Bullet Collision Detection & Physics Library
Public Types | Public Member Functions | Public Attributes | List of all members
btMultiBodySolverConstraint Struct Reference

1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. More...

#include <btMultiBodySolverConstraint.h>

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Public Types

enum  btSolverConstraintType {
  BT_SOLVER_CONTACT_1D = 0 ,
  BT_SOLVER_FRICTION_1D
}
 

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btMultiBodySolverConstraint ()
 

Public Attributes

int m_deltaVelAindex
 
int m_jacAindex
 
int m_deltaVelBindex
 
int m_jacBindex
 
btVector3 m_relpos1CrossNormal
 
btVector3 m_contactNormal1
 
btVector3 m_relpos2CrossNormal
 
btVector3 m_contactNormal2
 
btVector3 m_angularComponentA
 
btVector3 m_angularComponentB
 
btSimdScalar m_appliedPushImpulse
 
btSimdScalar m_appliedImpulse
 
btScalar m_friction
 
btScalar m_jacDiagABInv
 
btScalar m_rhs
 
btScalar m_cfm
 
btScalar m_lowerLimit
 
btScalar m_upperLimit
 
btScalar m_rhsPenetration
 
union {
   void *   m_originalContactPoint
 
   btScalar   m_unusedPadding4
 
}; 
 
int m_overrideNumSolverIterations
 
int m_frictionIndex
 
int m_solverBodyIdA
 
btMultiBody * m_multiBodyA
 
int m_linkA
 
int m_solverBodyIdB
 
btMultiBody * m_multiBodyB
 
int m_linkB
 
btMultiBodyConstraint * m_orgConstraint
 
int m_orgDofIndex
 

Detailed Description

1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.

Definition at line 28 of file btMultiBodySolverConstraint.h.

Member Enumeration Documentation

◆ btSolverConstraintType

enum btMultiBodySolverConstraint::btSolverConstraintType
Enumerator
BT_SOLVER_CONTACT_1D 
BT_SOLVER_FRICTION_1D 

Definition at line 81 of file btMultiBodySolverConstraint.h.

Constructor & Destructor Documentation

◆ btMultiBodySolverConstraint()

btMultiBodySolverConstraint::btMultiBodySolverConstraint ( )
inline

Definition at line 33 of file btMultiBodySolverConstraint.h.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btMultiBodySolverConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

Member Data Documentation

◆ 

union { ... } btMultiBodySolverConstraint::@25

◆ m_angularComponentA

btVector3 btMultiBodySolverConstraint::m_angularComponentA

Definition at line 47 of file btMultiBodySolverConstraint.h.

◆ m_angularComponentB

btVector3 btMultiBodySolverConstraint::m_angularComponentB

Definition at line 48 of file btMultiBodySolverConstraint.h.

◆ m_appliedImpulse

btSimdScalar btMultiBodySolverConstraint::m_appliedImpulse
mutable

Definition at line 51 of file btMultiBodySolverConstraint.h.

◆ m_appliedPushImpulse

btSimdScalar btMultiBodySolverConstraint::m_appliedPushImpulse
mutable

Definition at line 50 of file btMultiBodySolverConstraint.h.

◆ m_cfm

btScalar btMultiBodySolverConstraint::m_cfm

Definition at line 56 of file btMultiBodySolverConstraint.h.

◆ m_contactNormal1

btVector3 btMultiBodySolverConstraint::m_contactNormal1

Definition at line 43 of file btMultiBodySolverConstraint.h.

◆ m_contactNormal2

btVector3 btMultiBodySolverConstraint::m_contactNormal2

Definition at line 45 of file btMultiBodySolverConstraint.h.

◆ m_deltaVelAindex

int btMultiBodySolverConstraint::m_deltaVelAindex

Definition at line 37 of file btMultiBodySolverConstraint.h.

◆ m_deltaVelBindex

int btMultiBodySolverConstraint::m_deltaVelBindex

Definition at line 39 of file btMultiBodySolverConstraint.h.

◆ m_friction

btScalar btMultiBodySolverConstraint::m_friction

Definition at line 53 of file btMultiBodySolverConstraint.h.

◆ m_frictionIndex

int btMultiBodySolverConstraint::m_frictionIndex

Definition at line 67 of file btMultiBodySolverConstraint.h.

◆ m_jacAindex

int btMultiBodySolverConstraint::m_jacAindex

Definition at line 38 of file btMultiBodySolverConstraint.h.

◆ m_jacBindex

int btMultiBodySolverConstraint::m_jacBindex

Definition at line 40 of file btMultiBodySolverConstraint.h.

◆ m_jacDiagABInv

btScalar btMultiBodySolverConstraint::m_jacDiagABInv

Definition at line 54 of file btMultiBodySolverConstraint.h.

◆ m_linkA

int btMultiBodySolverConstraint::m_linkA

Definition at line 71 of file btMultiBodySolverConstraint.h.

◆ m_linkB

int btMultiBodySolverConstraint::m_linkB

Definition at line 75 of file btMultiBodySolverConstraint.h.

◆ m_lowerLimit

btScalar btMultiBodySolverConstraint::m_lowerLimit

Definition at line 58 of file btMultiBodySolverConstraint.h.

◆ m_multiBodyA

btMultiBody* btMultiBodySolverConstraint::m_multiBodyA

Definition at line 70 of file btMultiBodySolverConstraint.h.

◆ m_multiBodyB

btMultiBody* btMultiBodySolverConstraint::m_multiBodyB

Definition at line 74 of file btMultiBodySolverConstraint.h.

◆ m_orgConstraint

btMultiBodyConstraint* btMultiBodySolverConstraint::m_orgConstraint

Definition at line 78 of file btMultiBodySolverConstraint.h.

◆ m_orgDofIndex

int btMultiBodySolverConstraint::m_orgDofIndex

Definition at line 79 of file btMultiBodySolverConstraint.h.

◆ m_originalContactPoint

void* btMultiBodySolverConstraint::m_originalContactPoint

Definition at line 62 of file btMultiBodySolverConstraint.h.

◆ m_overrideNumSolverIterations

int btMultiBodySolverConstraint::m_overrideNumSolverIterations

Definition at line 66 of file btMultiBodySolverConstraint.h.

◆ m_relpos1CrossNormal

btVector3 btMultiBodySolverConstraint::m_relpos1CrossNormal

Definition at line 42 of file btMultiBodySolverConstraint.h.

◆ m_relpos2CrossNormal

btVector3 btMultiBodySolverConstraint::m_relpos2CrossNormal

Definition at line 44 of file btMultiBodySolverConstraint.h.

◆ m_rhs

btScalar btMultiBodySolverConstraint::m_rhs

Definition at line 55 of file btMultiBodySolverConstraint.h.

◆ m_rhsPenetration

btScalar btMultiBodySolverConstraint::m_rhsPenetration

Definition at line 60 of file btMultiBodySolverConstraint.h.

◆ m_solverBodyIdA

int btMultiBodySolverConstraint::m_solverBodyIdA

Definition at line 69 of file btMultiBodySolverConstraint.h.

◆ m_solverBodyIdB

int btMultiBodySolverConstraint::m_solverBodyIdB

Definition at line 73 of file btMultiBodySolverConstraint.h.

◆ m_unusedPadding4

btScalar btMultiBodySolverConstraint::m_unusedPadding4

Definition at line 63 of file btMultiBodySolverConstraint.h.

◆ m_upperLimit

btScalar btMultiBodySolverConstraint::m_upperLimit

Definition at line 59 of file btMultiBodySolverConstraint.h.

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