Bullet Collision Detection & Physics Library
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btSolve2LinearConstraint Class Reference

constraint class used for lateral tyre friction. More...

#include <btSolve2LinearConstraint.h>

Public Member Functions

 btSolve2LinearConstraint (btScalar tau, btScalar damping)
 
void resolveUnilateralPairConstraint (btRigidBody *body0, btRigidBody *body1, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &invInertiaADiag, const btScalar invMassA, const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &rel_posA1, const btVector3 &invInertiaBDiag, const btScalar invMassB, const btVector3 &linvelB, const btVector3 &angvelB, const btVector3 &rel_posA2, btScalar depthA, const btVector3 &normalA, const btVector3 &rel_posB1, const btVector3 &rel_posB2, btScalar depthB, const btVector3 &normalB, btScalar &imp0, btScalar &imp1)
 
void resolveBilateralPairConstraint (btRigidBody *body0, btRigidBody *body1, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &invInertiaADiag, const btScalar invMassA, const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &rel_posA1, const btVector3 &invInertiaBDiag, const btScalar invMassB, const btVector3 &linvelB, const btVector3 &angvelB, const btVector3 &rel_posA2, btScalar depthA, const btVector3 &normalA, const btVector3 &rel_posB1, const btVector3 &rel_posB2, btScalar depthB, const btVector3 &normalB, btScalar &imp0, btScalar &imp1)
 

Private Attributes

btScalar m_tau
 
btScalar m_damping
 

Detailed Description

constraint class used for lateral tyre friction.

Definition at line 25 of file btSolve2LinearConstraint.h.

Constructor & Destructor Documentation

◆ btSolve2LinearConstraint()

btSolve2LinearConstraint::btSolve2LinearConstraint ( btScalar  tau,
btScalar  damping 
)
inline

Definition at line 31 of file btSolve2LinearConstraint.h.

Member Function Documentation

◆ resolveBilateralPairConstraint()

void btSolve2LinearConstraint::resolveBilateralPairConstraint ( btRigidBody *  body0,
btRigidBody *  body1,
const btMatrix3x3 &  world2A,
const btMatrix3x3 &  world2B,
const btVector3 &  invInertiaADiag,
const btScalar  invMassA,
const btVector3 &  linvelA,
const btVector3 &  angvelA,
const btVector3 &  rel_posA1,
const btVector3 &  invInertiaBDiag,
const btScalar  invMassB,
const btVector3 &  linvelB,
const btVector3 &  angvelB,
const btVector3 &  rel_posA2,
btScalar  depthA,
const btVector3 &  normalA,
const btVector3 &  rel_posB1,
const btVector3 &  rel_posB2,
btScalar  depthB,
const btVector3 &  normalB,
btScalar &  imp0,
btScalar &  imp1 
)

Definition at line 102 of file btSolve2LinearConstraint.cpp.

◆ resolveUnilateralPairConstraint()

void btSolve2LinearConstraint::resolveUnilateralPairConstraint ( btRigidBody *  body0,
btRigidBody *  body1,
const btMatrix3x3 &  world2A,
const btMatrix3x3 &  world2B,
const btVector3 &  invInertiaADiag,
const btScalar  invMassA,
const btVector3 &  linvelA,
const btVector3 &  angvelA,
const btVector3 &  rel_posA1,
const btVector3 &  invInertiaBDiag,
const btScalar  invMassB,
const btVector3 &  linvelB,
const btVector3 &  angvelB,
const btVector3 &  rel_posA2,
btScalar  depthA,
const btVector3 &  normalA,
const btVector3 &  rel_posB1,
const btVector3 &  rel_posB2,
btScalar  depthB,
const btVector3 &  normalB,
btScalar &  imp0,
btScalar &  imp1 
)

Definition at line 22 of file btSolve2LinearConstraint.cpp.

Member Data Documentation

◆ m_damping

btScalar btSolve2LinearConstraint::m_damping
private

Definition at line 28 of file btSolve2LinearConstraint.h.

◆ m_tau

btScalar btSolve2LinearConstraint::m_tau
private

Definition at line 27 of file btSolve2LinearConstraint.h.

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