#include <btMultiBodyConstraint.h>

Inheritance diagram for btMultiBodyConstraint:

Collaboration diagram for btMultiBodyConstraint:

Public Member Functions
	btMultiBodyConstraint (btMultiBody bodyA, btMultiBody bodyB, int linkA, int linkB, int numRows, bool isUnilateral)

virtual	~btMultiBodyConstraint ()

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 ()

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 Member Functions
void	applyDeltaVee (btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof)

void	fillMultiBodyConstraintMixed (btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, const btVector3 &contactNormalOnB, const btVector3 &posAworld, const btVector3 &posBworld, btScalar position, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)

btScalar	fillConstraintRowMultiBodyMultiBody (btMultiBodySolverConstraint &constraintRow, btMultiBodyJacobianData &data, btScalar jacOrgA, btScalar jacOrgB, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity, btScalar lowerLimit, btScalar upperLimit)

Protected Attributes
btMultiBody *	m_bodyA

btMultiBody *	m_bodyB

int	m_linkA

int	m_linkB

int	m_num_rows

int	m_jac_size_A

int	m_jac_size_both

int	m_pos_offset

bool	m_isUnilateral

btScalar	m_maxAppliedImpulse

btAlignedObjectArray< btScalar >	m_data

Detailed Description

Definition at line 42 of file btMultiBodyConstraint.h.

Constructor & Destructor Documentation

btMultiBodyConstraint::btMultiBodyConstraint	(	btMultiBody *	bodyA,
		btMultiBody *	bodyB,
		int	linkA,
		int	linkB,
		int	numRows,
		bool	isUnilateral
	)

Definition at line 4 of file btMultiBodyConstraint.cpp.

btMultiBodyConstraint::~btMultiBodyConstraint ( )

virtual

Definition at line 19 of file btMultiBodyConstraint.cpp.

Member Function Documentation

void btMultiBodyConstraint::applyDeltaVee	(	btMultiBodyJacobianData &	data,
		btScalar *	delta_vee,
		btScalar	impulse,
		int	velocityIndex,
		int	ndof
	)

protected

Definition at line 212 of file btMultiBodyConstraint.cpp.

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

pure virtual

Implemented in btMultiBodyPoint2Point, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

btScalar btMultiBodyConstraint::fillConstraintRowMultiBodyMultiBody	(	btMultiBodySolverConstraint &	constraintRow,
		btMultiBodyJacobianData &	data,
		btScalar *	jacOrgA,
		btScalar *	jacOrgB,
		const btContactSolverInfo &	infoGlobal,
		btScalar	desiredVelocity,
		btScalar	lowerLimit,
		btScalar	upperLimit
	)

protected

Definition at line 25 of file btMultiBodyConstraint.cpp.

void btMultiBodyConstraint::fillMultiBodyConstraintMixed	(	btMultiBodySolverConstraint &	solverConstraint,
		btMultiBodyJacobianData &	data,
		const btVector3 &	contactNormalOnB,
		const btVector3 &	posAworld,
		const btVector3 &	posBworld,
		btScalar	position,
		const btContactSolverInfo &	infoGlobal,
		btScalar &	relaxation,
		bool	isFriction,
		btScalar	desiredVelocity = `0`,
		btScalar	cfmSlip = `0`
	)

protected

warm starting (or zero if disabled)

Definition at line 219 of file btMultiBodyConstraint.cpp.

virtual int btMultiBodyConstraint::getIslandIdA ( ) const

pure virtual

Implemented in btMultiBodyPoint2Point, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

virtual int btMultiBodyConstraint::getIslandIdB ( ) const

pure virtual

Implemented in btMultiBodyPoint2Point, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

btScalar btMultiBodyConstraint::getMaxAppliedImpulse ( ) const

inline

Definition at line 153 of file btMultiBodyConstraint.h.

btMultiBody* btMultiBodyConstraint::getMultiBodyA ( )

inline

Definition at line 105 of file btMultiBodyConstraint.h.

btMultiBody* btMultiBodyConstraint::getMultiBodyB ( )

inline

Definition at line 109 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::getNumRows ( ) const

inline

Definition at line 100 of file btMultiBodyConstraint.h.

btScalar btMultiBodyConstraint::getPosition ( int row ) const

inline

Definition at line 117 of file btMultiBodyConstraint.h.

bool btMultiBodyConstraint::isUnilateral ( ) const

inline

Definition at line 128 of file btMultiBodyConstraint.h.

btScalar* btMultiBodyConstraint::jacobianA ( int row )

inline

Definition at line 136 of file btMultiBodyConstraint.h.

const btScalar* btMultiBodyConstraint::jacobianA ( int row ) const

inline

Definition at line 140 of file btMultiBodyConstraint.h.

btScalar* btMultiBodyConstraint::jacobianB ( int row )

inline

Definition at line 144 of file btMultiBodyConstraint.h.

const btScalar* btMultiBodyConstraint::jacobianB ( int row ) const

inline

Definition at line 148 of file btMultiBodyConstraint.h.

void btMultiBodyConstraint::setMaxAppliedImpulse ( btScalar maxImp )

inline

Definition at line 157 of file btMultiBodyConstraint.h.

void btMultiBodyConstraint::setPosition	(	int	row,
		btScalar	pos
	)

inline

Definition at line 122 of file btMultiBodyConstraint.h.

Member Data Documentation

btMultiBody* btMultiBodyConstraint::m_bodyA

protected

Definition at line 46 of file btMultiBodyConstraint.h.

btMultiBody* btMultiBodyConstraint::m_bodyB

protected

Definition at line 47 of file btMultiBodyConstraint.h.

btAlignedObjectArray<btScalar> btMultiBodyConstraint::m_data

protected

Definition at line 65 of file btMultiBodyConstraint.h.

bool btMultiBodyConstraint::m_isUnilateral

protected

Definition at line 56 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_jac_size_A

protected

Definition at line 52 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_jac_size_both

protected

Definition at line 53 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_linkA

protected

Definition at line 48 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_linkB

protected

Definition at line 49 of file btMultiBodyConstraint.h.

btScalar btMultiBodyConstraint::m_maxAppliedImpulse

protected

Definition at line 58 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_num_rows

protected

Definition at line 51 of file btMultiBodyConstraint.h.

int btMultiBodyConstraint::m_pos_offset

protected

Definition at line 54 of file btMultiBodyConstraint.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation