#include <btMultiBodySphericalJointLimit.h>

Inheritance diagram for btMultiBodySphericalJointLimit:

Collaboration diagram for btMultiBodySphericalJointLimit:

[legend]

Public Member Functions
	btMultiBodySphericalJointLimit (btMultiBody *body, int link, btScalar swingxRange, btScalar swingyRange, btScalar twistRange, btScalar maxAppliedImpulse)
	This file was written by Erwin Coumans. More...

virtual	~btMultiBodySphericalJointLimit ()

virtual void	finalizeMultiDof ()

virtual int	getIslandIdA () const

virtual int	getIslandIdB () const

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

virtual void	setVelocityTarget (const btVector3 &velTarget, btScalar kd=1.0)

virtual void	setVelocityTargetMultiDof (const btVector3 &velTarget, const btVector3 &kd=btVector3(1.0, 1.0, 1.0))

virtual void	setPositionTarget (const btQuaternion &posTarget, btScalar kp=1.f)

virtual void	setPositionTargetMultiDof (const btQuaternion &posTarget, const btVector3 &kp=btVector3(1.f, 1.f, 1.f))

virtual void	setErp (btScalar erp)

virtual btScalar	getErp () const

virtual void	setRhsClamp (btScalar rhsClamp)

btScalar	getMaxAppliedImpulseMultiDof (int i) const

void	setMaxAppliedImpulseMultiDof (const btVector3 &maxImp)

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
btVector3	m_desiredVelocity

btQuaternion	m_desiredPosition

bool	m_use_multi_dof_params

btVector3	m_kd

btVector3	m_kp

btScalar	m_erp

btScalar	m_rhsClamp

btVector3	m_maxAppliedImpulseMultiDof

btVector3	m_pivotA

btVector3	m_pivotB

btScalar	m_swingxRange

btScalar	m_swingyRange

btScalar	m_twistRange

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

Definition at line 24 of file btMultiBodySphericalJointLimit.h.

Constructor & Destructor Documentation

◆ btMultiBodySphericalJointLimit()

btMultiBodySphericalJointLimit::btMultiBodySphericalJointLimit	(	btMultiBody *	body,
		int	link,
		btScalar	swingxRange,
		btScalar	swingyRange,
		btScalar	twistRange,
		btScalar	maxAppliedImpulse
	)

This file was written by Erwin Coumans.

Definition at line 26 of file btMultiBodySphericalJointLimit.cpp.

◆ ~btMultiBodySphericalJointLimit()

btMultiBodySphericalJointLimit::~btMultiBodySphericalJointLimit ( )

virtual

Definition at line 70 of file btMultiBodySphericalJointLimit.cpp.

Member Function Documentation

◆ createConstraintRows()

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

virtual

twist axis/angle

Implements btMultiBodyConstraint.

Definition at line 110 of file btMultiBodySphericalJointLimit.cpp.

◆ debugDraw()

void btMultiBodySphericalJointLimit::debugDraw ( class btIDebugDraw * drawer )

virtual

Implements btMultiBodyConstraint.

Definition at line 260 of file btMultiBodySphericalJointLimit.cpp.

◆ finalizeMultiDof()

void btMultiBodySphericalJointLimit::finalizeMultiDof ( )

virtual

Implements btMultiBodyConstraint.

Definition at line 52 of file btMultiBodySphericalJointLimit.cpp.

◆ getErp()

virtual btScalar btMultiBodySphericalJointLimit::getErp ( ) const

inlinevirtual

Definition at line 90 of file btMultiBodySphericalJointLimit.h.

◆ getIslandIdA()

int btMultiBodySphericalJointLimit::getIslandIdA ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 74 of file btMultiBodySphericalJointLimit.cpp.

◆ getIslandIdB()

int btMultiBodySphericalJointLimit::getIslandIdB ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 92 of file btMultiBodySphericalJointLimit.cpp.

◆ getMaxAppliedImpulseMultiDof()

btScalar btMultiBodySphericalJointLimit::getMaxAppliedImpulseMultiDof ( int i ) const

inline

Definition at line 99 of file btMultiBodySphericalJointLimit.h.

◆ setErp()

virtual void btMultiBodySphericalJointLimit::setErp ( btScalar erp )

inlinevirtual

Reimplemented from btMultiBodyConstraint.

Definition at line 86 of file btMultiBodySphericalJointLimit.h.

◆ setMaxAppliedImpulseMultiDof()

void btMultiBodySphericalJointLimit::setMaxAppliedImpulseMultiDof ( const btVector3 & maxImp )

inline

Definition at line 104 of file btMultiBodySphericalJointLimit.h.

◆ setPositionTarget()

virtual void btMultiBodySphericalJointLimit::setPositionTarget	(	const btQuaternion &	posTarget,
		btScalar	kp = `1.f`
	)

inlinevirtual

Definition at line 72 of file btMultiBodySphericalJointLimit.h.

◆ setPositionTargetMultiDof()

virtual void btMultiBodySphericalJointLimit::setPositionTargetMultiDof	(	const btQuaternion &	posTarget,
		const btVector3 &	kp = `btVector3(1.f, 1.f, 1.f)`
	)