#include <btMultiBody.h>

Collaboration diagram for btMultiBody:

[legend]

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btMultiBody (int n_links, btScalar mass, const btVector3 &inertia, bool fixedBase, bool canSleep, bool deprecatedMultiDof=true)

virtual	~btMultiBody ()

void	setupFixed (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true)

void	setupPrismatic (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision)

void	setupRevolute (int i, btScalar mass, const btVector3 &inertia, int parentIndex, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)

void	setupSpherical (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)

void	setupPlanar (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &rotationAxis, const btVector3 &parentComToThisComOffset, bool disableParentCollision=false)

const btMultibodyLink &	getLink (int index) const

btMultibodyLink &	getLink (int index)

void	setBaseCollider (btMultiBodyLinkCollider *collider)

const btMultiBodyLinkCollider *	getBaseCollider () const

btMultiBodyLinkCollider *	getBaseCollider ()

const btMultiBodyLinkCollider *	getLinkCollider (int index) const

btMultiBodyLinkCollider *	getLinkCollider (int index)

int	getParent (int link_num) const

int	getNumLinks () const

int	getNumDofs () const

int	getNumPosVars () const

btScalar	getBaseMass () const

const btVector3 &	getBaseInertia () const

btScalar	getLinkMass (int i) const

const btVector3 &	getLinkInertia (int i) const

void	setBaseMass (btScalar mass)

void	setBaseInertia (const btVector3 &inertia)

const btVector3 &	getBasePos () const

const btVector3	getBaseVel () const

const btQuaternion &	getWorldToBaseRot () const

const btVector3 &	getInterpolateBasePos () const

const btQuaternion &	getInterpolateWorldToBaseRot () const

btVector3	getBaseOmega () const

void	setBasePos (const btVector3 &pos)

void	setInterpolateBasePos (const btVector3 &pos)

void	setBaseWorldTransform (const btTransform &tr)

btTransform	getBaseWorldTransform () const

void	setInterpolateBaseWorldTransform (const btTransform &tr)

btTransform	getInterpolateBaseWorldTransform () const

void	setBaseVel (const btVector3 &vel)

void	setWorldToBaseRot (const btQuaternion &rot)

void	setInterpolateWorldToBaseRot (const btQuaternion &rot)

void	setBaseOmega (const btVector3 &omega)

void	saveKinematicState (btScalar timeStep)

btScalar	getJointPos (int i) const

btScalar	getJointVel (int i) const

btScalar *	getJointVelMultiDof (int i)

btScalar *	getJointPosMultiDof (int i)

const btScalar *	getJointVelMultiDof (int i) const

const btScalar *	getJointPosMultiDof (int i) const

void	setJointPos (int i, btScalar q)

void	setJointVel (int i, btScalar qdot)

void	setJointPosMultiDof (int i, const double *q)

void	setJointVelMultiDof (int i, const double *qdot)

void	setJointPosMultiDof (int i, const float *q)

void	setJointVelMultiDof (int i, const float *qdot)

const btScalar *	getVelocityVector () const

const btScalar *	getDeltaVelocityVector () const

const btScalar *	getSplitVelocityVector () const

const btVector3 &	getRVector (int i) const

const btQuaternion &	getParentToLocalRot (int i) const

const btVector3 &	getInterpolateRVector (int i) const

const btQuaternion &	getInterpolateParentToLocalRot (int i) const

btVector3	localPosToWorld (int i, const btVector3 &local_pos) const

btVector3	localDirToWorld (int i, const btVector3 &local_dir) const

btVector3	worldPosToLocal (int i, const btVector3 &world_pos) const

btVector3	worldDirToLocal (int i, const btVector3 &world_dir) const

btMatrix3x3	localFrameToWorld (int i, const btMatrix3x3 &local_frame) const

void	clearForcesAndTorques ()

void	clearConstraintForces ()

void	clearVelocities ()

void	addBaseForce (const btVector3 &f)

void	addBaseTorque (const btVector3 &t)

void	addLinkForce (int i, const btVector3 &f)

void	addLinkTorque (int i, const btVector3 &t)

void	addBaseConstraintForce (const btVector3 &f)

void	addBaseConstraintTorque (const btVector3 &t)

void	addLinkConstraintForce (int i, const btVector3 &f)

void	addLinkConstraintTorque (int i, const btVector3 &t)

void	addJointTorque (int i, btScalar Q)

void	addJointTorqueMultiDof (int i, int dof, btScalar Q)

void	addJointTorqueMultiDof (int i, const btScalar *Q)

const btVector3 &	getBaseForce () const

const btVector3 &	getBaseTorque () const

const btVector3 &	getLinkForce (int i) const

const btVector3 &	getLinkTorque (int i) const

btScalar	getJointTorque (int i) const

btScalar *	getJointTorqueMultiDof (int i)

void	computeAccelerationsArticulatedBodyAlgorithmMultiDof (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m, bool isConstraintPass, bool jointFeedbackInWorldSpace, bool jointFeedbackInJointFrame)

void	calcAccelerationDeltasMultiDof (const btScalar force, btScalar output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const
	stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead More...

void	applyDeltaVeeMultiDof2 (const btScalar *delta_vee, btScalar multiplier)

void	applyDeltaSplitVeeMultiDof (const btScalar *delta_vee, btScalar multiplier)

void	addSplitV ()

void	substractSplitV ()

void	processDeltaVeeMultiDof2 ()

void	applyDeltaVeeMultiDof (const btScalar *delta_vee, btScalar multiplier)

void	stepPositionsMultiDof (btScalar dt, btScalar pq=0, btScalar pqd=0)

void	predictPositionsMultiDof (btScalar dt)

void	fillContactJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const

void	fillConstraintJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal_ang, const btVector3 &normal_lin, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const

void	setCanSleep (bool canSleep)

bool	getCanSleep () const

bool	getCanWakeup () const

void	setCanWakeup (bool canWakeup)

bool	isAwake () const

void	wakeUp ()

void	goToSleep ()

void	checkMotionAndSleepIfRequired (btScalar timestep)

bool	hasFixedBase () const

bool	isBaseKinematic () const

bool	isBaseStaticOrKinematic () const

void	setBaseDynamicType (int dynamicType)

void	setFixedBase (bool fixedBase)

int	getCompanionId () const

void	setCompanionId (int id)

void	setNumLinks (int numLinks)

btScalar	getLinearDamping () const

void	setLinearDamping (btScalar damp)

btScalar	getAngularDamping () const

void	setAngularDamping (btScalar damp)

bool	getUseGyroTerm () const

void	setUseGyroTerm (bool useGyro)

btScalar	getMaxCoordinateVelocity () const

void	setMaxCoordinateVelocity (btScalar maxVel)

btScalar	getMaxAppliedImpulse () const

void	setMaxAppliedImpulse (btScalar maxImp)

void	setHasSelfCollision (bool hasSelfCollision)

bool	hasSelfCollision () const

void	finalizeMultiDof ()

void	useRK4Integration (bool use)

bool	isUsingRK4Integration () const

void	useGlobalVelocities (bool use)

bool	isUsingGlobalVelocities () const

bool	isPosUpdated () const

void	setPosUpdated (bool updated)

bool	internalNeedsJointFeedback () const

void	forwardKinematics (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin)

void	compTreeLinkVelocities (btVector3 omega, btVector3 vel) const

void	updateCollisionObjectWorldTransforms (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin)

void	updateCollisionObjectInterpolationWorldTransforms (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin)

virtual int	calculateSerializeBufferSize () const

virtual const char *	serialize (void dataBuffer, class btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure) More...

const char *	getBaseName () const

void	setBaseName (const char *name)
	memory of setBaseName needs to be manager by user More...

void *	getUserPointer () const
	users can point to their objects, userPointer is not used by Bullet More...

int	getUserIndex () const

int	getUserIndex2 () const

void	setUserPointer (void *userPointer)
	users can point to their objects, userPointer is not used by Bullet More...

void	setUserIndex (int index)
	users can point to their objects, userPointer is not used by Bullet More...

void	setUserIndex2 (int index)

void	setLinkDynamicType (const int i, int type)

bool	isLinkStaticOrKinematic (const int i) const

bool	isLinkKinematic (const int i) const

bool	isLinkAndAllAncestorsStaticOrKinematic (const int i) const

bool	isLinkAndAllAncestorsKinematic (const int i) const

void	setSleepThreshold (btScalar sleepThreshold)

void	setSleepTimeout (btScalar sleepTimeout)

Static Public Member Functions
static void	spatialTransform (const btMatrix3x3 &rotation_matrix, const btVector3 &displacement, const btVector3 &top_in, const btVector3 &bottom_in, btVector3 &top_out, btVector3 &bottom_out)

Private Member Functions
	btMultiBody (const btMultiBody &)

void	operator= (const btMultiBody &)

void	solveImatrix (const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar result[6]) const

void	solveImatrix (const btSpatialForceVector &rhs, btSpatialMotionVector &result) const

void	updateLinksDofOffsets ()

void	mulMatrix (const btScalar pA, const btScalar pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const

Private Attributes
btMultiBodyLinkCollider *	m_baseCollider

const char *	m_baseName

btVector3	m_basePos

btVector3	m_basePos_interpolate

btQuaternion	m_baseQuat

btQuaternion	m_baseQuat_interpolate

btScalar	m_baseMass

btVector3	m_baseInertia

btVector3	m_baseForce

btVector3	m_baseTorque

btVector3	m_baseConstraintForce

btVector3	m_baseConstraintTorque

btAlignedObjectArray< btMultibodyLink >	m_links

btAlignedObjectArray< btScalar >	m_splitV

btAlignedObjectArray< btScalar >	m_deltaV

btAlignedObjectArray< btScalar >	m_realBuf

btAlignedObjectArray< btVector3 >	m_vectorBuf

btAlignedObjectArray< btMatrix3x3 >	m_matrixBuf

btMatrix3x3	m_cachedInertiaTopLeft

btMatrix3x3	m_cachedInertiaTopRight

btMatrix3x3	m_cachedInertiaLowerLeft

btMatrix3x3	m_cachedInertiaLowerRight

bool	m_cachedInertiaValid

bool	m_fixedBase

bool	m_awake

bool	m_canSleep

bool	m_canWakeup

btScalar	m_sleepTimer

btScalar	m_sleepEpsilon

btScalar	m_sleepTimeout

void *	m_userObjectPointer

int	m_userIndex2

int	m_userIndex

int	m_companionId

btScalar	m_linearDamping

btScalar	m_angularDamping

bool	m_useGyroTerm

btScalar	m_maxAppliedImpulse

btScalar	m_maxCoordinateVelocity

bool	m_hasSelfCollision

bool	__posUpdated

int	m_dofCount

int	m_posVarCnt

bool	m_useRK4

bool	m_useGlobalVelocities

bool	m_internalNeedsJointFeedback
	the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only More...

bool	m_kinematic_calculate_velocity

Detailed Description

Definition at line 49 of file btMultiBody.h.

Constructor & Destructor Documentation

◆ btMultiBody() [1/2]

btMultiBody::btMultiBody	(	int	n_links,
		btScalar	mass,
		const btVector3 &	inertia,
		bool	fixedBase,
		bool	canSleep,
		bool	deprecatedMultiDof = `true`
	)

Definition at line 93 of file btMultiBody.cpp.

◆ ~btMultiBody()

btMultiBody::~btMultiBody ( )

virtual

Definition at line 150 of file btMultiBody.cpp.

◆ btMultiBody() [2/2]

btMultiBody::btMultiBody ( const btMultiBody & )

private

Member Function Documentation

◆ addBaseConstraintForce()

void btMultiBody::addBaseConstraintForce ( const btVector3 & f )

inline

Definition at line 363 of file btMultiBody.h.

◆ addBaseConstraintTorque()

void btMultiBody::addBaseConstraintTorque ( const btVector3 & t )

inline

Definition at line 367 of file btMultiBody.h.

◆ addBaseForce()

void btMultiBody::addBaseForce ( const btVector3 & f )

inline

Definition at line 355 of file btMultiBody.h.

◆ addBaseTorque()

void btMultiBody::addBaseTorque ( const btVector3 & t )

inline

Definition at line 359 of file btMultiBody.h.

◆ addJointTorque()

void btMultiBody::addJointTorque	(	int	i,
		btScalar	Q
	)

Definition at line 644 of file btMultiBody.cpp.

◆ addJointTorqueMultiDof() [1/2]

void btMultiBody::addJointTorqueMultiDof	(	int	i,
		const btScalar *	Q
	)

Definition at line 654 of file btMultiBody.cpp.

◆ addJointTorqueMultiDof() [2/2]

void btMultiBody::addJointTorqueMultiDof	(	int	i,
		int	dof,
		btScalar	Q
	)

Definition at line 649 of file btMultiBody.cpp.

◆ addLinkConstraintForce()

void btMultiBody::addLinkConstraintForce	(	int	i,
		const btVector3 &	f
	)

Definition at line 634 of file btMultiBody.cpp.

◆ addLinkConstraintTorque()

void btMultiBody::addLinkConstraintTorque	(	int	i,
		const btVector3 &	t
	)

Definition at line 639 of file btMultiBody.cpp.

◆ addLinkForce()

void btMultiBody::addLinkForce	(	int	i,
		const btVector3 &	f
	)

Definition at line 624 of file btMultiBody.cpp.

◆ addLinkTorque()

void btMultiBody::addLinkTorque	(	int	i,
		const btVector3 &	t
	)

Definition at line 629 of file btMultiBody.cpp.

◆ addSplitV()

void btMultiBody::addSplitV ( )

inline

Definition at line 442 of file btMultiBody.h.

◆ applyDeltaSplitVeeMultiDof()

void btMultiBody::applyDeltaSplitVeeMultiDof	(	const btScalar *	delta_vee,
		btScalar	multiplier
	)

inline

Definition at line 435 of file btMultiBody.h.

◆ applyDeltaVeeMultiDof()

void btMultiBody::applyDeltaVeeMultiDof	(	const btScalar *	delta_vee,
		btScalar	multiplier
	)

inline

Definition at line 465 of file btMultiBody.h.

◆ applyDeltaVeeMultiDof2()

void btMultiBody::applyDeltaVeeMultiDof2	(	const btScalar *	delta_vee,
		btScalar	multiplier
	)

inline

Definition at line 428 of file btMultiBody.h.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btMultiBody::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calcAccelerationDeltasMultiDof()

void btMultiBody::calcAccelerationDeltasMultiDof	(	const btScalar *	force,
		btScalar *	output,
		btAlignedObjectArray< btScalar > &	scratch_r,
		btAlignedObjectArray< btVector3 > &	scratch_v
	)		const

stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead

Definition at line 1432 of file btMultiBody.cpp.

◆ calculateSerializeBufferSize()

int btMultiBody::calculateSerializeBufferSize ( ) const

virtual

Definition at line 2283 of file btMultiBody.cpp.

◆ checkMotionAndSleepIfRequired()

void btMultiBody::checkMotionAndSleepIfRequired ( btScalar timestep )

Definition at line 2091 of file btMultiBody.cpp.

◆ clearConstraintForces()

void btMultiBody::clearConstraintForces ( )

Definition at line 593 of file btMultiBody.cpp.

◆ clearForcesAndTorques()

void btMultiBody::clearForcesAndTorques ( )

Definition at line 604 of file btMultiBody.cpp.

◆ clearVelocities()

void btMultiBody::clearVelocities ( )

Definition at line 617 of file btMultiBody.cpp.

◆ compTreeLinkVelocities()

void btMultiBody::compTreeLinkVelocities	(	btVector3 *	omega,
		btVector3 *	vel
	)		const

Definition at line 564 of file btMultiBody.cpp.

◆ computeAccelerationsArticulatedBodyAlgorithmMultiDof()

void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof	(	btScalar	dt,
		btAlignedObjectArray< btScalar > &	scratch_r,
		btAlignedObjectArray< btVector3 > &	scratch_v,
		btAlignedObjectArray< btMatrix3x3 > &	scratch_m,
		bool	isConstraintPass,
		bool	jointFeedbackInWorldSpace,
		bool	jointFeedbackInJointFrame
	)

Definition at line 728 of file btMultiBody.cpp.

◆ fillConstraintJacobianMultiDof()

void btMultiBody::fillConstraintJacobianMultiDof	(	int	link,
		const btVector3 &	contact_point,
		const btVector3 &	normal_ang,
		const btVector3 &	normal_lin,
		btScalar *	jac,
		btAlignedObjectArray< btScalar > &	scratch_r,
		btAlignedObjectArray< btVector3 > &	scratch_v,
		btAlignedObjectArray< btMatrix3x3 > &	scratch_m
	)		const

Definition at line 1937 of file btMultiBody.cpp.

◆ fillContactJacobianMultiDof()

void btMultiBody::fillContactJacobianMultiDof	(	int	link,
		const btVector3 &	contact_point,
		const btVector3 &	normal,
		btScalar *	jac,
		btAlignedObjectArray< btScalar > &	scratch_r,
		btAlignedObjectArray< btVector3 > &	scratch_v,
		btAlignedObjectArray< btMatrix3x3 > &	scratch_m
	)		const

inline

Definition at line 504 of file btMultiBody.h.

◆ finalizeMultiDof()

void btMultiBody::finalizeMultiDof ( )

Definition at line 347 of file btMultiBody.cpp.

◆ forwardKinematics()

void btMultiBody::forwardKinematics	(	btAlignedObjectArray< btQuaternion > &	world_to_local,
		btAlignedObjectArray< btVector3 > &	local_origin
	)

base + num m_links

Definition at line 2129 of file btMultiBody.cpp.

◆ getAngularDamping()

btScalar btMultiBody::getAngularDamping ( ) const

inline

Definition at line 597 of file btMultiBody.h.

◆ getBaseCollider() [1/2]

btMultiBodyLinkCollider * btMultiBody::getBaseCollider ( )

inline

Definition at line 132 of file btMultiBody.h.

◆ getBaseCollider() [2/2]

const btMultiBodyLinkCollider * btMultiBody::getBaseCollider ( ) const

inline

Definition at line 128 of file btMultiBody.h.

◆ getBaseForce()

const btVector3 & btMultiBody::getBaseForce ( ) const

inline

Definition at line 375 of file btMultiBody.h.

◆ getBaseInertia()

const btVector3 & btMultiBody::getBaseInertia ( ) const

inline

Definition at line 170 of file btMultiBody.h.

◆ getBaseMass()

btScalar btMultiBody::getBaseMass ( ) const

inline

Definition at line 169 of file btMultiBody.h.

◆ getBaseName()

const char * btMultiBody::getBaseName ( ) const

inline

Definition at line 673 of file btMultiBody.h.

◆ getBaseOmega()

btVector3 btMultiBody::getBaseOmega ( ) const

inline

Definition at line 208 of file btMultiBody.h.

◆ getBasePos()

const btVector3 & btMultiBody::getBasePos ( ) const

inline

Definition at line 185 of file btMultiBody.h.

◆ getBaseTorque()

const btVector3 & btMultiBody::getBaseTorque ( ) const

inline

Definition at line 376 of file btMultiBody.h.

◆ getBaseVel()

const btVector3 btMultiBody::getBaseVel ( ) const

inline

Definition at line 189 of file btMultiBody.h.

◆ getBaseWorldTransform()

btTransform btMultiBody::getBaseWorldTransform ( ) const

inline

Definition at line 228 of file btMultiBody.h.

◆ getCanSleep()

bool btMultiBody::getCanSleep ( ) const

inline

Definition at line 534 of file btMultiBody.h.

◆ getCanWakeup()

bool btMultiBody::getCanWakeup ( ) const

inline

Definition at line 539 of file btMultiBody.h.

◆ getCompanionId()

int btMultiBody::getCompanionId ( ) const

inline

Definition at line 574 of file btMultiBody.h.

◆ getDeltaVelocityVector()

const btScalar * btMultiBody::getDeltaVelocityVector ( ) const

inline

Definition at line 307 of file btMultiBody.h.

◆ getInterpolateBasePos()

const btVector3 & btMultiBody::getInterpolateBasePos ( ) const

inline

Definition at line 198 of file btMultiBody.h.

◆ getInterpolateBaseWorldTransform()

btTransform btMultiBody::getInterpolateBaseWorldTransform ( ) const

inline

Definition at line 242 of file btMultiBody.h.

◆ getInterpolateParentToLocalRot()

const btQuaternion & btMultiBody::getInterpolateParentToLocalRot ( int i ) const

Definition at line 465 of file btMultiBody.cpp.

◆ getInterpolateRVector()

const btVector3 & btMultiBody::getInterpolateRVector ( int i ) const

Definition at line 460 of file btMultiBody.cpp.

◆ getInterpolateWorldToBaseRot()

const btQuaternion & btMultiBody::getInterpolateWorldToBaseRot ( ) const

inline

Definition at line 202 of file btMultiBody.h.

◆ getJointPos()

btScalar btMultiBody::getJointPos ( int i ) const

Definition at line 378 of file btMultiBody.cpp.

◆ getJointPosMultiDof() [1/2]

btScalar * btMultiBody::getJointPosMultiDof ( int i )

Definition at line 388 of file btMultiBody.cpp.

◆ getJointPosMultiDof() [2/2]

const btScalar * btMultiBody::getJointPosMultiDof ( int i ) const

Definition at line 398 of file btMultiBody.cpp.

◆ getJointTorque()

btScalar btMultiBody::getJointTorque ( int i ) const

Definition at line 670 of file btMultiBody.cpp.

◆ getJointTorqueMultiDof()

btScalar * btMultiBody::getJointTorqueMultiDof ( int i )

Definition at line 675 of file btMultiBody.cpp.

◆ getJointVel()

btScalar btMultiBody::getJointVel ( int i ) const

Definition at line 383 of file btMultiBody.cpp.

◆ getJointVelMultiDof() [1/2]

btScalar * btMultiBody::getJointVelMultiDof ( int i )

Definition at line 393 of file btMultiBody.cpp.

◆ getJointVelMultiDof() [2/2]

const btScalar * btMultiBody::getJointVelMultiDof ( int i ) const

Definition at line 403 of file btMultiBody.cpp.

◆ getLinearDamping()

btScalar btMultiBody::getLinearDamping ( ) const

inline

Definition at line 589 of file btMultiBody.h.

◆ getLink() [1/2]

btMultibodyLink & btMultiBody::getLink ( int index )

inline

Definition at line 119 of file btMultiBody.h.

◆ getLink() [2/2]

const btMultibodyLink & btMultiBody::getLink ( int index ) const

inline

Definition at line 114 of file btMultiBody.h.

◆ getLinkCollider() [1/2]

btMultiBodyLinkCollider * btMultiBody::getLinkCollider ( int index )

inline

Definition at line 146 of file btMultiBody.h.

◆ getLinkCollider() [2/2]

const btMultiBodyLinkCollider * btMultiBody::getLinkCollider ( int index ) const

inline

Definition at line 137 of file btMultiBody.h.

◆ getLinkForce()

const btVector3 & btMultiBody::getLinkForce ( int i ) const

Definition at line 660 of file btMultiBody.cpp.

◆ getLinkInertia()

const btVector3 & btMultiBody::getLinkInertia ( int i ) const

Definition at line 373 of file btMultiBody.cpp.

◆ getLinkMass()

btScalar btMultiBody::getLinkMass ( int i ) const

Definition at line 368 of file btMultiBody.cpp.

◆ getLinkTorque()

const btVector3 & btMultiBody::getLinkTorque ( int i ) const

Definition at line 665 of file btMultiBody.cpp.

◆ getMaxAppliedImpulse()

btScalar btMultiBody::getMaxAppliedImpulse ( ) const

inline

Definition at line 623 of file btMultiBody.h.

◆ getMaxCoordinateVelocity()

btScalar btMultiBody::getMaxCoordinateVelocity ( ) const

inline

Definition at line 614 of file btMultiBody.h.

◆ getNumDofs()

int btMultiBody::getNumDofs ( ) const

inline

Definition at line 167 of file btMultiBody.h.

◆ getNumLinks()

int btMultiBody::getNumLinks ( ) const

inline

Definition at line 166 of file btMultiBody.h.

◆ getNumPosVars()

int btMultiBody::getNumPosVars ( ) const

inline

Definition at line 168 of file btMultiBody.h.

◆ getParent()

int btMultiBody::getParent ( int link_num ) const

Definition at line 363 of file btMultiBody.cpp.

◆ getParentToLocalRot()

const btQuaternion & btMultiBody::getParentToLocalRot ( int i ) const

Definition at line 455 of file btMultiBody.cpp.

◆ getRVector()

const btVector3 & btMultiBody::getRVector ( int i ) const

Definition at line 450 of file btMultiBody.cpp.

◆ getSplitVelocityVector()

const btScalar * btMultiBody::getSplitVelocityVector ( ) const

inline

Definition at line 312 of file btMultiBody.h.

◆ getUseGyroTerm()

bool btMultiBody::getUseGyroTerm ( ) const

inline

Definition at line 606 of file btMultiBody.h.

◆ getUserIndex()

int btMultiBody::getUserIndex ( ) const

inline

Definition at line 689 of file btMultiBody.h.

◆ getUserIndex2()

int btMultiBody::getUserIndex2 ( ) const

inline

Definition at line 694 of file btMultiBody.h.

◆ getUserPointer()

void * btMultiBody::getUserPointer ( ) const

inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 684 of file btMultiBody.h.

◆ getVelocityVector()

const btScalar * btMultiBody::getVelocityVector ( ) const

inline

Definition at line 302 of file btMultiBody.h.

◆ getWorldToBaseRot()

const btQuaternion & btMultiBody::getWorldToBaseRot ( ) const

inline

Definition at line 193 of file btMultiBody.h.

◆ goToSleep()

void btMultiBody::goToSleep ( )

Definition at line 2086 of file btMultiBody.cpp.

◆ hasFixedBase()

bool btMultiBody::hasFixedBase ( ) const

Definition at line 680 of file btMultiBody.cpp.

◆ hasSelfCollision()

bool btMultiBody::hasSelfCollision ( ) const

inline

Definition at line 635 of file btMultiBody.h.

◆ internalNeedsJointFeedback()

bool btMultiBody::internalNeedsJointFeedback ( ) const

inline

Definition at line 657 of file btMultiBody.h.

◆ isAwake()

bool btMultiBody::isAwake ( ) const

inline

Definition at line 548 of file btMultiBody.h.

◆ isBaseKinematic()

bool btMultiBody::isBaseKinematic ( ) const

Definition at line 690 of file btMultiBody.cpp.

◆ isBaseStaticOrKinematic()

bool btMultiBody::isBaseStaticOrKinematic ( ) const

Definition at line 685 of file btMultiBody.cpp.

◆ isLinkAndAllAncestorsKinematic()

bool btMultiBody::isLinkAndAllAncestorsKinematic ( const int i ) const

Definition at line 2452 of file btMultiBody.cpp.

◆ isLinkAndAllAncestorsStaticOrKinematic()

bool btMultiBody::isLinkAndAllAncestorsStaticOrKinematic ( const int i ) const

Definition at line 2441 of file btMultiBody.cpp.

◆ isLinkKinematic()

bool btMultiBody::isLinkKinematic ( const int i ) const

Definition at line 2427 of file btMultiBody.cpp.

◆ isLinkStaticOrKinematic()

bool btMultiBody::isLinkStaticOrKinematic ( const int i ) const

Definition at line 2413 of file btMultiBody.cpp.

◆ isPosUpdated()

bool btMultiBody::isPosUpdated ( ) const

inline

Definition at line 647 of file btMultiBody.h.

◆ isUsingGlobalVelocities()

bool btMultiBody::isUsingGlobalVelocities ( ) const

inline

Definition at line 645 of file btMultiBody.h.

◆ isUsingRK4Integration()

bool btMultiBody::isUsingRK4Integration ( ) const

inline

Definition at line 643 of file btMultiBody.h.

◆ localDirToWorld()

btVector3 btMultiBody::localDirToWorld	(	int	i,
		const btVector3 &	local_dir
	)		const

Definition at line 516 of file btMultiBody.cpp.

◆ localFrameToWorld()

btMatrix3x3 btMultiBody::localFrameToWorld	(	int	i,
		const btMatrix3x3 &	local_frame
	)		const

Definition at line 554 of file btMultiBody.cpp.

◆ localPosToWorld()

btVector3 btMultiBody::localPosToWorld	(	int	i,
		const btVector3 &	local_pos
	)		const

Definition at line 470 of file btMultiBody.cpp.

◆ mulMatrix()

void btMultiBody::mulMatrix	(	const btScalar *	pA,
		const btScalar *	pB,
		int	rowsA,
		int	colsA,
		int	rowsB,
		int	colsB,
		btScalar *	pC
	)		const

private

Definition at line 1417 of file btMultiBody.cpp.

◆ operator=()

void btMultiBody::operator= ( const btMultiBody & )

private

◆ predictPositionsMultiDof()

void btMultiBody::predictPositionsMultiDof ( btScalar dt )

baseBody => quat is alibi and omega is local coor

Definition at line 1594 of file btMultiBody.cpp.

◆ processDeltaVeeMultiDof2()

void btMultiBody::processDeltaVeeMultiDof2 ( )

inline

Definition at line 455 of file btMultiBody.h.

◆ saveKinematicState()

void btMultiBody::saveKinematicState ( btScalar timeStep )

Definition at line 2385 of file btMultiBody.cpp.

◆ serialize()

const char * btMultiBody::serialize	(	void *	dataBuffer,
		class btSerializer *	serializer
	)		const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Definition at line 2290 of file btMultiBody.cpp.

◆ setAngularDamping()

void btMultiBody::setAngularDamping ( btScalar damp )

inline

Definition at line 601 of file btMultiBody.h.

◆ setBaseCollider()

void btMultiBody::setBaseCollider ( btMultiBodyLinkCollider * collider )

inline

Definition at line 124 of file btMultiBody.h.

◆ setBaseDynamicType()

void btMultiBody::setBaseDynamicType ( int dynamicType )

Definition at line 695 of file btMultiBody.cpp.

◆ setBaseInertia()

void btMultiBody::setBaseInertia ( const btVector3 & inertia )

inline

Definition at line 179 of file btMultiBody.h.

◆ setBaseMass()

void btMultiBody::setBaseMass ( btScalar mass )

inline

Definition at line 178 of file btMultiBody.h.

◆ setBaseName()

void btMultiBody::setBaseName ( const char * name )

inline

memory of setBaseName needs to be manager by user

Definition at line 678 of file btMultiBody.h.

◆ setBaseOmega()

void btMultiBody::setBaseOmega ( const btVector3 & omega )

inline

Definition at line 269 of file btMultiBody.h.

◆ setBasePos()

void btMultiBody::setBasePos ( const btVector3 & pos )

inline

Definition at line 210 of file btMultiBody.h.

◆ setBaseVel()

void btMultiBody::setBaseVel ( const btVector3 & vel )

inline

Definition at line 250 of file btMultiBody.h.

◆ setBaseWorldTransform()

void btMultiBody::setBaseWorldTransform ( const btTransform & tr )

inline

Definition at line 222 of file btMultiBody.h.

◆ setCanSleep()

void btMultiBody::setCanSleep ( bool canSleep )

inline

Definition at line 526 of file btMultiBody.h.

◆ setCanWakeup()

void btMultiBody::setCanWakeup ( bool canWakeup )

inline

Definition at line 544 of file btMultiBody.h.

◆ setCompanionId()

void btMultiBody::setCompanionId ( int id )

inline

Definition at line 578 of file btMultiBody.h.

◆ setFixedBase()

void btMultiBody::setFixedBase ( bool fixedBase )

inline

Definition at line 565 of file btMultiBody.h.

◆ setHasSelfCollision()

void btMultiBody::setHasSelfCollision ( bool hasSelfCollision )

inline

Definition at line 631 of file btMultiBody.h.

◆ setInterpolateBasePos()

void btMultiBody::setInterpolateBasePos ( const btVector3 & pos )

inline

Definition at line 217 of file btMultiBody.h.

◆ setInterpolateBaseWorldTransform()

void btMultiBody::setInterpolateBaseWorldTransform ( const btTransform & tr )

inline

Definition at line 236 of file btMultiBody.h.

◆ setInterpolateWorldToBaseRot()

void btMultiBody::setInterpolateWorldToBaseRot ( const btQuaternion & rot )

inline

Definition at line 264 of file btMultiBody.h.

◆ setJointPos()

void btMultiBody::setJointPos	(	int	i,
		btScalar	q
	)

Definition at line 408 of file btMultiBody.cpp.

◆ setJointPosMultiDof() [1/2]

void btMultiBody::setJointPosMultiDof	(	int	i,
		const double *	q
	)

Definition at line 415 of file btMultiBody.cpp.

◆ setJointPosMultiDof() [2/2]

void btMultiBody::setJointPosMultiDof	(	int	i,
		const float *	q
	)

Definition at line 423 of file btMultiBody.cpp.

◆ setJointVel()

void btMultiBody::setJointVel	(	int	i,
		btScalar	qdot
	)

Definition at line 433 of file btMultiBody.cpp.

◆ setJointVelMultiDof() [1/2]

void btMultiBody::setJointVelMultiDof	(	int	i,
		const double *	qdot
	)

Definition at line 438 of file btMultiBody.cpp.

◆ setJointVelMultiDof() [2/2]

void btMultiBody::setJointVelMultiDof	(	int	i,
		const float *	qdot
	)

Definition at line 444 of file btMultiBody.cpp.

◆ setLinearDamping()

void btMultiBody::setLinearDamping ( btScalar damp )

inline

Definition at line 593 of file btMultiBody.h.

◆ setLinkDynamicType()

void btMultiBody::setLinkDynamicType	(	const int	i,
		int	type
	)

Definition at line 2398 of file btMultiBody.cpp.

◆ setMaxAppliedImpulse()

void btMultiBody::setMaxAppliedImpulse ( btScalar maxImp )

inline

Definition at line 627 of file btMultiBody.h.

◆ setMaxCoordinateVelocity()

void btMultiBody::setMaxCoordinateVelocity ( btScalar maxVel )

inline

Definition at line 618 of file btMultiBody.h.

◆ setNumLinks()

void btMultiBody::setNumLinks ( int numLinks )

inline

Definition at line 584 of file btMultiBody.h.

◆ setPosUpdated()

void btMultiBody::setPosUpdated ( bool updated )

inline

Definition at line 651 of file btMultiBody.h.

◆ setSleepThreshold()

void btMultiBody::setSleepThreshold ( btScalar sleepThreshold )

inline

Definition at line 732 of file btMultiBody.h.

◆ setSleepTimeout()

void btMultiBody::setSleepTimeout ( btScalar sleepTimeout )

inline

Definition at line 737 of file btMultiBody.h.

◆ setupFixed()

void btMultiBody::setupFixed	(	int	i,
		btScalar	mass,
		const btVector3 &	inertia,
		int	parent,
		const btQuaternion &	rotParentToThis,
		const btVector3 &	parentComToThisPivotOffset,
		const btVector3 &	thisPivotToThisComOffset,
		bool	deprecatedDisableParentCollision = `true`
	)

Definition at line 154 of file btMultiBody.cpp.

◆ setupPlanar()

void btMultiBody::setupPlanar	(	int	i,
		btScalar	mass,
		const btVector3 &	inertia,
		int	parent,
		const btQuaternion &	rotParentToThis,
		const btVector3 &	rotationAxis,
		const btVector3 &	parentComToThisComOffset,
		bool	disableParentCollision = `false`
	)

Definition at line 296 of file btMultiBody.cpp.

◆ setupPrismatic()

void btMultiBody::setupPrismatic	(	int	i,
		btScalar	mass,
		const btVector3 &	inertia,
		int	parent,
		const btQuaternion &	rotParentToThis,
		const btVector3 &	jointAxis,
		const btVector3 &	parentComToThisPivotOffset,
		const btVector3 &	thisPivotToThisComOffset,
		bool	disableParentCollision
	)

Definition at line 182 of file btMultiBody.cpp.

◆ setupRevolute()

void btMultiBody::setupRevolute	(	int	i,
		btScalar	mass,
		const btVector3 &	inertia,
		int	parentIndex,
		const btQuaternion &	rotParentToThis,
		const btVector3 &	jointAxis,
		const btVector3 &	parentComToThisPivotOffset,
		const btVector3 &	thisPivotToThisComOffset,
		bool	disableParentCollision = `false`
	)

Definition at line 220 of file btMultiBody.cpp.

◆ setupSpherical()

void btMultiBody::setupSpherical	(	int	i,
		btScalar	mass,
		const btVector3 &	inertia,
		int	parent,
		const btQuaternion &	rotParentToThis,
		const btVector3 &	parentComToThisPivotOffset,
		const btVector3 &	thisPivotToThisComOffset,
		bool	disableParentCollision = `false`
	)

Definition at line 256 of file btMultiBody.cpp.

◆ setUseGyroTerm()

void btMultiBody::setUseGyroTerm ( bool useGyro )

inline

Definition at line 610 of file btMultiBody.h.

◆ setUserIndex()

void btMultiBody::setUserIndex ( int index )

inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 705 of file btMultiBody.h.

◆ setUserIndex2()

void btMultiBody::setUserIndex2 ( int index )

inline

Definition at line 710 of file btMultiBody.h.

◆ setUserPointer()

void btMultiBody::setUserPointer ( void * userPointer )

inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 699 of file btMultiBody.h.

◆ setWorldToBaseRot()

void btMultiBody::setWorldToBaseRot ( const btQuaternion & rot )

inline

Definition at line 257 of file btMultiBody.h.

◆ solveImatrix() [1/2]

void btMultiBody::solveImatrix	(	const btSpatialForceVector &	rhs,
		btSpatialMotionVector &	result
	)		const

private

solve I * x = rhs, so the result = invI * rhs

Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices

Definition at line 1356 of file btMultiBody.cpp.

◆ solveImatrix() [2/2]

void btMultiBody::solveImatrix	(	const btVector3 &	rhs_top,
		const btVector3 &	rhs_bot,
		btScalar	result[6]
	)		const

private

solve I * x = rhs, so the result = invI * rhs

Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices

Definition at line 1281 of file btMultiBody.cpp.

◆ spatialTransform()

void btMultiBody::spatialTransform	(	const btMatrix3x3 &	rotation_matrix,
		const btVector3 &	displacement,
		const btVector3 &	top_in,
		const btVector3 &	bottom_in,
		btVector3 &	top_out,
		btVector3 &	bottom_out
	)

static

Definition at line 40 of file btMultiBody.cpp.

◆ stepPositionsMultiDof()

void btMultiBody::stepPositionsMultiDof	(	btScalar	dt,
		btScalar *	pq = `0`,
		btScalar *	pqd = `0`
	)

baseBody => quat is alibi and omega is local coor

Definition at line 1786 of file btMultiBody.cpp.

◆ substractSplitV()

void btMultiBody::substractSplitV ( )

inline

Definition at line 446 of file btMultiBody.h.

◆ updateCollisionObjectInterpolationWorldTransforms()

void btMultiBody::updateCollisionObjectInterpolationWorldTransforms	(	btAlignedObjectArray< btQuaternion > &	world_to_local,
		btAlignedObjectArray< btVector3 > &	local_origin
	)

Definition at line 2225 of file btMultiBody.cpp.

◆ updateCollisionObjectWorldTransforms()

void btMultiBody::updateCollisionObjectWorldTransforms	(	btAlignedObjectArray< btQuaternion > &	world_to_local,
		btAlignedObjectArray< btVector3 > &	local_origin
	)

Definition at line 2172 of file btMultiBody.cpp.

◆ updateLinksDofOffsets()

void btMultiBody::updateLinksDofOffsets ( )

inlineprivate

Definition at line 750 of file btMultiBody.h.

◆ useGlobalVelocities()

void btMultiBody::useGlobalVelocities ( bool use )

inline

Definition at line 644 of file btMultiBody.h.

◆ useRK4Integration()

void btMultiBody::useRK4Integration ( bool use )

inline

Definition at line 642 of file btMultiBody.h.

◆ wakeUp()

void btMultiBody::wakeUp ( )

Definition at line 2080 of file btMultiBody.cpp.

◆ worldDirToLocal()

btVector3 btMultiBody::worldDirToLocal	(	int	i,
		const btVector3 &	world_dir
	)		const

Definition at line 535 of file btMultiBody.cpp.

◆ worldPosToLocal()

btVector3 btMultiBody::worldPosToLocal	(	int	i,
		const btVector3 &	world_pos
	)		const

Definition at line 495 of file btMultiBody.cpp.

Member Data Documentation

◆ __posUpdated

bool btMultiBody::__posUpdated

private

Definition at line 833 of file btMultiBody.h.

◆ m_angularDamping

btScalar btMultiBody::m_angularDamping

private

Definition at line 827 of file btMultiBody.h.

◆ m_awake

bool btMultiBody::m_awake

private

Definition at line 814 of file btMultiBody.h.

◆ m_baseCollider

btMultiBodyLinkCollider* btMultiBody::m_baseCollider

private

Definition at line 765 of file btMultiBody.h.

◆ m_baseConstraintForce

btVector3 btMultiBody::m_baseConstraintForce

private

Definition at line 779 of file btMultiBody.h.

◆ m_baseConstraintTorque

btVector3 btMultiBody::m_baseConstraintTorque

private

Definition at line 780 of file btMultiBody.h.

◆ m_baseForce

btVector3 btMultiBody::m_baseForce

private

Definition at line 776 of file btMultiBody.h.

◆ m_baseInertia

btVector3 btMultiBody::m_baseInertia

private

Definition at line 774 of file btMultiBody.h.

◆ m_baseMass

btScalar btMultiBody::m_baseMass

private

Definition at line 773 of file btMultiBody.h.

◆ m_baseName

const char* btMultiBody::m_baseName

private

Definition at line 766 of file btMultiBody.h.

◆ m_basePos

btVector3 btMultiBody::m_basePos

private

Definition at line 768 of file btMultiBody.h.

◆ m_basePos_interpolate

btVector3 btMultiBody::m_basePos_interpolate

private

Definition at line 769 of file btMultiBody.h.

◆ m_baseQuat

btQuaternion btMultiBody::m_baseQuat

private

Definition at line 770 of file btMultiBody.h.

◆ m_baseQuat_interpolate

btQuaternion btMultiBody::m_baseQuat_interpolate

private

Definition at line 771 of file btMultiBody.h.

◆ m_baseTorque

btVector3 btMultiBody::m_baseTorque

private

Definition at line 777 of file btMultiBody.h.

◆ m_cachedInertiaLowerLeft

btMatrix3x3 btMultiBody::m_cachedInertiaLowerLeft

private

Definition at line 807 of file btMultiBody.h.

◆ m_cachedInertiaLowerRight

btMatrix3x3 btMultiBody::m_cachedInertiaLowerRight

private

Definition at line 808 of file btMultiBody.h.

◆ m_cachedInertiaTopLeft

btMatrix3x3 btMultiBody::m_cachedInertiaTopLeft

private

Definition at line 805 of file btMultiBody.h.

◆ m_cachedInertiaTopRight

btMatrix3x3 btMultiBody::m_cachedInertiaTopRight

private

Definition at line 806 of file btMultiBody.h.

◆ m_cachedInertiaValid

bool btMultiBody::m_cachedInertiaValid

private

Definition at line 809 of file btMultiBody.h.

◆ m_canSleep

bool btMultiBody::m_canSleep

private

Definition at line 815 of file btMultiBody.h.

◆ m_canWakeup

bool btMultiBody::m_canWakeup

private

Definition at line 816 of file btMultiBody.h.

◆ m_companionId

int btMultiBody::m_companionId

private

Definition at line 825 of file btMultiBody.h.

◆ m_deltaV

btAlignedObjectArray<btScalar> btMultiBody::m_deltaV

private

Definition at line 800 of file btMultiBody.h.

◆ m_dofCount

int btMultiBody::m_dofCount

private

Definition at line 834 of file btMultiBody.h.

◆ m_fixedBase

bool btMultiBody::m_fixedBase

private

Definition at line 811 of file btMultiBody.h.

◆ m_hasSelfCollision

bool btMultiBody::m_hasSelfCollision

private

Definition at line 831 of file btMultiBody.h.

◆ m_internalNeedsJointFeedback

bool btMultiBody::m_internalNeedsJointFeedback

private

the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only

Definition at line 841 of file btMultiBody.h.

◆ m_kinematic_calculate_velocity

bool btMultiBody::m_kinematic_calculate_velocity

private

Definition at line 844 of file btMultiBody.h.

◆ m_linearDamping

btScalar btMultiBody::m_linearDamping

private

Definition at line 826 of file btMultiBody.h.

◆ m_links

btAlignedObjectArray<btMultibodyLink> btMultiBody::m_links

private

Definition at line 782 of file btMultiBody.h.

◆ m_matrixBuf

btAlignedObjectArray<btMatrix3x3> btMultiBody::m_matrixBuf

private

Definition at line 803 of file btMultiBody.h.

◆ m_maxAppliedImpulse

btScalar btMultiBody::m_maxAppliedImpulse

private

Definition at line 829 of file btMultiBody.h.

◆ m_maxCoordinateVelocity

btScalar btMultiBody::m_maxCoordinateVelocity

private

Definition at line 830 of file btMultiBody.h.

◆ m_posVarCnt

int btMultiBody::m_posVarCnt

private

Definition at line 834 of file btMultiBody.h.

◆ m_realBuf

btAlignedObjectArray<btScalar> btMultiBody::m_realBuf

private

Definition at line 801 of file btMultiBody.h.

◆ m_sleepEpsilon

btScalar btMultiBody::m_sleepEpsilon

private

Definition at line 818 of file btMultiBody.h.

◆ m_sleepTimeout

btScalar btMultiBody::m_sleepTimeout

private

Definition at line 819 of file btMultiBody.h.

◆ m_sleepTimer

btScalar btMultiBody::m_sleepTimer

private

Definition at line 817 of file btMultiBody.h.

◆ m_splitV

btAlignedObjectArray<btScalar> btMultiBody::m_splitV

private

Definition at line 799 of file btMultiBody.h.

◆ m_useGlobalVelocities

bool btMultiBody::m_useGlobalVelocities

private

Definition at line 836 of file btMultiBody.h.

◆ m_useGyroTerm

bool btMultiBody::m_useGyroTerm

private

Definition at line 828 of file btMultiBody.h.

◆ m_userIndex

int btMultiBody::m_userIndex

private

Definition at line 823 of file btMultiBody.h.

◆ m_userIndex2

int btMultiBody::m_userIndex2

private

Definition at line 822 of file btMultiBody.h.

◆ m_useRK4

bool btMultiBody::m_useRK4

private

Definition at line 836 of file btMultiBody.h.

◆ m_userObjectPointer

void* btMultiBody::m_userObjectPointer

private

Definition at line 821 of file btMultiBody.h.

◆ m_vectorBuf

btAlignedObjectArray<btVector3> btMultiBody::m_vectorBuf

private

Definition at line 802 of file btMultiBody.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ btMultiBody() [1/2]

◆ ~btMultiBody()

◆ btMultiBody() [2/2]

Member Function Documentation

◆ addBaseConstraintForce()

◆ addBaseConstraintTorque()

◆ addBaseForce()

◆ addBaseTorque()

◆ addJointTorque()

◆ addJointTorqueMultiDof() [1/2]

◆ addJointTorqueMultiDof() [2/2]

◆ addLinkConstraintForce()

◆ addLinkConstraintTorque()

◆ addLinkForce()

◆ addLinkTorque()

◆ addSplitV()

◆ applyDeltaSplitVeeMultiDof()

◆ applyDeltaVeeMultiDof()

◆ applyDeltaVeeMultiDof2()

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ calcAccelerationDeltasMultiDof()

◆ calculateSerializeBufferSize()

◆ checkMotionAndSleepIfRequired()

◆ clearConstraintForces()

◆ clearForcesAndTorques()

◆ clearVelocities()

◆ compTreeLinkVelocities()

◆ computeAccelerationsArticulatedBodyAlgorithmMultiDof()

◆ fillConstraintJacobianMultiDof()

◆ fillContactJacobianMultiDof()

◆ finalizeMultiDof()

◆ forwardKinematics()

◆ getAngularDamping()

◆ getBaseCollider() [1/2]

◆ getBaseCollider() [2/2]

◆ getBaseForce()

◆ getBaseInertia()

◆ getBaseMass()

◆ getBaseName()

◆ getBaseOmega()

◆ getBasePos()

◆ getBaseTorque()

◆ getBaseVel()

◆ getBaseWorldTransform()

◆ getCanSleep()

◆ getCanWakeup()

◆ getCompanionId()

◆ getDeltaVelocityVector()

◆ getInterpolateBasePos()

◆ getInterpolateBaseWorldTransform()

◆ getInterpolateParentToLocalRot()

◆ getInterpolateRVector()

◆ getInterpolateWorldToBaseRot()

◆ getJointPos()

◆ getJointPosMultiDof() [1/2]

◆ getJointPosMultiDof() [2/2]

◆ getJointTorque()

◆ getJointTorqueMultiDof()

◆ getJointVel()

◆ getJointVelMultiDof() [1/2]

◆ getJointVelMultiDof() [2/2]

◆ getLinearDamping()

◆ getLink() [1/2]

◆ getLink() [2/2]

◆ getLinkCollider() [1/2]

◆ getLinkCollider() [2/2]

◆ getLinkForce()

◆ getLinkInertia()

◆ getLinkMass()

◆ getLinkTorque()

◆ getMaxAppliedImpulse()

◆ getMaxCoordinateVelocity()

◆ getNumDofs()

◆ getNumLinks()