#include <btMultiBodySphericalJointMotor.h>

Inheritance diagram for btMultiBodySphericalJointMotor:

Collaboration diagram for btMultiBodySphericalJointMotor:

[legend]

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

virtual	~btMultiBodySphericalJointMotor ()

virtual void	finalizeMultiDof ()

virtual int	getIslandIdA () const

virtual int	getIslandIdB () const

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

virtual void	setVelocityTarget (const btVector3 &velTarget, btScalar kd=1.0)

virtual void	setVelocityTargetMultiDof (const btVector3 &velTarget, const btVector3 &kd=btVector3(1.0, 1.0, 1.0))

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

virtual void	setPositionTargetMultiDof (const btQuaternion &posTarget, const btVector3 &kp=btVector3(1.f, 1.f, 1.f))

virtual void	setErp (btScalar erp)

virtual btScalar	getErp () const

virtual void	setRhsClamp (btScalar rhsClamp)

btScalar	getMaxAppliedImpulseMultiDof (int i) const

void	setMaxAppliedImpulseMultiDof (const btVector3 &maxImp)

btScalar	getDamping (int i) const

void	setDamping (const btVector3 &damping)

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
btVector3	m_desiredVelocity

btQuaternion	m_desiredPosition

bool	m_use_multi_dof_params

btVector3	m_kd

btVector3	m_kp

btScalar	m_erp

btScalar	m_rhsClamp

btVector3	m_maxAppliedImpulseMultiDof

btVector3	m_damping

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 btMultiBodySphericalJointMotor.h.

Constructor & Destructor Documentation

◆ btMultiBodySphericalJointMotor()

btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor	(	btMultiBody *	body,
		int	link,
		btScalar	maxMotorImpulse
	)

This file was written by Erwin Coumans.

Definition at line 25 of file btMultiBodySphericalJointMotor.cpp.

◆ ~btMultiBodySphericalJointMotor()

btMultiBodySphericalJointMotor::~btMultiBodySphericalJointMotor ( )

virtual

Definition at line 58 of file btMultiBodySphericalJointMotor.cpp.

Member Function Documentation

◆ createConstraintRows()

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

virtual

Implements btMultiBodyConstraint.

Definition at line 98 of file btMultiBodySphericalJointMotor.cpp.

◆ debugDraw()

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

inlinevirtual

Implements btMultiBodyConstraint.

Definition at line 112 of file btMultiBodySphericalJointMotor.h.

◆ finalizeMultiDof()

void btMultiBodySphericalJointMotor::finalizeMultiDof ( )

virtual

Implements btMultiBodyConstraint.

Definition at line 42 of file btMultiBodySphericalJointMotor.cpp.

◆ getDamping()

btScalar btMultiBodySphericalJointMotor::getDamping ( int i ) const

inline

Definition at line 102 of file btMultiBodySphericalJointMotor.h.

◆ getErp()

virtual btScalar btMultiBodySphericalJointMotor::getErp ( ) const

inlinevirtual

Definition at line 82 of file btMultiBodySphericalJointMotor.h.

◆ getIslandIdA()

int btMultiBodySphericalJointMotor::getIslandIdA ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 62 of file btMultiBodySphericalJointMotor.cpp.

◆ getIslandIdB()

int btMultiBodySphericalJointMotor::getIslandIdB ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 80 of file btMultiBodySphericalJointMotor.cpp.

◆ getMaxAppliedImpulseMultiDof()

btScalar btMultiBodySphericalJointMotor::getMaxAppliedImpulseMultiDof ( int i ) const

inline

Definition at line 91 of file btMultiBodySphericalJointMotor.h.

◆ setDamping()

void btMultiBodySphericalJointMotor::setDamping ( const btVector3 & damping )

inline

Definition at line 107 of file btMultiBodySphericalJointMotor.h.

◆ setErp()

virtual void btMultiBodySphericalJointMotor::setErp ( btScalar erp )

inlinevirtual

Reimplemented from btMultiBodyConstraint.

Definition at line 78 of file btMultiBodySphericalJointMotor.h.

◆ setMaxAppliedImpulseMultiDof()

void btMultiBodySphericalJointMotor::setMaxAppliedImpulseMultiDof ( const btVector3 & maxImp )

inline

Definition at line 96 of file btMultiBodySphericalJointMotor.h.

◆ setPositionTarget()

virtual void btMultiBodySphericalJointMotor::setPositionTarget	(	const btQuaternion &	posTarget,
		btScalar	kp = `1.f`
	)

inlinevirtual

Definition at line 64 of file btMultiBodySphericalJointMotor.h.

◆ setPositionTargetMultiDof()

virtual void btMultiBodySphericalJointMotor::setPositionTargetMultiDof	(	const btQuaternion &	posTarget,
		const btVector3 &	kp = `btVector3(1.f, 1.f, 1.f)`
	)