInterpolateBaseWorldTransform()

void btMultiBody::setInterpolateBaseWorldTransform ( const btTransform &  tr)
inline

Definition at line 236 of file btMultiBody.h.

◆ setInterpolateWorldToBaseRot()

void btMultiBody::setInterpolateWorldToBaseRot ( const btQuaternion &  rot)
inline

Definition at line 264 of file btMultiBody.h.

◆ setJointPos()

void btMultiBody::setJointPos ( int  i,
btScalar  q 
)

Definition at line 408 of file btMultiBody.cpp.

◆ setJointPosMultiDof() [1/2]

void btMultiBody::setJointPosMultiDof ( int  i,
const double *  q 
)

Definition at line 415 of file btMultiBody.cpp.

◆ setJointPosMultiDof() [2/2]

void btMultiBody::setJointPosMultiDof ( int  i,
const float *  q 
)

Definition at line 423 of file btMultiBody.cpp.

◆ setJointVel()

void btMultiBody::setJointVel ( int  i,
btScalar  qdot 
)

Definition at line 433 of file btMultiBody.cpp.

◆ setJointVelMultiDof() [1/2]

void btMultiBody::setJointVelMultiDof ( int  i,
const double *  qdot 
)

Definition at line 438 of file btMultiBody.cpp.

◆ setJointVelMultiDof() [2/2]

void btMultiBody::setJointVelMultiDof ( int  i,
const float *  qdot 
)

Definition at line 444 of file btMultiBody.cpp.

◆ setLinearDamping()

void btMultiBody::setLinearDamping ( btScalar  damp)
inline

Definition at line 593 of file btMultiBody.h.

◆ setLinkDynamicType()

void btMultiBody::setLinkDynamicType ( const int  i,
int  type 
)

Definition at line 2398 of file btMultiBody.cpp.

◆ setMaxAppliedImpulse()

void btMultiBody::setMaxAppliedImpulse ( btScalar  maxImp)
inline

Definition at line 627 of file btMultiBody.h.

◆ setMaxCoordinateVelocity()

void btMultiBody::setMaxCoordinateVelocity ( btScalar  maxVel)
inline

Definition at line 618 of file btMultiBody.h.

◆ setNumLinks()

void btMultiBody::setNumLinks ( int  numLinks)
inline

Definition at line 584 of file btMultiBody.h.

◆ setPosUpdated()

void btMultiBody::setPosUpdated ( bool  updated)
inline

Definition at line 651 of file btMultiBody.h.

◆ setSleepThreshold()

void btMultiBody::setSleepThreshold ( btScalar  sleepThreshold)
inline

Definition at line 732 of file btMultiBody.h.

◆ setSleepTimeout()

void btMultiBody::setSleepTimeout ( btScalar  sleepTimeout)
inline

Definition at line 737 of file btMultiBody.h.

◆ setupFixed()

void btMultiBody::setupFixed ( int  i,
btScalar  mass,
const btVector3 &  inertia,
int  parent,
const btQuaternion &  rotParentToThis,
const btVector3 &  parentComToThisPivotOffset,
const btVector3 &  thisPivotToThisComOffset,
bool  deprecatedDisableParentCollision = true 
)

Definition at line 154 of file btMultiBody.cpp.

◆ setupPlanar()

void btMultiBody::setupPlanar ( int  i,
btScalar  mass,
const btVector3 &  inertia,
int  parent,
const btQuaternion &  rotParentToThis,
const btVector3 &  rotationAxis,
const btVector3 &  parentComToThisComOffset,
bool  disableParentCollision = false 
)

Definition at line 296 of file btMultiBody.cpp.

◆ setupPrismatic()

void btMultiBody::setupPrismatic ( int  i,
btScalar  mass,
const btVector3 &  inertia,
int  parent,
const btQuaternion &  rotParentToThis,
const btVector3 &  jointAxis,
const btVector3 &  parentComToThisPivotOffset,
const btVector3 &  thisPivotToThisComOffset,
bool  disableParentCollision 
)

Definition at line 182 of file btMultiBody.cpp.

◆ setupRevolute()

void btMultiBody::setupRevolute ( int  i,
btScalar  mass,
const btVector3 &  inertia,
int  parentIndex,
const btQuaternion &  rotParentToThis,
const btVector3 &  jointAxis,
const btVector3 &  parentComToThisPivotOffset,
const btVector3 &  thisPivotToThisComOffset,
bool  disableParentCollision = false 
)

Definition at line 220 of file btMultiBody.cpp.

◆ setupSpherical()

void btMultiBody::setupSpherical ( int  i,
btScalar  mass,
const btVector3 &  inertia,
int  parent,
const btQuaternion &  rotParentToThis,
const btVector3 &  parentComToThisPivotOffset,
const btVector3 &  thisPivotToThisComOffset,
bool  disableParentCollision = false 
)

Definition at line 256 of file btMultiBody.cpp.

◆ setUseGyroTerm()

void btMultiBody::setUseGyroTerm ( bool  useGyro)
inline

Definition at line 610 of file btMultiBody.h.

◆ setUserIndex()

void btMultiBody::setUserIndex ( int  index)
inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 705 of file btMultiBody.h.

◆ setUserIndex2()

void btMultiBody::setUserIndex2 ( int  index)
inline

Definition at line 710 of file btMultiBody.h.

◆ setUserPointer()

void btMultiBody::setUserPointer ( void *  userPointer)
inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 699 of file btMultiBody.h.

◆ setWorldToBaseRot()

void btMultiBody::setWorldToBaseRot ( const btQuaternion &  rot)
inline

Definition at line 257 of file btMultiBody.h.

◆ solveImatrix() [1/2]

void btMultiBody::solveImatrix ( const btSpatialForceVector &  rhs,
btSpatialMotionVector &  result 
) const
private

solve I * x = rhs, so the result = invI * rhs

Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices

Definition at line 1356 of file btMultiBody.cpp.

◆ solveImatrix() [2/2]

void btMultiBody::solveImatrix ( const btVector3 &  rhs_top,
const btVector3 &  rhs_bot,
btScalar  result[6] 
) const
private

solve I * x = rhs, so the result = invI * rhs

Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices

Definition at line 1281 of file btMultiBody.cpp.

◆ spatialTransform()

void btMultiBody::spatialTransform ( const btMatrix3x3 &  rotation_matrix,
const btVector3 &  displacement,
const btVector3 &  top_in,
const btVector3 &  bottom_in,
btVector3 &  top_out,
btVector3 &  bottom_out 
)
static

Definition at line 40 of file btMultiBody.cpp.

◆ stepPositionsMultiDof()

void btMultiBody::stepPositionsMultiDof ( btScalar  dt,
btScalar *  pq = 0,
btScalar *  pqd = 0 
)

baseBody => quat is alibi and omega is local coor

Definition at line 1786 of file btMultiBody.cpp.

◆ substractSplitV()

void btMultiBody::substractSplitV ( )
inline

Definition at line 446 of file btMultiBody.h.

◆ updateCollisionObjectInterpolationWorldTransforms()

void btMultiBody::updateCollisionObjectInterpolationWorldTransforms ( btAlignedObjectArray< btQuaternion > &  world_to_local,
btAlignedObjectArray< btVector3 > &  local_origin 
)

Definition at line 2225 of file btMultiBody.cpp.

◆ updateCollisionObjectWorldTransforms()

void btMultiBody::updateCollisionObjectWorldTransforms ( btAlignedObjectArray< btQuaternion > &  world_to_local,
btAlignedObjectArray< btVector3 > &  local_origin 
)

Definition at line 2172 of file btMultiBody.cpp.

◆ updateLinksDofOffsets()

void btMultiBody::updateLinksDofOffsets ( )
inlineprivate

Definition at line 750 of file btMultiBody.h.

◆ useGlobalVelocities()

void btMultiBody::useGlobalVelocities ( bool  use)
inline

Definition at line 644 of file btMultiBody.h.

◆ useRK4Integration()

void btMultiBody::useRK4Integration ( bool  use)
inline

Definition at line 642 of file btMultiBody.h.

◆ wakeUp()

void btMultiBody::wakeUp ( )

Definition at line 2080 of file btMultiBody.cpp.

◆ worldDirToLocal()

btVector3 btMultiBody::worldDirToLocal ( int  i,
const btVector3 &  world_dir 
) const

Definition at line 535 of file btMultiBody.cpp.

◆ worldPosToLocal()

btVector3 btMultiBody::worldPosToLocal ( int  i,
const btVector3 &  world_pos 
) const

Definition at line 495 of file btMultiBody.cpp.

Member Data Documentation

◆ __posUpdated

bool btMultiBody::__posUpdated
private

Definition at line 833 of file btMultiBody.h.

◆ m_angularDamping

btScalar btMultiBody::m_angularDamping
private

Definition at line 827 of file btMultiBody.h.

◆ m_awake

bool btMultiBody::m_awake
private

Definition at line 814 of file btMultiBody.h.

◆ m_baseCollider

btMultiBodyLinkCollider* btMultiBody::m_baseCollider
private

Definition at line 765 of file btMultiBody.h.

◆ m_baseConstraintForce

btVector3 btMultiBody::m_baseConstraintForce
private

Definition at line 779 of file btMultiBody.h.

◆ m_baseConstraintTorque

btVector3 btMultiBody::m_baseConstraintTorque
private

Definition at line 780 of file btMultiBody.h.

◆ m_baseForce

btVector3 btMultiBody::m_baseForce
private

Definition at line 776 of file btMultiBody.h.

◆ m_baseInertia

btVector3 btMultiBody::m_baseInertia
private

Definition at line 774 of file btMultiBody.h.

◆ m_baseMass

btScalar btMultiBody::m_baseMass
private

Definition at line 773 of file btMultiBody.h.

◆ m_baseName

const char* btMultiBody::m_baseName
private

Definition at line 766 of file btMultiBody.h.

◆ m_basePos

btVector3 btMultiBody::m_basePos
private

Definition at line 768 of file btMultiBody.h.

◆ m_basePos_interpolate

btVector3 btMultiBody::m_basePos_interpolate
private

Definition at line 769 of file btMultiBody.h.

◆ m_baseQuat

btQuaternion btMultiBody::m_baseQuat
private

Definition at line 770 of file btMultiBody.h.

◆ m_baseQuat_interpolate

btQuaternion btMultiBody::m_baseQuat_interpolate
private

Definition at line 771 of file btMultiBody.h.

◆ m_baseTorque

btVector3 btMultiBody::m_baseTorque
private

Definition at line 777 of file btMultiBody.h.

◆ m_cachedInertiaLowerLeft

btMatrix3x3 btMultiBody::m_cachedInertiaLowerLeft
private

Definition at line 807 of file btMultiBody.h.

◆ m_cachedInertiaLowerRight

btMatrix3x3 btMultiBody::m_cachedInertiaLowerRight
private

Definition at line 808 of file btMultiBody.h.

◆ m_cachedInertiaTopLeft

btMatrix3x3 btMultiBody::m_cachedInertiaTopLeft
private

Definition at line 805 of file btMultiBody.h.

◆ m_cachedInertiaTopRight

btMatrix3x3 btMultiBody::m_cachedInertiaTopRight
private

Definition at line 806 of file btMultiBody.h.

◆ m_cachedInertiaValid

bool btMultiBody::m_cachedInertiaValid
private

Definition at line 809 of file btMultiBody.h.

◆ m_canSleep

bool btMultiBody::m_canSleep
private

Definition at line 815 of file btMultiBody.h.

◆ m_canWakeup

bool btMultiBody::m_canWakeup
private

Definition at line 816 of file btMultiBody.h.

◆ m_companionId

int btMultiBody::m_companionId
private

Definition at line 825 of file btMultiBody.h.

◆ m_deltaV

btAlignedObjectArray<btScalar> btMultiBody::m_deltaV
private

Definition at line 800 of file btMultiBody.h.

◆ m_dofCount

int btMultiBody::m_dofCount
private

Definition at line 834 of file btMultiBody.h.

◆ m_fixedBase

bool btMultiBody::m_fixedBase
private

Definition at line 811 of file btMultiBody.h.

◆ m_hasSelfCollision

bool btMultiBody::m_hasSelfCollision
private

Definition at line 831 of file btMultiBody.h.

◆ m_internalNeedsJointFeedback

bool btMultiBody::m_internalNeedsJointFeedback
private

the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only

Definition at line 841 of file btMultiBody.h.

◆ m_kinematic_calculate_velocity

bool btMultiBody::m_kinematic_calculate_velocity
private

Definition at line 844 of file btMultiBody.h.

◆ m_linearDamping

btScalar btMultiBody::m_linearDamping
private

Definition at line 826 of file btMultiBody.h.

◆ m_links

btAlignedObjectArray<btMultibodyLink> btMultiBody::m_links
private

Definition at line 782 of file btMultiBody.h.

◆ m_matrixBuf

btAlignedObjectArray<btMatrix3x3> btMultiBody::m_matrixBuf
private

Definition at line 803 of file btMultiBody.h.

◆ m_maxAppliedImpulse

btScalar btMultiBody::m_maxAppliedImpulse
private

Definition at line 829 of file btMultiBody.h.

◆ m_maxCoordinateVelocity

btScalar btMultiBody::m_maxCoordinateVelocity
private

Definition at line 830 of file btMultiBody.h.

◆ m_posVarCnt

int btMultiBody::m_posVarCnt
private

Definition at line 834 of file btMultiBody.h.

◆ m_realBuf

btAlignedObjectArray<btScalar> btMultiBody::m_realBuf
private

Definition at line 801 of file btMultiBody.h.

◆ m_sleepEpsilon

btScalar btMultiBody::m_sleepEpsilon
private

Definition at line 818 of file btMultiBody.h.

◆ m_sleepTimeout

btScalar btMultiBody::m_sleepTimeout
private

Definition at line 819 of file btMultiBody.h.

◆ m_sleepTimer

btScalar btMultiBody::m_sleepTimer
private

Definition at line 817 of file btMultiBody.h.

◆ m_splitV

btAlignedObjectArray<btScalar> btMultiBody::m_splitV
private

Definition at line 799 of file btMultiBody.h.

◆ m_useGlobalVelocities

bool btMultiBody::m_useGlobalVelocities
private

Definition at line 836 of file btMultiBody.h.

◆ m_useGyroTerm

bool btMultiBody::m_useGyroTerm
private

Definition at line 828 of file btMultiBody.h.

◆ m_userIndex

int btMultiBody::m_userIndex
private

Definition at line 823 of file btMultiBody.h.

◆ m_userIndex2

int btMultiBody::m_userIndex2
private

Definition at line 822 of file btMultiBody.h.

◆ m_useRK4

bool btMultiBody::m_useRK4
private

Definition at line 836 of file btMultiBody.h.

◆ m_userObjectPointer

void* btMultiBody::m_userObjectPointer
private

Definition at line 821 of file btMultiBody.h.

◆ m_vectorBuf

btAlignedObjectArray<btVector3> btMultiBody::m_vectorBuf
private

Definition at line 802 of file btMultiBody.h.

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