Bullet Collision Detection & Physics Library
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
btMultiBodyConstraint Class Referenceabstract

#include <btMultiBodyConstraint.h>

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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type)
 
virtual ~btMultiBodyConstraint ()
 
void updateJacobianSizes ()
 
void allocateJacobiansMultiDof ()
 
int getConstraintType () const
 
virtual void setFrameInB (const btMatrix3x3 &frameInB)
 
virtual void setPivotInB (const btVector3 &pivotInB)
 
virtual void finalizeMultiDof ()=0
 
virtual int getIslandIdA () const =0
 
virtual int getIslandIdB () const =0
 
virtual void createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)=0
 
int getNumRows () const
 
btMultiBody * getMultiBodyA ()
 
btMultiBody * getMultiBodyB ()
 
int getLinkA () const
 
int getLinkB () const
 
void internalSetAppliedImpulse (int dof, btScalar appliedImpulse)
 
btScalar getAppliedImpulse (int dof)
 
btScalar getPosition (int row) const
 
void setPosition (int row, btScalar pos)
 
bool isUnilateral () const
 
btScalar * jacobianA (int row)
 
const btScalar * jacobianA (int row) const
 
btScalar * jacobianB (int row)
 
const btScalar * jacobianB (int row) const
 
btScalar getMaxAppliedImpulse () const
 
void setMaxAppliedImpulse (btScalar maxImp)
 
virtual void debugDraw (class btIDebugDraw *drawer)=0
 
virtual void setGearRatio (btScalar ratio)
 
virtual void setGearAuxLink (int gearAuxLink)
 
virtual void setRelativePositionTarget (btScalar relPosTarget)
 
virtual void setErp (btScalar erp)
 

Protected Member Functions

void applyDeltaVee (btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof)
 
btScalar fillMultiBodyConstraint (btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0, btScalar damping=1.0)
 

Protected Attributes

btMultiBody * m_bodyA
 
btMultiBody * m_bodyB
 
int m_linkA
 
int m_linkB
 
int m_type
 
int m_numRows
 
int m_jacSizeA
 
int m_jacSizeBoth
 
int m_posOffset
 
bool m_isUnilateral
 
int m_numDofsFinalized
 
btScalar m_maxAppliedImpulse
 
btAlignedObjectArray< btScalar > m_data
 

Detailed Description

Definition at line 55 of file btMultiBodyConstraint.h.

Constructor & Destructor Documentation

◆ btMultiBodyConstraint()

btMultiBodyConstraint::btMultiBodyConstraint ( btMultiBody *  bodyA,
btMultiBody *  bodyB,
int  linkA,
int  linkB,
int  numRows,
bool  isUnilateral,
int  type 
)

Definition at line 5 of file btMultiBodyConstraint.cpp.

◆ ~btMultiBodyConstraint()

btMultiBodyConstraint::~btMultiBodyConstraint ( )
virtual

Definition at line 43 of file btMultiBodyConstraint.cpp.

Member Function Documentation

◆ allocateJacobiansMultiDof()

void btMultiBodyConstraint::allocateJacobiansMultiDof ( )

Definition at line 35 of file btMultiBodyConstraint.cpp.

◆ applyDeltaVee()

void btMultiBodyConstraint::applyDeltaVee ( btMultiBodyJacobianData &  data,
btScalar *  delta_vee,
btScalar  impulse,
int  velocityIndex,
int  ndof 
)
protected

Definition at line 47 of file btMultiBodyConstraint.cpp.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btMultiBodyConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ createConstraintRows()

virtual void btMultiBodyConstraint::createConstraintRows ( btMultiBodyConstraintArray &  constraintRows,
btMultiBodyJacobianData &  data,
const btContactSolverInfo &  infoGlobal 
)
pure virtual

Implemented in btMultiBodyFixedConstraint, btMultiBodyGearConstraint, btMultiBodyJointLimitConstraint, btMultiBodyJointMotor, btMultiBodyPoint2Point, btMultiBodySliderConstraint, btMultiBodySphericalJointLimit, and btMultiBodySphericalJointMotor.

◆ debugDraw()

virtual void btMultiBodyConstraint::debugDraw ( class btIDebugDraw *  drawer)
pure virtual

Implemented in btMultiBodyFixedConstraint, btMultiBodyGearConstraint, btMultiBodyJointLimitConstraint, btMultiBodyJointMotor, btMultiBodyPoint2Point, btMultiBodySliderConstraint, btMultiBodySphericalJointLimit, and btMultiBodySphericalJointMotor.

◆ fillMultiBodyConstraint()

btScalar btMultiBodyConstraint::fillMultiBodyConstraint ( btMultiBodySolverConstraint &  solverConstraint,
btMultiBodyJacobianData &  data,
btScalar *  jacOrgA,
btScalar *  jacOrgB,
const btVector3 &  constraintNormalAng,
const btVector3 &  constraintNormalLin,
const btVector3 &  posAworld,
const btVector3 &  posBworld,
btScalar  posError,
const btContactSolverInfo &  infoGlobal,
btScalar  lowerLimit,
btScalar  upperLimit,
bool  angConstraint = false,
btScalar  relaxation = 1.f,
bool  isFriction = false,
btScalar  desiredVelocity = 0,
btScalar  cfmSlip = 0,
btScalar  damping = 1.0 
)
protected

Definition at line 53 of file btMultiBodyConstraint.cpp.

◆ finalizeMultiDof()

virtual void btMultiBodyConstraint::finalizeMultiDof ( )
pure virtual

Implemented in btMultiBodyFixedConstraint, btMultiBodyGearConstraint, btMultiBodyJointLimitConstraint, btMultiBodyJointMotor, btMultiBodyPoint2Point, btMultiBodySliderConstraint, btMultiBodySphericalJointLimit, and btMultiBodySphericalJointMotor.

◆ getAppliedImpulse()

btScalar btMultiBodyConstraint::getAppliedImpulse ( int  dof)
inline

Definition at line 154 of file btMultiBodyConstraint.h.

◆ getConstraintType()

int btMultiBodyConstraint::getConstraintType ( ) const
inline

Definition at line 108 of file btMultiBodyConstraint.h.

◆ getIslandIdA()

virtual int btMultiBodyConstraint::getIslandIdA ( ) const
pure virtual

Implemented in btMultiBodyFixedConstraint, btMultiBodyGearConstraint, btMultiBodyJointLimitConstraint, btMultiBodyJointMotor, btMultiBodyPoint2Point, btMultiBodySliderConstraint, btMultiBodySphericalJointLimit, and btMultiBodySphericalJointMotor.

◆ getIslandIdB()

virtual int btMultiBodyConstraint::getIslandIdB ( ) const
pure virtual

Implemented in btMultiBodyFixedConstraint, btMultiBodyGearConstraint, btMultiBodyJointLimitConstraint, btMultiBodyJointMotor, btMultiBodyPoint2Point, btMultiBodySliderConstraint, btMultiBodySphericalJointLimit, and btMultiBodySphericalJointMotor.

◆ getLinkA()

int btMultiBodyConstraint::getLinkA ( ) const
inline

Definition at line 139 of file btMultiBodyConstraint.h.

◆ getLinkB()

int btMultiBodyConstraint::getLinkB ( ) const
inline

Definition at line 143 of file btMultiBodyConstraint.h.

◆ getMaxAppliedImpulse()

btScalar btMultiBodyConstraint::getMaxAppliedImpulse ( ) const
inline

Definition at line 198 of file btMultiBodyConstraint.h.

◆ getMultiBodyA()

btMultiBody * btMultiBodyConstraint::getMultiBodyA ( )
inline

Definition at line 130 of file btMultiBodyConstraint.h.

◆ getMultiBodyB()

btMultiBody * btMultiBodyConstraint::getMultiBodyB ( )
inline

Definition at line 134 of file btMultiBodyConstraint.h.

◆ getNumRows()

int btMultiBodyConstraint::getNumRows ( ) const
inline

Definition at line 125 of file btMultiBodyConstraint.h.

◆ getPosition()

btScalar btMultiBodyConstraint::getPosition ( int  row) const
inline

Definition at line 163 of file btMultiBodyConstraint.h.

◆ internalSetAppliedImpulse()

void btMultiBodyConstraint::internalSetAppliedImpulse ( int  dof,
btScalar  appliedImpulse 
)
inline

Definition at line 147 of file btMultiBodyConstraint.h.

◆ isUnilateral()

bool btMultiBodyConstraint::isUnilateral ( ) const
inline

Definition at line 173 of file btMultiBodyConstraint.h.

◆ jacobianA() [1/2]

btScalar * btMultiBodyConstraint::jacobianA ( int  row)
inline

Definition at line 181 of file btMultiBodyConstraint.h.

◆ jacobianA() [2/2]

const btScalar * btMultiBodyConstraint::jacobianA ( int  row) const
inline

Definition at line 185 of file btMultiBodyConstraint.h.

◆ jacobianB() [1/2]

btScalar * btMultiBodyConstraint::jacobianB ( int  row)
inline

Definition at line 189 of file btMultiBodyConstraint.h.

◆ jacobianB() [2/2]

const btScalar * btMultiBodyConstraint::jacobianB ( int  row) const
inline

Definition at line 193 of file btMultiBodyConstraint.h.

◆ setErp()

virtual void btMultiBodyConstraint::setErp ( btScalar  erp)
inlinevirtual

Reimplemented in btMultiBodyGearConstraint, btMultiBodyJointMotor, btMultiBodySphericalJointLimit, and btMultiBodySphericalJointMotor.

Definition at line 212 of file btMultiBodyConstraint.h.

◆ setFrameInB()

virtual void btMultiBodyConstraint::setFrameInB ( const btMatrix3x3 &  frameInB)
inlinevirtual

Reimplemented in btMultiBodyFixedConstraint, btMultiBodyGearConstraint, and btMultiBodySliderConstraint.

Definition at line 113 of file btMultiBodyConstraint.h.

◆ setGearAuxLink()

virtual void btMultiBodyConstraint::setGearAuxLink ( int  gearAuxLink)
inlinevirtual

Reimplemented in btMultiBodyGearConstraint.

Definition at line 210 of file btMultiBodyConstraint.h.

◆ setGearRatio()

virtual void btMultiBodyConstraint::setGearRatio ( btScalar  ratio)
inlinevirtual

Reimplemented in btMultiBodyGearConstraint.

Definition at line 209 of file btMultiBodyConstraint.h.

◆ setMaxAppliedImpulse()

void btMultiBodyConstraint::setMaxAppliedImpulse ( btScalar  maxImp)
inline

Definition at line 202 of file btMultiBodyConstraint.h.

◆ setPivotInB()

virtual void btMultiBodyConstraint::setPivotInB ( const btVector3 &  pivotInB)
inlinevirtual

Reimplemented in btMultiBodyFixedConstraint, btMultiBodyGearConstraint, btMultiBodyPoint2Point, and btMultiBodySliderConstraint.

Definition at line 114 of file btMultiBodyConstraint.h.

◆ setPosition()

void btMultiBodyConstraint::setPosition ( int  row,
btScalar  pos 
)
inline

Definition at line 168 of file btMultiBodyConstraint.h.

◆ setRelativePositionTarget()

virtual void btMultiBodyConstraint::setRelativePositionTarget ( btScalar  relPosTarget)
inlinevirtual

Reimplemented in btMultiBodyGearConstraint.

Definition at line 211 of file btMultiBodyConstraint.h.

◆ updateJacobianSizes()

void btMultiBodyConstraint::updateJacobianSizes ( )

Definition at line 20 of file btMultiBodyConstraint.cpp.

Member Data Documentation

◆ m_bodyA

btMultiBody* btMultiBodyConstraint::m_bodyA
protected

Definition at line 59 of file btMultiBodyConstraint.h.

◆ m_bodyB

btMultiBody* btMultiBodyConstraint::m_bodyB
protected

Definition at line 60 of file btMultiBodyConstraint.h.

◆ m_data

btAlignedObjectArray<btScalar> btMultiBodyConstraint::m_data
protected

Definition at line 80 of file btMultiBodyConstraint.h.

◆ m_isUnilateral

bool btMultiBodyConstraint::m_isUnilateral
protected

Definition at line 71 of file btMultiBodyConstraint.h.

◆ m_jacSizeA

int btMultiBodyConstraint::m_jacSizeA
protected

Definition at line 67 of file btMultiBodyConstraint.h.

◆ m_jacSizeBoth

int btMultiBodyConstraint::m_jacSizeBoth
protected

Definition at line 68 of file btMultiBodyConstraint.h.

◆ m_linkA

int btMultiBodyConstraint::m_linkA
protected

Definition at line 61 of file btMultiBodyConstraint.h.

◆ m_linkB

int btMultiBodyConstraint::m_linkB
protected

Definition at line 62 of file btMultiBodyConstraint.h.

◆ m_maxAppliedImpulse

btScalar btMultiBodyConstraint::m_maxAppliedImpulse
protected

Definition at line 73 of file btMultiBodyConstraint.h.

◆ m_numDofsFinalized

int btMultiBodyConstraint::m_numDofsFinalized
protected

Definition at line 72 of file btMultiBodyConstraint.h.

◆ m_numRows

int btMultiBodyConstraint::m_numRows
protected

Definition at line 66 of file btMultiBodyConstraint.h.

◆ m_posOffset

int btMultiBodyConstraint::m_posOffset
protected

Definition at line 69 of file btMultiBodyConstraint.h.

◆ m_type

int btMultiBodyConstraint::m_type
protected

Definition at line 64 of file btMultiBodyConstraint.h.

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