Bullet Collision Detection & Physics Library
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#include <btMultiBodyJointMotor.h>
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 int | getIslandIdA () const |
virtual int | getIslandIdB () const |
virtual void | createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal) |
virtual void | setVelocityTarget (btScalar velTarget) |
virtual void | debugDraw (class btIDebugDraw *drawer) |
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btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral) | |
virtual | ~btMultiBodyConstraint () |
void | finalizeMultiDof () |
int | getNumRows () const |
btMultiBody * | getMultiBodyA () |
btMultiBody * | getMultiBodyB () |
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) |
Protected Attributes | |
btScalar | m_desiredVelocity |
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btMultiBody * | m_bodyA |
btMultiBody * | m_bodyB |
int | m_linkA |
int | m_linkB |
int | m_numRows |
int | m_jacSizeA |
int | m_jacSizeBoth |
int | m_posOffset |
bool | m_isUnilateral |
btScalar | m_maxAppliedImpulse |
btAlignedObjectArray< btScalar > | m_data |
Additional Inherited Members | |
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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 &contactNormalOnB, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0) |
Definition at line 24 of file btMultiBodyJointMotor.h.
btMultiBodyJointMotor::btMultiBodyJointMotor | ( | btMultiBody * | body, |
int | link, | ||
btScalar | desiredVelocity, | ||
btScalar | maxMotorImpulse | ||
) |
This file was written by Erwin Coumans.
Definition at line 24 of file btMultiBodyJointMotor.cpp.
btMultiBodyJointMotor::btMultiBodyJointMotor | ( | btMultiBody * | body, |
int | link, | ||
int | linkDoF, | ||
btScalar | desiredVelocity, | ||
btScalar | maxMotorImpulse | ||
) |
Definition at line 45 of file btMultiBodyJointMotor.cpp.
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virtual |
Definition at line 65 of file btMultiBodyJointMotor.cpp.
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virtual |
Implements btMultiBodyConstraint.
Definition at line 98 of file btMultiBodyJointMotor.cpp.
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inlinevirtual |
Implements btMultiBodyConstraint.
Definition at line 49 of file btMultiBodyJointMotor.h.
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virtual |
Implements btMultiBodyConstraint.
Definition at line 69 of file btMultiBodyJointMotor.cpp.
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virtual |
Implements btMultiBodyConstraint.
Definition at line 82 of file btMultiBodyJointMotor.cpp.
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inlinevirtual |
Definition at line 44 of file btMultiBodyJointMotor.h.
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protected |
Definition at line 29 of file btMultiBodyJointMotor.h.