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

#include <btMultiBodySphericalJointMotor.h>

Inheritance diagram for btMultiBodySphericalJointMotor:
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Collaboration diagram for btMultiBodySphericalJointMotor:
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Public Member Functions

 btMultiBodySphericalJointMotor (btMultiBody *body, int link, btScalar maxMotorImpulse)
 This file was written by Erwin Coumans. More...
 
virtual ~btMultiBodySphericalJointMotor ()
 
virtual void finalizeMultiDof ()
 
virtual int getIslandIdA () const
 
virtual int getIslandIdB () const
 
virtual void createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
 
virtual void setVelocityTarget (const btVector3 &velTarget, btScalar kd=1.f)
 
virtual void setPositionTarget (const btQuaternion &posTarget, btScalar kp=1.f)
 
virtual void setErp (btScalar erp)
 
virtual btScalar getErp () const
 
virtual void setRhsClamp (btScalar rhsClamp)
 
virtual void debugDraw (class btIDebugDraw *drawer)
 
- Public Member Functions inherited from btMultiBodyConstraint
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral)
 
virtual ~btMultiBodyConstraint ()
 
void updateJacobianSizes ()
 
void allocateJacobiansMultiDof ()
 
virtual void setFrameInB (const btMatrix3x3 &frameInB)
 
virtual void setPivotInB (const btVector3 &pivotInB)
 
int getNumRows () const
 
btMultiBodygetMultiBodyA ()
 
btMultiBodygetMultiBodyB ()
 
int getLinkA () const
 
int getLinkB () const
 
void internalSetAppliedImpulse (int dof, btScalar appliedImpulse)
 
btScalar getAppliedImpulse (int dof)
 
btScalar getPosition (int row) const
 
void setPosition (int row, btScalar pos)
 
bool isUnilateral () const
 
btScalarjacobianA (int row)
 
const btScalarjacobianA (int row) const
 
btScalarjacobianB (int row)
 
const btScalarjacobianB (int row) const
 
btScalar getMaxAppliedImpulse () const
 
void setMaxAppliedImpulse (btScalar maxImp)
 
virtual void setGearRatio (btScalar ratio)
 
virtual void setGearAuxLink (int gearAuxLink)
 
virtual void setRelativePositionTarget (btScalar relPosTarget)
 

Protected Attributes

btVector3 m_desiredVelocity
 
btQuaternion m_desiredPosition
 
btScalar m_kd
 
btScalar m_kp
 
btScalar m_erp
 
btScalar m_rhsClamp
 
- Protected Attributes inherited from btMultiBodyConstraint
btMultiBodym_bodyA
 
btMultiBodym_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< btScalarm_data
 

Additional Inherited Members

- Protected Member Functions inherited from btMultiBodyConstraint
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 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)
 

Detailed Description

Definition at line 24 of file btMultiBodySphericalJointMotor.h.

Constructor & Destructor Documentation

◆ btMultiBodySphericalJointMotor()

btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor ( btMultiBody body,
int  link,
btScalar  maxMotorImpulse 
)

This file was written by Erwin Coumans.

Definition at line 25 of file btMultiBodySphericalJointMotor.cpp.

◆ ~btMultiBodySphericalJointMotor()

btMultiBodySphericalJointMotor::~btMultiBodySphericalJointMotor ( )
virtual

Definition at line 55 of file btMultiBodySphericalJointMotor.cpp.

Member Function Documentation

◆ createConstraintRows()

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

Implements btMultiBodyConstraint.

Definition at line 95 of file btMultiBodySphericalJointMotor.cpp.

◆ debugDraw()

virtual void btMultiBodySphericalJointMotor::debugDraw ( class btIDebugDraw drawer)
inlinevirtual

Implements btMultiBodyConstraint.

Definition at line 71 of file btMultiBodySphericalJointMotor.h.

◆ finalizeMultiDof()

void btMultiBodySphericalJointMotor::finalizeMultiDof ( )
virtual

Implements btMultiBodyConstraint.

Definition at line 39 of file btMultiBodySphericalJointMotor.cpp.

◆ getErp()

virtual btScalar btMultiBodySphericalJointMotor::getErp ( ) const
inlinevirtual

Definition at line 63 of file btMultiBodySphericalJointMotor.h.

◆ getIslandIdA()

int btMultiBodySphericalJointMotor::getIslandIdA ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 59 of file btMultiBodySphericalJointMotor.cpp.

◆ getIslandIdB()

int btMultiBodySphericalJointMotor::getIslandIdB ( ) const
virtual

Implements btMultiBodyConstraint.

Definition at line 77 of file btMultiBodySphericalJointMotor.cpp.

◆ setErp()

virtual void btMultiBodySphericalJointMotor::setErp ( btScalar  erp)
inlinevirtual

Reimplemented from btMultiBodyConstraint.

Definition at line 59 of file btMultiBodySphericalJointMotor.h.

◆ setPositionTarget()

virtual void btMultiBodySphericalJointMotor::setPositionTarget ( const btQuaternion posTarget,
btScalar  kp = 1.f 
)
inlinevirtual

Definition at line 53 of file btMultiBodySphericalJointMotor.h.

◆ setRhsClamp()

virtual void btMultiBodySphericalJointMotor::setRhsClamp ( btScalar  rhsClamp)
inlinevirtual

Definition at line 67 of file btMultiBodySphericalJointMotor.h.

◆ setVelocityTarget()

virtual void btMultiBodySphericalJointMotor::setVelocityTarget ( const btVector3 velTarget,
btScalar  kd = 1.f 
)
inlinevirtual

Definition at line 47 of file btMultiBodySphericalJointMotor.h.

Member Data Documentation

◆ m_desiredPosition

btQuaternion btMultiBodySphericalJointMotor::m_desiredPosition
protected

Definition at line 28 of file btMultiBodySphericalJointMotor.h.

◆ m_desiredVelocity

btVector3 btMultiBodySphericalJointMotor::m_desiredVelocity
protected

Definition at line 27 of file btMultiBodySphericalJointMotor.h.

◆ m_erp

btScalar btMultiBodySphericalJointMotor::m_erp
protected

Definition at line 31 of file btMultiBodySphericalJointMotor.h.

◆ m_kd

btScalar btMultiBodySphericalJointMotor::m_kd
protected

Definition at line 29 of file btMultiBodySphericalJointMotor.h.

◆ m_kp

btScalar btMultiBodySphericalJointMotor::m_kp
protected

Definition at line 30 of file btMultiBodySphericalJointMotor.h.

◆ m_rhsClamp

btScalar btMultiBodySphericalJointMotor::m_rhsClamp
protected

Definition at line 32 of file btMultiBodySphericalJointMotor.h.


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