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

#include <btMultiBodySliderConstraint.h>

Inheritance diagram for btMultiBodySliderConstraint:

Collaboration diagram for btMultiBodySliderConstraint:

[legend]

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

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

virtual	~btMultiBodySliderConstraint ()

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)

const btVector3 &	getJointAxis () const

void	setJointAxis (const btVector3 &jointAxis)

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)

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 ()

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	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

btVector3	m_jointAxis

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 23 of file btMultiBodySliderConstraint.h.

Constructor & Destructor Documentation

◆ btMultiBodySliderConstraint() [1/2]

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

Definition at line 27 of file btMultiBodySliderConstraint.cpp.

◆ btMultiBodySliderConstraint() [2/2]

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

Definition at line 40 of file btMultiBodySliderConstraint.cpp.

◆ ~btMultiBodySliderConstraint()

btMultiBodySliderConstraint::~btMultiBodySliderConstraint ( )

virtual

Definition at line 59 of file btMultiBodySliderConstraint.cpp.

Member Function Documentation

◆ createConstraintRows()

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