Bullet Collision Detection & Physics Library
Public Member Functions | Protected Attributes | List of all members
btMultiBodySphericalJointMotor Class Reference

#include <btMultiBodySphericalJointMotor.h>

Inheritance diagram for btMultiBodySphericalJointMotor:
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Collaboration diagram for btMultiBodySphericalJointMotor:
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Public Member Functions

 btMultiBodySphericalJointMotor (btMultiBody *body, int link, btScalar maxMotorImpulse)
 This file was written by Erwin Coumans.
 
virtual ~btMultiBodySphericalJointMotor ()
 
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)
 
btScalar getDamping (int i) const
 
void setDamping (const btVector3 &damping)
 
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)
 
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)
 

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_damping
 
- 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 btMultiBodySphericalJointMotor.h.

Constructor & Destructor Documentation

◆ btMultiBodySphericalJointMotor()

btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor ( btMultiBody *  body,
int  link,
btScalar  maxMotorImpulse 
)

This file was written by Erwin Coumans.

Definition at line 25 of file btMultiBodySphericalJointMotor.cpp.

◆ ~btMultiBodySphericalJointMotor()

btMultiBodySphericalJointMotor::~btMultiBodySphericalJointMotor ( )
virtual

Definition at line 58 of file btMultiBodySphericalJointMotor.cpp.

Member Function Documentation

◆ createConstraintRows()

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

Implements btMultiBodyConstraint.

Definition at line 98 of file btMultiBodySphericalJointMotor.cpp.

◆ debugDraw()

virtual void btMultiBodySphericalJointMotor::debugDraw ( class btIDebugDraw *  drawer)
inlinevirtual

Implements btMultiBodyConstraint.

Definition at line 112 of file btMultiBodySphericalJointMotor.h.

◆ finalizeMultiDof()

void btMultiBodySphericalJointMotor::finalizeMultiDof ( )
virtual

Implements btMultiBodyConstraint.

Definition at line 42 of file btMultiBodySphericalJointMotor.cpp.

◆ getDamping()

btScalar btMultiBodySphericalJointMotor::getDamping ( int  i) const
inline

Definition at line 102 of file btMultiBodySphericalJointMotor.h.

◆ getErp()

virtual btScalar btMultiBodySphericalJointMotor::getErp ( ) const
inlinevirtual

Definition at line 82 of file btMultiBodySphericalJointMotor.h.

◆ getIslandIdA()

int btMultiBodySphericalJointMotor::getIslandIdA ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 62 of file btMultiBodySphericalJointMotor.cpp.

◆ getIslandIdB()

int btMultiBodySphericalJointMotor::getIslandIdB ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 80 of file btMultiBodySphericalJointMotor.cpp.

◆ getMaxAppliedImpulseMultiDof()

btScalar btMultiBodySphericalJointMotor::getMaxAppliedImpulseMultiDof ( int  i) const
inline

Definition at line 91 of file btMultiBodySphericalJointMotor.h.

◆ setDamping()

void btMultiBodySphericalJointMotor::setDamping ( const btVector3 &  damping)
inline

Definition at line 107 of file btMultiBodySphericalJointMotor.h.

◆ setErp()

virtual void btMultiBodySphericalJointMotor::setErp ( btScalar  erp)
inlinevirtual

Reimplemented from btMultiBodyConstraint.

Definition at line 78 of file btMultiBodySphericalJointMotor.h.

◆ setMaxAppliedImpulseMultiDof()

void btMultiBodySphericalJointMotor::setMaxAppliedImpulseMultiDof ( const btVector3 &  maxImp)
inline

Definition at line 96 of file btMultiBodySphericalJointMotor.h.

◆ setPositionTarget()

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

Definition at line 64 of file btMultiBodySphericalJointMotor.h.

◆ setPositionTargetMultiDof()

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

Definition at line 71 of file btMultiBodySphericalJointMotor.h.

◆ setRhsClamp()

virtual void btMultiBodySphericalJointMotor::setRhsClamp ( btScalar  rhsClamp)
inlinevirtual

Definition at line 86 of file btMultiBodySphericalJointMotor.h.

◆ setVelocityTarget()

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

Definition at line 50 of file btMultiBodySphericalJointMotor.h.

◆ setVelocityTargetMultiDof()

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

Definition at line 57 of file btMultiBodySphericalJointMotor.h.

Member Data Documentation

◆ m_damping

btVector3 btMultiBodySphericalJointMotor::m_damping
protected

Definition at line 35 of file btMultiBodySphericalJointMotor.h.

◆ m_desiredPosition

btQuaternion btMultiBodySphericalJointMotor::m_desiredPosition
protected

Definition at line 28 of file btMultiBodySphericalJointMotor.h.

◆ m_desiredVelocity

btVector3 btMultiBodySphericalJointMotor::m_desiredVelocity
protected

Definition at line 27 of file btMultiBodySphericalJointMotor.h.

◆ m_erp

btScalar btMultiBodySphericalJointMotor::m_erp
protected

Definition at line 32 of file btMultiBodySphericalJointMotor.h.

◆ m_kd

btVector3 btMultiBodySphericalJointMotor::m_kd
protected

Definition at line 30 of file btMultiBodySphericalJointMotor.h.

◆ m_kp

btVector3 btMultiBodySphericalJointMotor::m_kp
protected

Definition at line 31 of file btMultiBodySphericalJointMotor.h.

◆ m_maxAppliedImpulseMultiDof

btVector3 btMultiBodySphericalJointMotor::m_maxAppliedImpulseMultiDof
protected

Definition at line 34 of file btMultiBodySphericalJointMotor.h.

◆ m_rhsClamp

btScalar btMultiBodySphericalJointMotor::m_rhsClamp
protected

Definition at line 33 of file btMultiBodySphericalJointMotor.h.

◆ m_use_multi_dof_params

bool btMultiBodySphericalJointMotor::m_use_multi_dof_params
protected

Definition at line 29 of file btMultiBodySphericalJointMotor.h.

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