Bullet Collision Detection & Physics Library
|
#include <btMultiBody.h>
Public Member Functions | |
BT_DECLARE_ALIGNED_ALLOCATOR () | |
btMultiBody (int n_links, btScalar mass, const btVector3 &inertia, bool fixedBase, bool canSleep, bool deprecatedMultiDof=true) | |
virtual | ~btMultiBody () |
void | setupFixed (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true) |
void | setupPrismatic (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision) |
void | setupRevolute (int i, btScalar mass, const btVector3 &inertia, int parentIndex, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false) |
void | setupSpherical (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false) |
void | setupPlanar (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &rotationAxis, const btVector3 &parentComToThisComOffset, bool disableParentCollision=false) |
const btMultibodyLink & | getLink (int index) const |
btMultibodyLink & | getLink (int index) |
void | setBaseCollider (btMultiBodyLinkCollider *collider) |
const btMultiBodyLinkCollider * | getBaseCollider () const |
btMultiBodyLinkCollider * | getBaseCollider () |
const btMultiBodyLinkCollider * | getLinkCollider (int index) const |
btMultiBodyLinkCollider * | getLinkCollider (int index) |
int | getParent (int link_num) const |
int | getNumLinks () const |
int | getNumDofs () const |
int | getNumPosVars () const |
btScalar | getBaseMass () const |
const btVector3 & | getBaseInertia () const |
btScalar | getLinkMass (int i) const |
const btVector3 & | getLinkInertia (int i) const |
void | setBaseMass (btScalar mass) |
void | setBaseInertia (const btVector3 &inertia) |
const btVector3 & | getBasePos () const |
const btVector3 | getBaseVel () const |
const btQuaternion & | getWorldToBaseRot () const |
const btVector3 & | getInterpolateBasePos () const |
const btQuaternion & | getInterpolateWorldToBaseRot () const |
btVector3 | getBaseOmega () const |
void | setBasePos (const btVector3 &pos) |
void | setBaseWorldTransform (const btTransform &tr) |
btTransform | getBaseWorldTransform () const |
void | setBaseVel (const btVector3 &vel) |
void | setWorldToBaseRot (const btQuaternion &rot) |
void | setBaseOmega (const btVector3 &omega) |
btScalar | getJointPos (int i) const |
btScalar | getJointVel (int i) const |
btScalar * | getJointVelMultiDof (int i) |
btScalar * | getJointPosMultiDof (int i) |
const btScalar * | getJointVelMultiDof (int i) const |
const btScalar * | getJointPosMultiDof (int i) const |
void | setJointPos (int i, btScalar q) |
void | setJointVel (int i, btScalar qdot) |
void | setJointPosMultiDof (int i, const double *q) |
void | setJointVelMultiDof (int i, const double *qdot) |
void | setJointPosMultiDof (int i, const float *q) |
void | setJointVelMultiDof (int i, const float *qdot) |
const btScalar * | getVelocityVector () const |
const btScalar * | getDeltaVelocityVector () const |
const btVector3 & | getRVector (int i) const |
const btQuaternion & | getParentToLocalRot (int i) const |
const btVector3 & | getInterpolateRVector (int i) const |
const btQuaternion & | getInterpolateParentToLocalRot (int i) const |
btVector3 | localPosToWorld (int i, const btVector3 &local_pos) const |
btVector3 | localDirToWorld (int i, const btVector3 &local_dir) const |
btVector3 | worldPosToLocal (int i, const btVector3 &world_pos) const |
btVector3 | worldDirToLocal (int i, const btVector3 &world_dir) const |
btMatrix3x3 | localFrameToWorld (int i, const btMatrix3x3 &local_frame) const |
btScalar | getKineticEnergy () const |
btVector3 | getAngularMomentum () const |
void | clearForcesAndTorques () |
void | clearConstraintForces () |
void | clearVelocities () |
void | addBaseForce (const btVector3 &f) |
void | addBaseTorque (const btVector3 &t) |
void | addLinkForce (int i, const btVector3 &f) |
void | addLinkTorque (int i, const btVector3 &t) |
void | addBaseConstraintForce (const btVector3 &f) |
void | addBaseConstraintTorque (const btVector3 &t) |
void | addLinkConstraintForce (int i, const btVector3 &f) |
void | addLinkConstraintTorque (int i, const btVector3 &t) |
void | addJointTorque (int i, btScalar Q) |
void | addJointTorqueMultiDof (int i, int dof, btScalar Q) |
void | addJointTorqueMultiDof (int i, const btScalar *Q) |
const btVector3 & | getBaseForce () const |
const btVector3 & | getBaseTorque () const |
const btVector3 & | getLinkForce (int i) const |
const btVector3 & | getLinkTorque (int i) const |
btScalar | getJointTorque (int i) const |
btScalar * | getJointTorqueMultiDof (int i) |
void | computeAccelerationsArticulatedBodyAlgorithmMultiDof (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m, bool isConstraintPass, bool jointFeedbackInWorldSpace, bool jointFeedbackInJointFrame) |
void | calcAccelerationDeltasMultiDof (const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const |
stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead More... | |
void | applyDeltaVeeMultiDof2 (const btScalar *delta_vee, btScalar multiplier) |
void | processDeltaVeeMultiDof2 () |
void | applyDeltaVeeMultiDof (const btScalar *delta_vee, btScalar multiplier) |
void | stepPositionsMultiDof (btScalar dt, btScalar *pq=0, btScalar *pqd=0) |
void | predictPositionsMultiDof (btScalar dt) |
void | fillContactJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const |
void | fillConstraintJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal_ang, const btVector3 &normal_lin, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const |
void | setCanSleep (bool canSleep) |
bool | getCanSleep () const |
bool | getCanWakeup () const |
void | setCanWakeup (bool canWakeup) |
bool | isAwake () const |
void | wakeUp () |
void | goToSleep () |
void | checkMotionAndSleepIfRequired (btScalar timestep) |
bool | hasFixedBase () const |
void | setFixedBase (bool fixedBase) |
int | getCompanionId () const |
void | setCompanionId (int id) |
void | setNumLinks (int numLinks) |
btScalar | getLinearDamping () const |
void | setLinearDamping (btScalar damp) |
btScalar | getAngularDamping () const |
void | setAngularDamping (btScalar damp) |
bool | getUseGyroTerm () const |
void | setUseGyroTerm (bool useGyro) |
btScalar | getMaxCoordinateVelocity () const |
void | setMaxCoordinateVelocity (btScalar maxVel) |
btScalar | getMaxAppliedImpulse () const |
void | setMaxAppliedImpulse (btScalar maxImp) |
void | setHasSelfCollision (bool hasSelfCollision) |
bool | hasSelfCollision () const |
void | finalizeMultiDof () |
void | useRK4Integration (bool use) |
bool | isUsingRK4Integration () const |
void | useGlobalVelocities (bool use) |
bool | isUsingGlobalVelocities () const |
bool | isPosUpdated () const |
void | setPosUpdated (bool updated) |
bool | internalNeedsJointFeedback () const |
void | forwardKinematics (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin) |
void | compTreeLinkVelocities (btVector3 *omega, btVector3 *vel) const |
void | updateCollisionObjectWorldTransforms (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin) |
void | updateCollisionObjectInterpolationWorldTransforms (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin) |
virtual int | calculateSerializeBufferSize () const |
virtual const char * | serialize (void *dataBuffer, class btSerializer *serializer) const |
fills the dataBuffer and returns the struct name (and 0 on failure) More... | |
const char * | getBaseName () const |
void | setBaseName (const char *name) |
memory of setBaseName needs to be manager by user More... | |
void * | getUserPointer () const |
users can point to their objects, userPointer is not used by Bullet More... | |
int | getUserIndex () const |
int | getUserIndex2 () const |
void | setUserPointer (void *userPointer) |
users can point to their objects, userPointer is not used by Bullet More... | |
void | setUserIndex (int index) |
users can point to their objects, userPointer is not used by Bullet More... | |
void | setUserIndex2 (int index) |
Static Public Member Functions | |
static void | spatialTransform (const btMatrix3x3 &rotation_matrix, const btVector3 &displacement, const btVector3 &top_in, const btVector3 &bottom_in, btVector3 &top_out, btVector3 &bottom_out) |
Private Member Functions | |
btMultiBody (const btMultiBody &) | |
void | operator= (const btMultiBody &) |
void | solveImatrix (const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar result[6]) const |
void | solveImatrix (const btSpatialForceVector &rhs, btSpatialMotionVector &result) const |
void | updateLinksDofOffsets () |
void | mulMatrix (btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const |
Definition at line 49 of file btMultiBody.h.
btMultiBody::btMultiBody | ( | int | n_links, |
btScalar | mass, | ||
const btVector3 & | inertia, | ||
bool | fixedBase, | ||
bool | canSleep, | ||
bool | deprecatedMultiDof = true |
||
) |
Definition at line 93 of file btMultiBody.cpp.
|
virtual |
Definition at line 146 of file btMultiBody.cpp.
|
private |
|
inline |
Definition at line 335 of file btMultiBody.h.
|
inline |
Definition at line 339 of file btMultiBody.h.
|
inline |
Definition at line 327 of file btMultiBody.h.
|
inline |
Definition at line 331 of file btMultiBody.h.
void btMultiBody::addJointTorque | ( | int | i, |
btScalar | Q | ||
) |
Definition at line 684 of file btMultiBody.cpp.
void btMultiBody::addJointTorqueMultiDof | ( | int | i, |
const btScalar * | Q | ||
) |
Definition at line 694 of file btMultiBody.cpp.
void btMultiBody::addJointTorqueMultiDof | ( | int | i, |
int | dof, | ||
btScalar | Q | ||
) |
Definition at line 689 of file btMultiBody.cpp.
void btMultiBody::addLinkConstraintForce | ( | int | i, |
const btVector3 & | f | ||
) |
Definition at line 674 of file btMultiBody.cpp.
void btMultiBody::addLinkConstraintTorque | ( | int | i, |
const btVector3 & | t | ||
) |
Definition at line 679 of file btMultiBody.cpp.
void btMultiBody::addLinkForce | ( | int | i, |
const btVector3 & | f | ||
) |
Definition at line 664 of file btMultiBody.cpp.
void btMultiBody::addLinkTorque | ( | int | i, |
const btVector3 & | t | ||
) |
Definition at line 669 of file btMultiBody.cpp.
Definition at line 417 of file btMultiBody.h.
Definition at line 400 of file btMultiBody.h.
btMultiBody::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
void btMultiBody::calcAccelerationDeltasMultiDof | ( | const btScalar * | force, |
btScalar * | output, | ||
btAlignedObjectArray< btScalar > & | scratch_r, | ||
btAlignedObjectArray< btVector3 > & | scratch_v | ||
) | const |
stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
Definition at line 1438 of file btMultiBody.cpp.
|
virtual |
Definition at line 2230 of file btMultiBody.cpp.
void btMultiBody::checkMotionAndSleepIfRequired | ( | btScalar | timestep | ) |
Definition at line 2045 of file btMultiBody.cpp.
void btMultiBody::clearConstraintForces | ( | ) |
Definition at line 633 of file btMultiBody.cpp.
void btMultiBody::clearForcesAndTorques | ( | ) |
Definition at line 644 of file btMultiBody.cpp.
void btMultiBody::clearVelocities | ( | ) |
Definition at line 657 of file btMultiBody.cpp.
Definition at line 558 of file btMultiBody.cpp.
void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof | ( | btScalar | dt, |
btAlignedObjectArray< btScalar > & | scratch_r, | ||
btAlignedObjectArray< btVector3 > & | scratch_v, | ||
btAlignedObjectArray< btMatrix3x3 > & | scratch_m, | ||
bool | isConstraintPass, | ||
bool | jointFeedbackInWorldSpace, | ||
bool | jointFeedbackInJointFrame | ||
) |
Definition at line 744 of file btMultiBody.cpp.
void btMultiBody::fillConstraintJacobianMultiDof | ( | int | link, |
const btVector3 & | contact_point, | ||
const btVector3 & | normal_ang, | ||
const btVector3 & | normal_lin, | ||
btScalar * | jac, | ||
btAlignedObjectArray< btScalar > & | scratch_r, | ||
btAlignedObjectArray< btVector3 > & | scratch_v, | ||
btAlignedObjectArray< btMatrix3x3 > & | scratch_m | ||
) | const |
Definition at line 1891 of file btMultiBody.cpp.
|
inline |
Definition at line 456 of file btMultiBody.h.
void btMultiBody::finalizeMultiDof | ( | ) |
Definition at line 343 of file btMultiBody.cpp.
void btMultiBody::forwardKinematics | ( | btAlignedObjectArray< btQuaternion > & | world_to_local, |
btAlignedObjectArray< btVector3 > & | local_origin | ||
) |
base + num m_links
Definition at line 2083 of file btMultiBody.cpp.
|
inline |
Definition at line 538 of file btMultiBody.h.
btVector3 btMultiBody::getAngularMomentum | ( | ) | const |
Definition at line 609 of file btMultiBody.cpp.
|
inline |
Definition at line 132 of file btMultiBody.h.
|
inline |
Definition at line 128 of file btMultiBody.h.
|
inline |
Definition at line 347 of file btMultiBody.h.
|
inline |
Definition at line 170 of file btMultiBody.h.
|
inline |
Definition at line 169 of file btMultiBody.h.
|
inline |
Definition at line 614 of file btMultiBody.h.
|
inline |
Definition at line 208 of file btMultiBody.h.
|
inline |
Definition at line 185 of file btMultiBody.h.
|
inline |
Definition at line 348 of file btMultiBody.h.
|
inline |
Definition at line 189 of file btMultiBody.h.
|
inline |
Definition at line 222 of file btMultiBody.h.
|
inline |
Definition at line 486 of file btMultiBody.h.
|
inline |
Definition at line 491 of file btMultiBody.h.
|
inline |
Definition at line 515 of file btMultiBody.h.
|
inline |
Definition at line 277 of file btMultiBody.h.
|
inline |
Definition at line 198 of file btMultiBody.h.
const btQuaternion & btMultiBody::getInterpolateParentToLocalRot | ( | int | i | ) | const |
Definition at line 459 of file btMultiBody.cpp.
const btVector3 & btMultiBody::getInterpolateRVector | ( | int | i | ) | const |
Definition at line 454 of file btMultiBody.cpp.
|
inline |
Definition at line 202 of file btMultiBody.h.
btScalar btMultiBody::getJointPos | ( | int | i | ) | const |
Definition at line 372 of file btMultiBody.cpp.
btScalar * btMultiBody::getJointPosMultiDof | ( | int | i | ) |
Definition at line 382 of file btMultiBody.cpp.
const btScalar * btMultiBody::getJointPosMultiDof | ( | int | i | ) | const |
Definition at line 392 of file btMultiBody.cpp.
btScalar btMultiBody::getJointTorque | ( | int | i | ) | const |
Definition at line 710 of file btMultiBody.cpp.
btScalar * btMultiBody::getJointTorqueMultiDof | ( | int | i | ) |
Definition at line 715 of file btMultiBody.cpp.
btScalar btMultiBody::getJointVel | ( | int | i | ) | const |
Definition at line 377 of file btMultiBody.cpp.
btScalar * btMultiBody::getJointVelMultiDof | ( | int | i | ) |
Definition at line 387 of file btMultiBody.cpp.
const btScalar * btMultiBody::getJointVelMultiDof | ( | int | i | ) | const |
Definition at line 397 of file btMultiBody.cpp.
btScalar btMultiBody::getKineticEnergy | ( | ) | const |
Definition at line 586 of file btMultiBody.cpp.
|
inline |
Definition at line 530 of file btMultiBody.h.
|
inline |
Definition at line 119 of file btMultiBody.h.
|
inline |
Definition at line 114 of file btMultiBody.h.
|
inline |
Definition at line 146 of file btMultiBody.h.
|
inline |
Definition at line 137 of file btMultiBody.h.
const btVector3 & btMultiBody::getLinkForce | ( | int | i | ) | const |
Definition at line 700 of file btMultiBody.cpp.
const btVector3 & btMultiBody::getLinkInertia | ( | int | i | ) | const |
Definition at line 367 of file btMultiBody.cpp.
btScalar btMultiBody::getLinkMass | ( | int | i | ) | const |
Definition at line 362 of file btMultiBody.cpp.
const btVector3 & btMultiBody::getLinkTorque | ( | int | i | ) | const |
Definition at line 705 of file btMultiBody.cpp.
|
inline |
Definition at line 564 of file btMultiBody.h.
|
inline |
Definition at line 555 of file btMultiBody.h.
|
inline |
Definition at line 167 of file btMultiBody.h.
|
inline |
Definition at line 166 of file btMultiBody.h.
|
inline |
Definition at line 168 of file btMultiBody.h.
int btMultiBody::getParent | ( | int | link_num | ) | const |
Definition at line 357 of file btMultiBody.cpp.
const btQuaternion & btMultiBody::getParentToLocalRot | ( | int | i | ) | const |
Definition at line 449 of file btMultiBody.cpp.
const btVector3 & btMultiBody::getRVector | ( | int | i | ) | const |
Definition at line 444 of file btMultiBody.cpp.
|
inline |
Definition at line 547 of file btMultiBody.h.
|
inline |
Definition at line 630 of file btMultiBody.h.
|
inline |
Definition at line 635 of file btMultiBody.h.
|
inline |
users can point to their objects, userPointer is not used by Bullet
Definition at line 625 of file btMultiBody.h.
|
inline |
Definition at line 272 of file btMultiBody.h.
|
inline |
Definition at line 193 of file btMultiBody.h.
void btMultiBody::goToSleep | ( | ) |
Definition at line 2040 of file btMultiBody.cpp.
|
inline |
Definition at line 505 of file btMultiBody.h.
|
inline |
Definition at line 576 of file btMultiBody.h.
|
inline |
Definition at line 598 of file btMultiBody.h.
|
inline |
Definition at line 500 of file btMultiBody.h.
|
inline |
Definition at line 588 of file btMultiBody.h.
|
inline |
Definition at line 586 of file btMultiBody.h.
|
inline |
Definition at line 584 of file btMultiBody.h.
Definition at line 510 of file btMultiBody.cpp.
btMatrix3x3 btMultiBody::localFrameToWorld | ( | int | i, |
const btMatrix3x3 & | local_frame | ||
) | const |
Definition at line 548 of file btMultiBody.cpp.
Definition at line 464 of file btMultiBody.cpp.
|
private |
Definition at line 1423 of file btMultiBody.cpp.
|
private |
void btMultiBody::predictPositionsMultiDof | ( | btScalar | dt | ) |
baseBody => quat is alibi and omega is local coor
Definition at line 1596 of file btMultiBody.cpp.
|
inline |
Definition at line 407 of file btMultiBody.h.
|
virtual |
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition at line 2237 of file btMultiBody.cpp.
|
inline |
Definition at line 542 of file btMultiBody.h.
|
inline |
Definition at line 124 of file btMultiBody.h.
|
inline |
Definition at line 179 of file btMultiBody.h.
|
inline |
Definition at line 178 of file btMultiBody.h.
|
inline |
memory of setBaseName needs to be manager by user
Definition at line 619 of file btMultiBody.h.
|
inline |
Definition at line 241 of file btMultiBody.h.
|
inline |
Definition at line 210 of file btMultiBody.h.
|
inline |
Definition at line 230 of file btMultiBody.h.
|
inline |
Definition at line 216 of file btMultiBody.h.
|
inline |
Definition at line 478 of file btMultiBody.h.
|
inline |
Definition at line 496 of file btMultiBody.h.
|
inline |
Definition at line 519 of file btMultiBody.h.
|
inline |
Definition at line 510 of file btMultiBody.h.
|
inline |
Definition at line 572 of file btMultiBody.h.
void btMultiBody::setJointPos | ( | int | i, |
btScalar | q | ||
) |
Definition at line 402 of file btMultiBody.cpp.
void btMultiBody::setJointPosMultiDof | ( | int | i, |
const double * | q | ||
) |
Definition at line 409 of file btMultiBody.cpp.
void btMultiBody::setJointPosMultiDof | ( | int | i, |
const float * | q | ||
) |
Definition at line 417 of file btMultiBody.cpp.
void btMultiBody::setJointVel | ( | int | i, |
btScalar | qdot | ||
) |
Definition at line 427 of file btMultiBody.cpp.
void btMultiBody::setJointVelMultiDof | ( | int | i, |
const double * | qdot | ||
) |
Definition at line 432 of file btMultiBody.cpp.
void btMultiBody::setJointVelMultiDof | ( | int | i, |
const float * | qdot | ||
) |
Definition at line 438 of file btMultiBody.cpp.
|
inline |
Definition at line 534 of file btMultiBody.h.
|
inline |
Definition at line 568 of file btMultiBody.h.
|
inline |
Definition at line 559 of file btMultiBody.h.
|
inline |
Definition at line 525 of file btMultiBody.h.
|
inline |
Definition at line 592 of file btMultiBody.h.
void btMultiBody::setupFixed | ( | int | i, |
btScalar | mass, | ||
const btVector3 & | inertia, | ||
int | parent, | ||
const btQuaternion & | rotParentToThis, | ||
const btVector3 & | parentComToThisPivotOffset, | ||
const btVector3 & | thisPivotToThisComOffset, | ||
bool | deprecatedDisableParentCollision = true |
||
) |
Definition at line 150 of file btMultiBody.cpp.
void btMultiBody::setupPlanar | ( | int | i, |
btScalar | mass, | ||
const btVector3 & | inertia, | ||
int | parent, | ||
const btQuaternion & | rotParentToThis, | ||
const btVector3 & | rotationAxis, | ||
const btVector3 & | parentComToThisComOffset, | ||
bool | disableParentCollision = false |
||
) |
Definition at line 292 of file btMultiBody.cpp.
void btMultiBody::setupPrismatic | ( | int | i, |
btScalar | mass, | ||
const btVector3 & | inertia, | ||
int | parent, | ||
const btQuaternion & | rotParentToThis, | ||
const btVector3 & | jointAxis, | ||
const btVector3 & | parentComToThisPivotOffset, | ||
const btVector3 & | thisPivotToThisComOffset, | ||
bool | disableParentCollision | ||
) |
Definition at line 178 of file btMultiBody.cpp.
void btMultiBody::setupRevolute | ( | int | i, |
btScalar | mass, | ||
const btVector3 & | inertia, | ||
int | parentIndex, | ||
const btQuaternion & | rotParentToThis, | ||
const btVector3 & | jointAxis, | ||
const btVector3 & | parentComToThisPivotOffset, | ||
const btVector3 & | thisPivotToThisComOffset, | ||
bool | disableParentCollision = false |
||
) |
Definition at line 216 of file btMultiBody.cpp.
void btMultiBody::setupSpherical | ( | int | i, |
btScalar | mass, | ||
const btVector3 & | inertia, | ||
int | parent, | ||
const btQuaternion & | rotParentToThis, | ||
const btVector3 & | parentComToThisPivotOffset, | ||
const btVector3 & | thisPivotToThisComOffset, | ||
bool | disableParentCollision = false |
||
) |
Definition at line 252 of file btMultiBody.cpp.
|
inline |
Definition at line 551 of file btMultiBody.h.
|
inline |
users can point to their objects, userPointer is not used by Bullet
Definition at line 646 of file btMultiBody.h.
|
inline |
Definition at line 651 of file btMultiBody.h.
|
inline |
users can point to their objects, userPointer is not used by Bullet
Definition at line 640 of file btMultiBody.h.
|
inline |
Definition at line 236 of file btMultiBody.h.
|
private |
solve I * x = rhs, so the result = invI * rhs
Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices
Definition at line 1362 of file btMultiBody.cpp.
|
private |
solve I * x = rhs, so the result = invI * rhs
Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices
Definition at line 1287 of file btMultiBody.cpp.
|
static |
Definition at line 40 of file btMultiBody.cpp.
baseBody => quat is alibi and omega is local coor
Definition at line 1749 of file btMultiBody.cpp.
void btMultiBody::updateCollisionObjectInterpolationWorldTransforms | ( | btAlignedObjectArray< btQuaternion > & | world_to_local, |
btAlignedObjectArray< btVector3 > & | local_origin | ||
) |
Definition at line 2179 of file btMultiBody.cpp.
void btMultiBody::updateCollisionObjectWorldTransforms | ( | btAlignedObjectArray< btQuaternion > & | world_to_local, |
btAlignedObjectArray< btVector3 > & | local_origin | ||
) |
Definition at line 2126 of file btMultiBody.cpp.
|
inlineprivate |
Definition at line 672 of file btMultiBody.h.
|
inline |
Definition at line 585 of file btMultiBody.h.
|
inline |
Definition at line 583 of file btMultiBody.h.
void btMultiBody::wakeUp | ( | ) |
Definition at line 2034 of file btMultiBody.cpp.
Definition at line 529 of file btMultiBody.cpp.
Definition at line 489 of file btMultiBody.cpp.
|
private |
Definition at line 752 of file btMultiBody.h.
|
private |
Definition at line 746 of file btMultiBody.h.
|
private |
Definition at line 735 of file btMultiBody.h.
|
private |
Definition at line 687 of file btMultiBody.h.
|
private |
Definition at line 701 of file btMultiBody.h.
|
private |
Definition at line 702 of file btMultiBody.h.
|
private |
Definition at line 698 of file btMultiBody.h.
|
private |
Definition at line 696 of file btMultiBody.h.
|
private |
Definition at line 695 of file btMultiBody.h.
|
private |
Definition at line 688 of file btMultiBody.h.
|
private |
Definition at line 690 of file btMultiBody.h.
|
private |
Definition at line 691 of file btMultiBody.h.
|
private |
Definition at line 692 of file btMultiBody.h.
|
private |
Definition at line 693 of file btMultiBody.h.
|
private |
Definition at line 699 of file btMultiBody.h.
|
private |
Definition at line 728 of file btMultiBody.h.
|
private |
Definition at line 729 of file btMultiBody.h.
|
private |
Definition at line 726 of file btMultiBody.h.
|
private |
Definition at line 727 of file btMultiBody.h.
|
private |
Definition at line 730 of file btMultiBody.h.
|
private |
Definition at line 736 of file btMultiBody.h.
|
private |
Definition at line 737 of file btMultiBody.h.
|
private |
Definition at line 744 of file btMultiBody.h.
|
private |
Definition at line 721 of file btMultiBody.h.
|
private |
Definition at line 753 of file btMultiBody.h.
|
private |
Definition at line 732 of file btMultiBody.h.
|
private |
Definition at line 750 of file btMultiBody.h.
|
private |
the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only
Definition at line 760 of file btMultiBody.h.
|
private |
Definition at line 745 of file btMultiBody.h.
|
private |
Definition at line 704 of file btMultiBody.h.
|
private |
Definition at line 724 of file btMultiBody.h.
|
private |
Definition at line 748 of file btMultiBody.h.
|
private |
Definition at line 749 of file btMultiBody.h.
|
private |
Definition at line 753 of file btMultiBody.h.
|
private |
Definition at line 722 of file btMultiBody.h.
|
private |
Definition at line 738 of file btMultiBody.h.
|
private |
Definition at line 755 of file btMultiBody.h.
|
private |
Definition at line 747 of file btMultiBody.h.
|
private |
Definition at line 742 of file btMultiBody.h.
|
private |
Definition at line 741 of file btMultiBody.h.
|
private |
Definition at line 755 of file btMultiBody.h.
|
private |
Definition at line 740 of file btMultiBody.h.
|
private |
Definition at line 723 of file btMultiBody.h.