btScalar * getJointPosMultiDof(int i)
btMultiBodyConstraint * m_orgConstraint
btScalar * getJointVelMultiDof(int i)
btVector3 m_desiredVelocity
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btMatrix3x3 localFrameToWorld(int i, const btMatrix3x3 &mat) const
btQuaternion m_desiredPosition
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
btScalar m_maxAppliedImpulse
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)
const btMultibodyLink & getLink(int index) const
class btMultiBodyLinkCollider * m_collider
void allocateJacobiansMultiDof()
btScalar * jacobianA(int row)
virtual int getIslandIdB() const
virtual ~btMultiBodySphericalJointMotor()
eFeatherstoneJointType m_jointType
btMultiBodySphericalJointMotor(btMultiBody *body, int link, btScalar maxMotorImpulse)
This file was written by Erwin Coumans.
virtual int getIslandIdA() const
virtual void finalizeMultiDof()
const btMultiBodyLinkCollider * getBaseCollider() const