Bullet Collision Detection & Physics Library
Public Member Functions | Protected Attributes | List of all members
btMultiBodyPoint2Point Class Reference

This file was written by Erwin Coumans. More...

#include <btMultiBodyPoint2Point.h>

Inheritance diagram for btMultiBodyPoint2Point:
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btMultiBodyPoint2Point (btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB)
 
 btMultiBodyPoint2Point (btMultiBody *bodyA, int linkA, btMultiBody *bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB)
 
virtual ~btMultiBodyPoint2Point ()
 
virtual void finalizeMultiDof ()
 
virtual int getIslandIdA () const
 
virtual int getIslandIdB () const
 
virtual void createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
 
const btVector3 & getPivotInB () const
 
virtual void setPivotInB (const btVector3 &pivotInB)
 
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

btRigidBody * m_rigidBodyA
 
btRigidBody * m_rigidBodyB
 
btVector3 m_pivotInA
 
btVector3 m_pivotInB
 
- 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

This file was written by Erwin Coumans.

Definition at line 25 of file btMultiBodyPoint2Point.h.

Constructor & Destructor Documentation

◆ btMultiBodyPoint2Point() [1/2]

btMultiBodyPoint2Point::btMultiBodyPoint2Point ( btMultiBody *  body,
int  link,
btRigidBody *  bodyB,
const btVector3 &  pivotInA,
const btVector3 &  pivotInB 
)

Definition at line 29 of file btMultiBodyPoint2Point.cpp.

◆ btMultiBodyPoint2Point() [2/2]

btMultiBodyPoint2Point::btMultiBodyPoint2Point ( btMultiBody *  bodyA,
int  linkA,
btMultiBody *  bodyB,
int  linkB,
const btVector3 &  pivotInA,
const btVector3 &  pivotInB 
)

Definition at line 39 of file btMultiBodyPoint2Point.cpp.

◆ ~btMultiBodyPoint2Point()

btMultiBodyPoint2Point::~btMultiBodyPoint2Point ( )
virtual

Definition at line 55 of file btMultiBodyPoint2Point.cpp.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btMultiBodyPoint2Point::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ createConstraintRows()

void btMultiBodyPoint2Point::createConstraintRows ( btMultiBodyConstraintArray &  constraintRows,
btMultiBodyJacobianData &  data,
const btContactSolverInfo &  infoGlobal 
)
virtual

Implements btMultiBodyConstraint.

Definition at line 102 of file btMultiBodyPoint2Point.cpp.

◆ debugDraw()

void btMultiBodyPoint2Point::debugDraw ( class btIDebugDraw *  drawer)
virtual

Implements btMultiBodyConstraint.

Definition at line 186 of file btMultiBodyPoint2Point.cpp.

◆ finalizeMultiDof()

void btMultiBodyPoint2Point::finalizeMultiDof ( )
virtual

Implements btMultiBodyConstraint.

Definition at line 49 of file btMultiBodyPoint2Point.cpp.

◆ getIslandIdA()

int btMultiBodyPoint2Point::getIslandIdA ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 59 of file btMultiBodyPoint2Point.cpp.

◆ getIslandIdB()

int btMultiBodyPoint2Point::getIslandIdB ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 81 of file btMultiBodyPoint2Point.cpp.

◆ getPivotInB()

const btVector3 & btMultiBodyPoint2Point::getPivotInB ( ) const
inline

Definition at line 51 of file btMultiBodyPoint2Point.h.

◆ setPivotInB()

virtual void btMultiBodyPoint2Point::setPivotInB ( const btVector3 &  pivotInB)
inlinevirtual

Reimplemented from btMultiBodyConstraint.

Definition at line 56 of file btMultiBodyPoint2Point.h.

Member Data Documentation

◆ m_pivotInA

btVector3 btMultiBodyPoint2Point::m_pivotInA
protected

Definition at line 31 of file btMultiBodyPoint2Point.h.

◆ m_pivotInB

btVector3 btMultiBodyPoint2Point::m_pivotInB
protected

Definition at line 32 of file btMultiBodyPoint2Point.h.

◆ m_rigidBodyA

btRigidBody* btMultiBodyPoint2Point::m_rigidBodyA
protected

Definition at line 29 of file btMultiBodyPoint2Point.h.

◆ m_rigidBodyB

btRigidBody* btMultiBodyPoint2Point::m_rigidBodyB
protected

Definition at line 30 of file btMultiBodyPoint2Point.h.

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