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

#include <btMultiBodyLink.h>

Collaboration diagram for btMultibodyLink:
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Public Types

enum  eFeatherstoneJointType {
  eRevolute = 0 ,
  ePrismatic = 1 ,
  eSpherical = 2 ,
  ePlanar = 3 ,
  eFixed = 4 ,
  eInvalid
}
 

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
void setAxisTop (int dof, const btVector3 &axis)
 
void setAxisBottom (int dof, const btVector3 &axis)
 
void setAxisTop (int dof, const btScalar &x, const btScalar &y, const btScalar &z)
 
void setAxisBottom (int dof, const btScalar &x, const btScalar &y, const btScalar &z)
 
const btVector3 & getAxisTop (int dof) const
 
const btVector3 & getAxisBottom (int dof) const
 
 btMultibodyLink ()
 
void updateCacheMultiDof (btScalar *pq=0)
 
void updateInterpolationCacheMultiDof ()
 

Public Attributes

btScalar m_mass
 
btVector3 m_inertiaLocal
 
int m_parent
 
btQuaternion m_zeroRotParentToThis
 
btVector3 m_dVector
 
btVector3 m_eVector
 
btSpatialMotionVector m_absFrameTotVelocity
 
btSpatialMotionVector m_absFrameLocVelocity
 
btSpatialMotionVector m_axes [6]
 
int m_dofOffset
 
int m_cfgOffset
 
btQuaternion m_cachedRotParentToThis
 
btVector3 m_cachedRVector
 
btQuaternion m_cachedRotParentToThis_interpolate
 
btVector3 m_cachedRVector_interpolate
 
btVector3 m_appliedForce
 
btVector3 m_appliedTorque
 
btVector3 m_appliedConstraintForce
 
btVector3 m_appliedConstraintTorque
 
btScalar m_jointPos [7]
 
btScalar m_jointPos_interpolate [7]
 
btScalar m_jointTorque [6]
 
class btMultiBodyLinkCollider * m_collider
 
int m_flags
 
int m_dofCount
 
int m_posVarCount
 
eFeatherstoneJointType m_jointType
 
struct btMultiBodyJointFeedback * m_jointFeedback
 
btTransform m_cachedWorldTransform
 
const char * m_linkName
 
const char * m_jointName
 
const void * m_userPtr
 
btScalar m_jointDamping
 
btScalar m_jointFriction
 
btScalar m_jointLowerLimit
 
btScalar m_jointUpperLimit
 
btScalar m_jointMaxForce
 
btScalar m_jointMaxVelocity
 

Detailed Description

Definition at line 47 of file btMultiBodyLink.h.

Member Enumeration Documentation

◆ eFeatherstoneJointType

enum btMultibodyLink::eFeatherstoneJointType
Enumerator
eRevolute 
ePrismatic 
eSpherical 
ePlanar 
eFixed 
eInvalid 

Definition at line 70 of file btMultiBodyLink.h.

Constructor & Destructor Documentation

◆ btMultibodyLink()

btMultibodyLink::btMultibodyLink ( )
inline

Definition at line 155 of file btMultiBodyLink.h.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btMultibodyLink::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ getAxisBottom()

const btVector3 & btMultibodyLink::getAxisBottom ( int  dof) const
inline

Definition at line 108 of file btMultiBodyLink.h.

◆ getAxisTop()

const btVector3 & btMultibodyLink::getAxisTop ( int  dof) const
inline

Definition at line 107 of file btMultiBodyLink.h.

◆ setAxisBottom() [1/2]

void btMultibodyLink::setAxisBottom ( int  dof,
const btScalar &  x,
const btScalar &  y,
const btScalar &  z 
)
inline

Definition at line 103 of file btMultiBodyLink.h.

◆ setAxisBottom() [2/2]

void btMultibodyLink::setAxisBottom ( int  dof,
const btVector3 &  axis 
)
inline

Definition at line 95 of file btMultiBodyLink.h.

◆ setAxisTop() [1/2]

void btMultibodyLink::setAxisTop ( int  dof,
const btScalar &  x,
const btScalar &  y,
const btScalar &  z 
)
inline

Definition at line 99 of file btMultiBodyLink.h.

◆ setAxisTop() [2/2]

void btMultibodyLink::setAxisTop ( int  dof,
const btVector3 &  axis 
)
inline

Definition at line 94 of file btMultiBodyLink.h.

◆ updateCacheMultiDof()

void btMultibodyLink::updateCacheMultiDof ( btScalar *  pq = 0)
inline

Definition at line 196 of file btMultiBodyLink.h.

◆ updateInterpolationCacheMultiDof()

void btMultibodyLink::updateInterpolationCacheMultiDof ( )
inline

Definition at line 248 of file btMultiBodyLink.h.

Member Data Documentation

◆ m_absFrameLocVelocity

btSpatialMotionVector btMultibodyLink::m_absFrameLocVelocity

Definition at line 68 of file btMultiBodyLink.h.

◆ m_absFrameTotVelocity

btSpatialMotionVector btMultibodyLink::m_absFrameTotVelocity

Definition at line 68 of file btMultiBodyLink.h.

◆ m_appliedConstraintForce

btVector3 btMultibodyLink::m_appliedConstraintForce

Definition at line 122 of file btMultiBodyLink.h.

◆ m_appliedConstraintTorque

btVector3 btMultibodyLink::m_appliedConstraintTorque

Definition at line 123 of file btMultiBodyLink.h.

◆ m_appliedForce

btVector3 btMultibodyLink::m_appliedForce

Definition at line 119 of file btMultiBodyLink.h.

◆ m_appliedTorque

btVector3 btMultibodyLink::m_appliedTorque

Definition at line 120 of file btMultiBodyLink.h.

◆ m_axes

btSpatialMotionVector btMultibodyLink::m_axes[6]

Definition at line 93 of file btMultiBodyLink.h.

◆ m_cachedRotParentToThis

btQuaternion btMultibodyLink::m_cachedRotParentToThis

Definition at line 112 of file btMultiBodyLink.h.

◆ m_cachedRotParentToThis_interpolate

btQuaternion btMultibodyLink::m_cachedRotParentToThis_interpolate

Definition at line 116 of file btMultiBodyLink.h.

◆ m_cachedRVector

btVector3 btMultibodyLink::m_cachedRVector

Definition at line 113 of file btMultiBodyLink.h.

◆ m_cachedRVector_interpolate

btVector3 btMultibodyLink::m_cachedRVector_interpolate

Definition at line 117 of file btMultiBodyLink.h.

◆ m_cachedWorldTransform

btTransform btMultibodyLink::m_cachedWorldTransform

Definition at line 141 of file btMultiBodyLink.h.

◆ m_cfgOffset

int btMultibodyLink::m_cfgOffset

Definition at line 110 of file btMultiBodyLink.h.

◆ m_collider

class btMultiBodyLinkCollider* btMultibodyLink::m_collider

Definition at line 132 of file btMultiBodyLink.h.

◆ m_dofCount

int btMultibodyLink::m_dofCount

Definition at line 135 of file btMultiBodyLink.h.

◆ m_dofOffset

int btMultibodyLink::m_dofOffset

Definition at line 110 of file btMultiBodyLink.h.

◆ m_dVector

btVector3 btMultibodyLink::m_dVector

Definition at line 58 of file btMultiBodyLink.h.

◆ m_eVector

btVector3 btMultibodyLink::m_eVector

Definition at line 66 of file btMultiBodyLink.h.

◆ m_flags

int btMultibodyLink::m_flags

Definition at line 133 of file btMultiBodyLink.h.

◆ m_inertiaLocal

btVector3 btMultibodyLink::m_inertiaLocal

Definition at line 52 of file btMultiBodyLink.h.

◆ m_jointDamping

btScalar btMultibodyLink::m_jointDamping

Definition at line 147 of file btMultiBodyLink.h.

◆ m_jointFeedback

struct btMultiBodyJointFeedback* btMultibodyLink::m_jointFeedback

Definition at line 139 of file btMultiBodyLink.h.

◆ m_jointFriction

btScalar btMultibodyLink::m_jointFriction

Definition at line 148 of file btMultiBodyLink.h.

◆ m_jointLowerLimit

btScalar btMultibodyLink::m_jointLowerLimit

Definition at line 149 of file btMultiBodyLink.h.

◆ m_jointMaxForce

btScalar btMultibodyLink::m_jointMaxForce

Definition at line 151 of file btMultiBodyLink.h.

◆ m_jointMaxVelocity

btScalar btMultibodyLink::m_jointMaxVelocity

Definition at line 152 of file btMultiBodyLink.h.

◆ m_jointName

const char* btMultibodyLink::m_jointName

Definition at line 144 of file btMultiBodyLink.h.

◆ m_jointPos

btScalar btMultibodyLink::m_jointPos[7]

Definition at line 125 of file btMultiBodyLink.h.

◆ m_jointPos_interpolate

btScalar btMultibodyLink::m_jointPos_interpolate[7]

Definition at line 126 of file btMultiBodyLink.h.

◆ m_jointTorque

btScalar btMultibodyLink::m_jointTorque[6]

Definition at line 130 of file btMultiBodyLink.h.

◆ m_jointType

eFeatherstoneJointType btMultibodyLink::m_jointType

Definition at line 137 of file btMultiBodyLink.h.

◆ m_jointUpperLimit

btScalar btMultibodyLink::m_jointUpperLimit

Definition at line 150 of file btMultiBodyLink.h.

◆ m_linkName

const char* btMultibodyLink::m_linkName

Definition at line 143 of file btMultiBodyLink.h.

◆ m_mass

btScalar btMultibodyLink::m_mass

Definition at line 51 of file btMultiBodyLink.h.

◆ m_parent

int btMultibodyLink::m_parent

Definition at line 54 of file btMultiBodyLink.h.

◆ m_posVarCount

int btMultibodyLink::m_posVarCount

Definition at line 135 of file btMultiBodyLink.h.

◆ m_userPtr

const void* btMultibodyLink::m_userPtr

Definition at line 145 of file btMultiBodyLink.h.

◆ m_zeroRotParentToThis

btQuaternion btMultibodyLink::m_zeroRotParentToThis

Definition at line 56 of file btMultiBodyLink.h.

The documentation for this struct was generated from the following file:
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