Bullet Collision Detection & Physics Library
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
btMultiBodyConstraint Class Referenceabstract

#include <btMultiBodyConstraint.h>

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Public Member Functions

 btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral)
 
virtual ~btMultiBodyConstraint ()
 
void updateJacobianSizes ()
 
void allocateJacobiansMultiDof ()
 
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 ()
 
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
 

Protected Member Functions

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)
 

Protected Attributes

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
 
int m_numDofsFinalized
 
btScalar m_maxAppliedImpulse
 
btAlignedObjectArray< btScalar > m_data
 

Detailed Description

Definition at line 42 of file btMultiBodyConstraint.h.

Constructor & Destructor Documentation

§ btMultiBodyConstraint()

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

Definition at line 7 of file btMultiBodyConstraint.cpp.

§ ~btMultiBodyConstraint()

btMultiBodyConstraint::~btMultiBodyConstraint ( )
virtual

Definition at line 45 of file btMultiBodyConstraint.cpp.

Member Function Documentation

§ allocateJacobiansMultiDof()

void btMultiBodyConstraint::allocateJacobiansMultiDof ( )

Definition at line 37 of file btMultiBodyConstraint.cpp.

§ applyDeltaVee()

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

Definition at line 49 of file btMultiBodyConstraint.cpp.

§ createConstraintRows()

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

Implemented in btMultiBodyPoint2Point, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

§ debugDraw()

virtual void btMultiBodyConstraint::debugDraw ( class btIDebugDraw *  drawer)
pure virtual

Implemented in btMultiBodyPoint2Point, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

§ fillMultiBodyConstraint()

btScalar btMultiBodyConstraint::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 
)
protected

warm starting (or zero if disabled)

Definition at line 55 of file btMultiBodyConstraint.cpp.

§ finalizeMultiDof()

virtual void btMultiBodyConstraint::finalizeMultiDof ( )
pure virtual

Implemented in btMultiBodyPoint2Point, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

§ getAppliedImpulse()

btScalar btMultiBodyConstraint::getAppliedImpulse ( int  dof)
inline

Definition at line 119 of file btMultiBodyConstraint.h.

§ getIslandIdA()

virtual int btMultiBodyConstraint::getIslandIdA ( ) const
pure virtual

Implemented in btMultiBodyPoint2Point, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

§ getIslandIdB()

virtual int btMultiBodyConstraint::getIslandIdB ( ) const
pure virtual

Implemented in btMultiBodyPoint2Point, btMultiBodyJointMotor, and btMultiBodyJointLimitConstraint.

§ getMaxAppliedImpulse()

btScalar btMultiBodyConstraint::getMaxAppliedImpulse ( ) const
inline

Definition at line 164 of file btMultiBodyConstraint.h.

§ getMultiBodyA()

btMultiBody* btMultiBodyConstraint::getMultiBodyA ( )
inline

Definition at line 103 of file btMultiBodyConstraint.h.

§ getMultiBodyB()

btMultiBody* btMultiBodyConstraint::getMultiBodyB ( )
inline

Definition at line 107 of file btMultiBodyConstraint.h.

§ getNumRows()

int btMultiBodyConstraint::getNumRows ( ) const
inline

Definition at line 98 of file btMultiBodyConstraint.h.

§ getPosition()

btScalar btMultiBodyConstraint::getPosition ( int  row) const
inline

Definition at line 128 of file btMultiBodyConstraint.h.

§ internalSetAppliedImpulse()

void btMultiBodyConstraint::internalSetAppliedImpulse ( int  dof,
btScalar  appliedImpulse 
)
inline

Definition at line 112 of file btMultiBodyConstraint.h.

§ isUnilateral()

bool btMultiBodyConstraint::isUnilateral ( ) const
inline

Definition at line 139 of file btMultiBodyConstraint.h.

§ jacobianA() [1/2]

btScalar* btMultiBodyConstraint::jacobianA ( int  row)
inline

Definition at line 147 of file btMultiBodyConstraint.h.

§ jacobianA() [2/2]

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

Definition at line 151 of file btMultiBodyConstraint.h.

§ jacobianB() [1/2]

btScalar* btMultiBodyConstraint::jacobianB ( int  row)
inline

Definition at line 155 of file btMultiBodyConstraint.h.

§ jacobianB() [2/2]

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

Definition at line 159 of file btMultiBodyConstraint.h.

§ setMaxAppliedImpulse()

void btMultiBodyConstraint::setMaxAppliedImpulse ( btScalar  maxImp)
inline

Definition at line 168 of file btMultiBodyConstraint.h.

§ setPosition()

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

Definition at line 133 of file btMultiBodyConstraint.h.

§ updateJacobianSizes()

void btMultiBodyConstraint::updateJacobianSizes ( )

Definition at line 22 of file btMultiBodyConstraint.cpp.

Member Data Documentation

§ m_bodyA

btMultiBody* btMultiBodyConstraint::m_bodyA
protected

Definition at line 46 of file btMultiBodyConstraint.h.

§ m_bodyB

btMultiBody* btMultiBodyConstraint::m_bodyB
protected

Definition at line 47 of file btMultiBodyConstraint.h.

§ m_data

btAlignedObjectArray<btScalar> btMultiBodyConstraint::m_data
protected

Definition at line 66 of file btMultiBodyConstraint.h.

§ m_isUnilateral

bool btMultiBodyConstraint::m_isUnilateral
protected

Definition at line 56 of file btMultiBodyConstraint.h.

§ m_jacSizeA

int btMultiBodyConstraint::m_jacSizeA
protected

Definition at line 52 of file btMultiBodyConstraint.h.

§ m_jacSizeBoth

int btMultiBodyConstraint::m_jacSizeBoth
protected

Definition at line 53 of file btMultiBodyConstraint.h.

§ m_linkA

int btMultiBodyConstraint::m_linkA
protected

Definition at line 48 of file btMultiBodyConstraint.h.

§ m_linkB

int btMultiBodyConstraint::m_linkB
protected

Definition at line 49 of file btMultiBodyConstraint.h.

§ m_maxAppliedImpulse

btScalar btMultiBodyConstraint::m_maxAppliedImpulse
protected

Definition at line 58 of file btMultiBodyConstraint.h.

§ m_numDofsFinalized

int btMultiBodyConstraint::m_numDofsFinalized
protected

Definition at line 57 of file btMultiBodyConstraint.h.

§ m_numRows

int btMultiBodyConstraint::m_numRows
protected

Definition at line 51 of file btMultiBodyConstraint.h.

§ m_posOffset

int btMultiBodyConstraint::m_posOffset
protected

Definition at line 54 of file btMultiBodyConstraint.h.

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