btSolve2LinearConstraint Class Reference

constraint class used for lateral tyre friction. More...

#include <btSolve2LinearConstraint.h>

Public Member Functions
	btSolve2LinearConstraint (btScalar tau, btScalar damping)
void	resolveUnilateralPairConstraint (btRigidBody *body0, btRigidBody *body1, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &invInertiaADiag, const btScalar invMassA, const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &rel_posA1, const btVector3 &invInertiaBDiag, const btScalar invMassB, const btVector3 &linvelB, const btVector3 &angvelB, const btVector3 &rel_posA2, btScalar depthA, const btVector3 &normalA, const btVector3 &rel_posB1, const btVector3 &rel_posB2, btScalar depthB, const btVector3 &normalB, btScalar &imp0, btScalar &imp1)
void	resolveBilateralPairConstraint (btRigidBody *body0, btRigidBody *body1, const btMatrix3x3 &world2A, const btMatrix3x3 &world2B, const btVector3 &invInertiaADiag, const btScalar invMassA, const btVector3 &linvelA, const btVector3 &angvelA, const btVector3 &rel_posA1, const btVector3 &invInertiaBDiag, const btScalar invMassB, const btVector3 &linvelB, const btVector3 &angvelB, const btVector3 &rel_posA2, btScalar depthA, const btVector3 &normalA, const btVector3 &rel_posB1, const btVector3 &rel_posB2, btScalar depthB, const btVector3 &normalB, btScalar &imp0, btScalar &imp1)

Private Attributes
btScalar	m_tau
btScalar	m_damping

Detailed Description

constraint class used for lateral tyre friction.

Definition at line 28 of file btSolve2LinearConstraint.h.

Constructor & Destructor Documentation

btSolve2LinearConstraint::btSolve2LinearConstraint ( btScalar  tau, btScalar  damping  )

inline

Definition at line 35 of file btSolve2LinearConstraint.h.

Member Function Documentation

void btSolve2LinearConstraint::resolveBilateralPairConstraint	(	btRigidBody *	body0,
		btRigidBody *	body1,
		const btMatrix3x3 &	world2A,
		const btMatrix3x3 &	world2B,
		const btVector3 &	invInertiaADiag,
		const btScalar	invMassA,
		const btVector3 &	linvelA,
		const btVector3 &	angvelA,
		const btVector3 &	rel_posA1,
		const btVector3 &	invInertiaBDiag,
		const btScalar	invMassB,
		const btVector3 &	linvelB,
		const btVector3 &	angvelB,
		const btVector3 &	rel_posA2,
		btScalar	depthA,
		const btVector3 &	normalA,
		const btVector3 &	rel_posB1,
		const btVector3 &	rel_posB2,
		btScalar	depthB,
		const btVector3 &	normalB,
		btScalar &	imp0,
		btScalar &	imp1
	)

Definition at line 114 of file btSolve2LinearConstraint.cpp.

void btSolve2LinearConstraint::resolveUnilateralPairConstraint	(	btRigidBody *	body0,
		btRigidBody *	body1,
		const btMatrix3x3 &	world2A,
		const btMatrix3x3 &	world2B,
		const btVector3 &	invInertiaADiag,
		const btScalar	invMassA,
		const btVector3 &	linvelA,
		const btVector3 &	angvelA,
		const btVector3 &	rel_posA1,
		const btVector3 &	invInertiaBDiag,
		const btScalar	invMassB,
		const btVector3 &	linvelB,
		const btVector3 &	angvelB,
		const btVector3 &	rel_posA2,
		btScalar	depthA,
		const btVector3 &	normalA,
		const btVector3 &	rel_posB1,
		const btVector3 &	rel_posB2,
		btScalar	depthB,
		const btVector3 &	normalB,
		btScalar &	imp0,
		btScalar &	imp1
	)

Definition at line 25 of file btSolve2LinearConstraint.cpp.

Member Data Documentation

btScalar btSolve2LinearConstraint::m_damping

private

Definition at line 31 of file btSolve2LinearConstraint.h.

btScalar btSolve2LinearConstraint::m_tau

private

Definition at line 30 of file btSolve2LinearConstraint.h.

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

• btSolve2LinearConstraint.h
• btSolve2LinearConstraint.cpp