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

The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance. More...

#include <btSolverBody.h>

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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
void setWorldTransform (const btTransform &worldTransform)
 
const btTransformgetWorldTransform () const
 
void getVelocityInLocalPointNoDelta (const btVector3 &rel_pos, btVector3 &velocity) const
 
void getVelocityInLocalPointObsolete (const btVector3 &rel_pos, btVector3 &velocity) const
 
void getAngularVelocity (btVector3 &angVel) const
 
void applyImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
 
void internalApplyPushImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, btScalar impulseMagnitude)
 
const btVector3getDeltaLinearVelocity () const
 
const btVector3getDeltaAngularVelocity () const
 
const btVector3getPushVelocity () const
 
const btVector3getTurnVelocity () const
 
btVector3internalGetDeltaLinearVelocity ()
 some internal methods, don't use them More...
 
btVector3internalGetDeltaAngularVelocity ()
 
const btVector3internalGetAngularFactor () const
 
const btVector3internalGetInvMass () const
 
void internalSetInvMass (const btVector3 &invMass)
 
btVector3internalGetPushVelocity ()
 
btVector3internalGetTurnVelocity ()
 
void internalGetVelocityInLocalPointObsolete (const btVector3 &rel_pos, btVector3 &velocity) const
 
void internalGetAngularVelocity (btVector3 &angVel) const
 
void internalApplyImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
 
void writebackVelocity ()
 
void writebackVelocityAndTransform (btScalar timeStep, btScalar splitImpulseTurnErp)
 

Public Attributes

btTransform m_worldTransform
 
btVector3 m_deltaLinearVelocity
 
btVector3 m_deltaAngularVelocity
 
btVector3 m_angularFactor
 
btVector3 m_linearFactor
 
btVector3 m_invMass
 
btVector3 m_pushVelocity
 
btVector3 m_turnVelocity
 
btVector3 m_linearVelocity
 
btVector3 m_angularVelocity
 
btVector3 m_externalForceImpulse
 
btVector3 m_externalTorqueImpulse
 
btRigidBodym_originalBody
 

Detailed Description

The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.

Definition at line 103 of file btSolverBody.h.

Member Function Documentation

◆ applyImpulse()

void btSolverBody::applyImpulse ( const btVector3 linearComponent,
const btVector3 angularComponent,
const btScalar  impulseMagnitude 
)
inline

Definition at line 156 of file btSolverBody.h.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btSolverBody::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ getAngularVelocity()

void btSolverBody::getAngularVelocity ( btVector3 angVel) const
inline

Definition at line 147 of file btSolverBody.h.

◆ getDeltaAngularVelocity()

const btVector3 & btSolverBody::getDeltaAngularVelocity ( ) const
inline

Definition at line 179 of file btSolverBody.h.

◆ getDeltaLinearVelocity()

const btVector3 & btSolverBody::getDeltaLinearVelocity ( ) const
inline

Definition at line 174 of file btSolverBody.h.

◆ getPushVelocity()

const btVector3 & btSolverBody::getPushVelocity ( ) const
inline

Definition at line 184 of file btSolverBody.h.

◆ getTurnVelocity()

const btVector3 & btSolverBody::getTurnVelocity ( ) const
inline

Definition at line 189 of file btSolverBody.h.

◆ getVelocityInLocalPointNoDelta()

void btSolverBody::getVelocityInLocalPointNoDelta ( const btVector3 rel_pos,
btVector3 velocity 
) const
inline

Definition at line 131 of file btSolverBody.h.

◆ getVelocityInLocalPointObsolete()

void btSolverBody::getVelocityInLocalPointObsolete ( const btVector3 rel_pos,
btVector3 velocity 
) const
inline

Definition at line 139 of file btSolverBody.h.

◆ getWorldTransform()

const btTransform & btSolverBody::getWorldTransform ( ) const
inline

Definition at line 126 of file btSolverBody.h.

◆ internalApplyImpulse()

void btSolverBody::internalApplyImpulse ( const btVector3 linearComponent,
const btVector3 angularComponent,
const btScalar  impulseMagnitude 
)
inline

Definition at line 243 of file btSolverBody.h.

◆ internalApplyPushImpulse()

void btSolverBody::internalApplyPushImpulse ( const btVector3 linearComponent,
const btVector3 angularComponent,
btScalar  impulseMagnitude 
)
inline

Definition at line 165 of file btSolverBody.h.

◆ internalGetAngularFactor()

const btVector3 & btSolverBody::internalGetAngularFactor ( ) const
inline

Definition at line 207 of file btSolverBody.h.

◆ internalGetAngularVelocity()

void btSolverBody::internalGetAngularVelocity ( btVector3 angVel) const
inline

Definition at line 237 of file btSolverBody.h.

◆ internalGetDeltaAngularVelocity()

btVector3 & btSolverBody::internalGetDeltaAngularVelocity ( )
inline

Definition at line 202 of file btSolverBody.h.

◆ internalGetDeltaLinearVelocity()

btVector3 & btSolverBody::internalGetDeltaLinearVelocity ( )
inline

some internal methods, don't use them

Definition at line 197 of file btSolverBody.h.

◆ internalGetInvMass()

const btVector3 & btSolverBody::internalGetInvMass ( ) const
inline

Definition at line 212 of file btSolverBody.h.

◆ internalGetPushVelocity()

btVector3 & btSolverBody::internalGetPushVelocity ( )
inline

Definition at line 222 of file btSolverBody.h.

◆ internalGetTurnVelocity()

btVector3 & btSolverBody::internalGetTurnVelocity ( )
inline

Definition at line 227 of file btSolverBody.h.

◆ internalGetVelocityInLocalPointObsolete()

void btSolverBody::internalGetVelocityInLocalPointObsolete ( const btVector3 rel_pos,
btVector3 velocity 
) const
inline

Definition at line 232 of file btSolverBody.h.

◆ internalSetInvMass()

void btSolverBody::internalSetInvMass ( const btVector3 invMass)
inline

Definition at line 217 of file btSolverBody.h.

◆ setWorldTransform()

void btSolverBody::setWorldTransform ( const btTransform worldTransform)
inline

Definition at line 121 of file btSolverBody.h.

◆ writebackVelocity()

void btSolverBody::writebackVelocity ( )
inline

Definition at line 252 of file btSolverBody.h.

◆ writebackVelocityAndTransform()

void btSolverBody::writebackVelocityAndTransform ( btScalar  timeStep,
btScalar  splitImpulseTurnErp 
)
inline

Definition at line 263 of file btSolverBody.h.

Member Data Documentation

◆ m_angularFactor

btVector3 btSolverBody::m_angularFactor

Definition at line 110 of file btSolverBody.h.

◆ m_angularVelocity

btVector3 btSolverBody::m_angularVelocity

Definition at line 116 of file btSolverBody.h.

◆ m_deltaAngularVelocity

btVector3 btSolverBody::m_deltaAngularVelocity

Definition at line 109 of file btSolverBody.h.

◆ m_deltaLinearVelocity

btVector3 btSolverBody::m_deltaLinearVelocity

Definition at line 108 of file btSolverBody.h.

◆ m_externalForceImpulse

btVector3 btSolverBody::m_externalForceImpulse

Definition at line 117 of file btSolverBody.h.

◆ m_externalTorqueImpulse

btVector3 btSolverBody::m_externalTorqueImpulse

Definition at line 118 of file btSolverBody.h.

◆ m_invMass

btVector3 btSolverBody::m_invMass

Definition at line 112 of file btSolverBody.h.

◆ m_linearFactor

btVector3 btSolverBody::m_linearFactor

Definition at line 111 of file btSolverBody.h.

◆ m_linearVelocity

btVector3 btSolverBody::m_linearVelocity

Definition at line 115 of file btSolverBody.h.

◆ m_originalBody

btRigidBody* btSolverBody::m_originalBody

Definition at line 120 of file btSolverBody.h.

◆ m_pushVelocity

btVector3 btSolverBody::m_pushVelocity

Definition at line 113 of file btSolverBody.h.

◆ m_turnVelocity

btVector3 btSolverBody::m_turnVelocity

Definition at line 114 of file btSolverBody.h.

◆ m_worldTransform

btTransform btSolverBody::m_worldTransform

Definition at line 107 of file btSolverBody.h.


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