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>

Collaboration diagram for btSolverBody:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
void	setWorldTransform (const btTransform &worldTransform)
const btTransform &	getWorldTransform () 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 btVector3 &	getDeltaLinearVelocity () const
const btVector3 &	getDeltaAngularVelocity () const
const btVector3 &	getPushVelocity () const
const btVector3 &	getTurnVelocity () const
btVector3 &	internalGetDeltaLinearVelocity ()
	some internal methods, don't use them
btVector3 &	internalGetDeltaAngularVelocity ()
const btVector3 &	internalGetAngularFactor () const
const btVector3 &	internalGetInvMass () const
void	internalSetInvMass (const btVector3 &invMass)
btVector3 &	internalGetPushVelocity ()
btVector3 &	internalGetTurnVelocity ()
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
btRigidBody *	m_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.

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

• btSolverBody.h