Inheritance diagram for btMultiBodyJointLimitConstraint:

Collaboration diagram for btMultiBodyJointLimitConstraint:

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

virtual	~btMultiBodyJointLimitConstraint ()

virtual int	getIslandIdA () const

virtual int	getIslandIdB () const

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

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

virtual	~btMultiBodyConstraint ()

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_lowerBound

btScalar	m_upperBound

Protected Attributes inherited from btMultiBodyConstraint
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

Additional Inherited Members
Protected Member Functions inherited from btMultiBodyConstraint
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)

Detailed Description

Constructor & Destructor Documentation

btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint	(	btMultiBody *	body,
		int	link,
		btScalar	lower,
		btScalar	upper
	)

This file was written by Erwin Coumans.

btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint ( )

virtual

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