#include <btMultiBodyJointMotor.h>

Inheritance diagram for btMultiBodyJointMotor:

Collaboration diagram for btMultiBodyJointMotor:

[legend]

Public Member Functions
	btMultiBodyJointMotor (btMultiBody *body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
	This file was written by Erwin Coumans. More...

	btMultiBodyJointMotor (btMultiBody *body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse)

virtual	~btMultiBodyJointMotor ()

virtual void	finalizeMultiDof ()

virtual int	getIslandIdA () const

virtual int	getIslandIdB () const

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

virtual void	setVelocityTarget (btScalar velTarget, btScalar kd=1.f)

virtual void	setPositionTarget (btScalar posTarget, btScalar kp=1.f)

virtual void	setErp (btScalar erp)

virtual btScalar	getErp () const

virtual void	setRhsClamp (btScalar rhsClamp)

virtual void	debugDraw (class btIDebugDraw *drawer)

Public Member Functions inherited from btMultiBodyConstraint
	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 Attributes
btScalar	m_desiredVelocity

btScalar	m_desiredPosition

btScalar	m_kd

btScalar	m_kp

btScalar	m_erp

btScalar	m_rhsClamp

Protected Attributes inherited from btMultiBodyConstraint
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

Additional Inherited Members
Protected Member Functions inherited from btMultiBodyConstraint
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)

Detailed Description

Definition at line 24 of file btMultiBodyJointMotor.h.

Constructor & Destructor Documentation

◆ btMultiBodyJointMotor() [1/2]

btMultiBodyJointMotor::btMultiBodyJointMotor	(	btMultiBody *	body,
		int	link,
		btScalar	desiredVelocity,
		btScalar	maxMotorImpulse
	)

This file was written by Erwin Coumans.

Definition at line 23 of file btMultiBodyJointMotor.cpp.

◆ btMultiBodyJointMotor() [2/2]

btMultiBodyJointMotor::btMultiBodyJointMotor	(	btMultiBody *	body,
		int	link,
		int	linkDoF,
		btScalar	desiredVelocity,
		btScalar	maxMotorImpulse
	)

Definition at line 52 of file btMultiBodyJointMotor.cpp.

◆ ~btMultiBodyJointMotor()

btMultiBodyJointMotor::~btMultiBodyJointMotor ( )

virtual

Definition at line 66 of file btMultiBodyJointMotor.cpp.

Member Function Documentation

◆ createConstraintRows()

void btMultiBodyJointMotor::createConstraintRows	(	btMultiBodyConstraintArray &	constraintRows,
		btMultiBodyJacobianData &	data,
		const btContactSolverInfo &	infoGlobal
	)

virtual

Implements btMultiBodyConstraint.

Definition at line 106 of file btMultiBodyJointMotor.cpp.

◆ debugDraw()

virtual void btMultiBodyJointMotor::debugDraw ( class btIDebugDraw * drawer )

inlinevirtual

Implements btMultiBodyConstraint.

Definition at line 71 of file btMultiBodyJointMotor.h.

◆ finalizeMultiDof()

void btMultiBodyJointMotor::finalizeMultiDof ( )

virtual

Implements btMultiBodyConstraint.

Definition at line 37 of file btMultiBodyJointMotor.cpp.

◆ getErp()

virtual btScalar btMultiBodyJointMotor::getErp ( ) const

inlinevirtual

Definition at line 63 of file btMultiBodyJointMotor.h.

◆ getIslandIdA()

int btMultiBodyJointMotor::getIslandIdA ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 70 of file btMultiBodyJointMotor.cpp.

◆ getIslandIdB()

int btMultiBodyJointMotor::getIslandIdB ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 88 of file btMultiBodyJointMotor.cpp.

◆ setErp()

virtual void btMultiBodyJointMotor::setErp ( btScalar erp )

inlinevirtual

Reimplemented from btMultiBodyConstraint.

Definition at line 59 of file btMultiBodyJointMotor.h.

◆ setPositionTarget()

virtual void btMultiBodyJointMotor::setPositionTarget	(	btScalar	posTarget,
		btScalar	kp = `1.f`
	)

inlinevirtual

Definition at line 53 of file btMultiBodyJointMotor.h.

◆ setRhsClamp()

virtual void btMultiBodyJointMotor::setRhsClamp ( btScalar rhsClamp )

inlinevirtual

Definition at line 67 of file btMultiBodyJointMotor.h.

◆ setVelocityTarget()

virtual void btMultiBodyJointMotor::setVelocityTarget	(	btScalar	velTarget,
		btScalar	kd = `1.f`
	)

inlinevirtual

Definition at line 47 of file btMultiBodyJointMotor.h.

Member Data Documentation

◆ m_desiredPosition

btScalar btMultiBodyJointMotor::m_desiredPosition

protected

Definition at line 28 of file btMultiBodyJointMotor.h.

◆ m_desiredVelocity

btScalar btMultiBodyJointMotor::m_desiredVelocity

protected

Definition at line 27 of file btMultiBodyJointMotor.h.

◆ m_erp

btScalar btMultiBodyJointMotor::m_erp

protected

Definition at line 31 of file btMultiBodyJointMotor.h.

◆ m_kd

btScalar btMultiBodyJointMotor::m_kd

protected

Definition at line 29 of file btMultiBodyJointMotor.h.

◆ m_kp

btScalar btMultiBodyJointMotor::m_kp

protected

Definition at line 30 of file btMultiBodyJointMotor.h.

◆ m_rhsClamp

btScalar btMultiBodyJointMotor::m_rhsClamp

protected

Definition at line 32 of file btMultiBodyJointMotor.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btMultiBodyJointMotor() [1/2]

◆ btMultiBodyJointMotor() [2/2]

◆ ~btMultiBodyJointMotor()

Member Function Documentation

◆ createConstraintRows()

◆ debugDraw()

◆ finalizeMultiDof()

◆ getErp()

◆ getIslandIdA()

◆ getIslandIdB()

◆ setErp()

◆ setPositionTarget()

◆ setRhsClamp()

◆ setVelocityTarget()

Member Data Documentation

◆ m_desiredPosition

◆ m_desiredVelocity

◆ m_erp

◆ m_kd

◆ m_kp

◆ m_rhsClamp