Bullet Collision Detection & Physics Library
Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
btMultiBody Class Reference

#include <btMultiBody.h>

Collaboration diagram for btMultiBody:
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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 btMultibodyLinkgetLink (int index) const
 
btMultibodyLinkgetLink (int index)
 
void setBaseCollider (btMultiBodyLinkCollider *collider)
 
const btMultiBodyLinkCollidergetBaseCollider () const
 
btMultiBodyLinkCollidergetBaseCollider ()
 
const btMultiBodyLinkCollidergetLinkCollider (int index) const
 
btMultiBodyLinkCollidergetLinkCollider (int index)
 
int getParent (int link_num) const
 
int getNumLinks () const
 
int getNumDofs () const
 
int getNumPosVars () const
 
btScalar getBaseMass () const
 
const btVector3getBaseInertia () const
 
btScalar getLinkMass (int i) const
 
const btVector3getLinkInertia (int i) const
 
void setBaseMass (btScalar mass)
 
void setBaseInertia (const btVector3 &inertia)
 
const btVector3getBasePos () const
 
const btVector3 getBaseVel () const
 
const btQuaterniongetWorldToBaseRot () const
 
const btVector3getInterpolateBasePos () const
 
const btQuaterniongetInterpolateWorldToBaseRot () 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
 
btScalargetJointVelMultiDof (int i)
 
btScalargetJointPosMultiDof (int i)
 
const btScalargetJointVelMultiDof (int i) const
 
const btScalargetJointPosMultiDof (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 btScalargetVelocityVector () const
 
const btScalargetDeltaVelocityVector () const
 
const btVector3getRVector (int i) const
 
const btQuaterniongetParentToLocalRot (int i) const
 
const btVector3getInterpolateRVector (int i) const
 
const btQuaterniongetInterpolateParentToLocalRot (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 btVector3getBaseForce () const
 
const btVector3getBaseTorque () const
 
const btVector3getLinkForce (int i) const
 
const btVector3getLinkTorque (int i) const
 
btScalar getJointTorque (int i) const
 
btScalargetJointTorqueMultiDof (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
 

Private Attributes

btMultiBodyLinkColliderm_baseCollider
 
const char * m_baseName
 
btVector3 m_basePos
 
btVector3 m_basePos_interpolate
 
btQuaternion m_baseQuat
 
btQuaternion m_baseQuat_interpolate
 
btScalar m_baseMass
 
btVector3 m_baseInertia
 
btVector3 m_baseForce
 
btVector3 m_baseTorque
 
btVector3 m_baseConstraintForce
 
btVector3 m_baseConstraintTorque
 
btAlignedObjectArray< btMultibodyLinkm_links
 
btAlignedObjectArray< btScalarm_deltaV
 
btAlignedObjectArray< btScalarm_realBuf
 
btAlignedObjectArray< btVector3m_vectorBuf
 
btAlignedObjectArray< btMatrix3x3m_matrixBuf
 
btMatrix3x3 m_cachedInertiaTopLeft
 
btMatrix3x3 m_cachedInertiaTopRight
 
btMatrix3x3 m_cachedInertiaLowerLeft
 
btMatrix3x3 m_cachedInertiaLowerRight
 
bool m_cachedInertiaValid
 
bool m_fixedBase
 
bool m_awake
 
bool m_canSleep
 
bool m_canWakeup
 
btScalar m_sleepTimer
 
void * m_userObjectPointer
 
int m_userIndex2
 
int m_userIndex
 
int m_companionId
 
btScalar m_linearDamping
 
btScalar m_angularDamping
 
bool m_useGyroTerm
 
btScalar m_maxAppliedImpulse
 
btScalar m_maxCoordinateVelocity
 
bool m_hasSelfCollision
 
bool __posUpdated
 
int m_dofCount
 
int m_posVarCnt
 
bool m_useRK4
 
bool m_useGlobalVelocities
 
bool m_internalNeedsJointFeedback
 the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only More...
 

Detailed Description

Definition at line 49 of file btMultiBody.h.

Constructor & Destructor Documentation

◆ btMultiBody() [1/2]

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.

◆ ~btMultiBody()

btMultiBody::~btMultiBody ( )
virtual

Definition at line 146 of file btMultiBody.cpp.

◆ btMultiBody() [2/2]

btMultiBody::btMultiBody ( const btMultiBody )
private

Member Function Documentation

◆ addBaseConstraintForce()

void btMultiBody::addBaseConstraintForce ( const btVector3 f)
inline

Definition at line 335 of file btMultiBody.h.

◆ addBaseConstraintTorque()

void btMultiBody::addBaseConstraintTorque ( const btVector3 t)
inline

Definition at line 339 of file btMultiBody.h.

◆ addBaseForce()

void btMultiBody::addBaseForce ( const btVector3 f)
inline

Definition at line 327 of file btMultiBody.h.

◆ addBaseTorque()

void btMultiBody::addBaseTorque ( const btVector3 t)
inline

Definition at line 331 of file btMultiBody.h.

◆ addJointTorque()

void btMultiBody::addJointTorque ( int  i,
btScalar  Q 
)

Definition at line 684 of file btMultiBody.cpp.

◆ addJointTorqueMultiDof() [1/2]

void btMultiBody::addJointTorqueMultiDof ( int  i,
const btScalar Q 
)

Definition at line 694 of file btMultiBody.cpp.

◆ addJointTorqueMultiDof() [2/2]

void btMultiBody::addJointTorqueMultiDof ( int  i,
int  dof,
btScalar  Q 
)

Definition at line 689 of file btMultiBody.cpp.

◆ addLinkConstraintForce()

void btMultiBody::addLinkConstraintForce ( int  i,
const btVector3 f 
)

Definition at line 674 of file btMultiBody.cpp.

◆ addLinkConstraintTorque()

void btMultiBody::addLinkConstraintTorque ( int  i,
const btVector3 t 
)

Definition at line 679 of file btMultiBody.cpp.

◆ addLinkForce()

void btMultiBody::addLinkForce ( int  i,
const btVector3 f 
)

Definition at line 664 of file btMultiBody.cpp.

◆ addLinkTorque()

void btMultiBody::addLinkTorque ( int  i,
const btVector3 t 
)

Definition at line 669 of file btMultiBody.cpp.

◆ applyDeltaVeeMultiDof()

void btMultiBody::applyDeltaVeeMultiDof ( const btScalar delta_vee,
btScalar  multiplier 
)
inline

Definition at line 417 of file btMultiBody.h.

◆ applyDeltaVeeMultiDof2()

void btMultiBody::applyDeltaVeeMultiDof2 ( const btScalar delta_vee,
btScalar  multiplier 
)
inline

Definition at line 400 of file btMultiBody.h.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btMultiBody::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ calcAccelerationDeltasMultiDof()

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.

◆ calculateSerializeBufferSize()

int btMultiBody::calculateSerializeBufferSize ( ) const
virtual

Definition at line 2230 of file btMultiBody.cpp.

◆ checkMotionAndSleepIfRequired()

void btMultiBody::checkMotionAndSleepIfRequired ( btScalar  timestep)

Definition at line 2045 of file btMultiBody.cpp.

◆ clearConstraintForces()

void btMultiBody::clearConstraintForces ( )

Definition at line 633 of file btMultiBody.cpp.

◆ clearForcesAndTorques()

void btMultiBody::clearForcesAndTorques ( )

Definition at line 644 of file btMultiBody.cpp.

◆ clearVelocities()

void btMultiBody::clearVelocities ( )

Definition at line 657 of file btMultiBody.cpp.

◆ compTreeLinkVelocities()

void btMultiBody::compTreeLinkVelocities ( btVector3 omega,
btVector3 vel 
) const

Definition at line 558 of file btMultiBody.cpp.

◆ computeAccelerationsArticulatedBodyAlgorithmMultiDof()

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.

◆ fillConstraintJacobianMultiDof()

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.

◆ fillContactJacobianMultiDof()

void btMultiBody::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
inline

Definition at line 456 of file btMultiBody.h.

◆ finalizeMultiDof()

void btMultiBody::finalizeMultiDof ( )

Definition at line 343 of file btMultiBody.cpp.

◆ forwardKinematics()

void btMultiBody::forwardKinematics ( btAlignedObjectArray< btQuaternion > &  world_to_local,
btAlignedObjectArray< btVector3 > &  local_origin 
)

base + num m_links

Definition at line 2083 of file btMultiBody.cpp.

◆ getAngularDamping()

btScalar btMultiBody::getAngularDamping ( ) const
inline

Definition at line 538 of file btMultiBody.h.

◆ getAngularMomentum()

btVector3 btMultiBody::getAngularMomentum ( ) const

Definition at line 609 of file btMultiBody.cpp.

◆ getBaseCollider() [1/2]

btMultiBodyLinkCollider* btMultiBody::getBaseCollider ( )
inline

Definition at line 132 of file btMultiBody.h.

◆ getBaseCollider() [2/2]

const btMultiBodyLinkCollider* btMultiBody::getBaseCollider ( ) const
inline

Definition at line 128 of file btMultiBody.h.

◆ getBaseForce()

const btVector3& btMultiBody::getBaseForce ( ) const
inline

Definition at line 347 of file btMultiBody.h.

◆ getBaseInertia()

const btVector3& btMultiBody::getBaseInertia ( ) const
inline

Definition at line 170 of file btMultiBody.h.

◆ getBaseMass()

btScalar btMultiBody::getBaseMass ( ) const
inline

Definition at line 169 of file btMultiBody.h.

◆ getBaseName()

const char* btMultiBody::getBaseName ( ) const
inline

Definition at line 614 of file btMultiBody.h.

◆ getBaseOmega()

btVector3 btMultiBody::getBaseOmega ( ) const
inline

Definition at line 208 of file btMultiBody.h.

◆ getBasePos()

const btVector3& btMultiBody::getBasePos ( ) const
inline

Definition at line 185 of file btMultiBody.h.

◆ getBaseTorque()

const btVector3& btMultiBody::getBaseTorque ( ) const
inline

Definition at line 348 of file btMultiBody.h.

◆ getBaseVel()

const btVector3 btMultiBody::getBaseVel ( ) const
inline

Definition at line 189 of file btMultiBody.h.

◆ getBaseWorldTransform()

btTransform btMultiBody::getBaseWorldTransform ( ) const
inline

Definition at line 222 of file btMultiBody.h.

◆ getCanSleep()

bool btMultiBody::getCanSleep ( ) const
inline

Definition at line 486 of file btMultiBody.h.

◆ getCanWakeup()

bool btMultiBody::getCanWakeup ( ) const
inline

Definition at line 491 of file btMultiBody.h.

◆ getCompanionId()

int btMultiBody::getCompanionId ( ) const
inline

Definition at line 515 of file btMultiBody.h.

◆ getDeltaVelocityVector()

const btScalar* btMultiBody::getDeltaVelocityVector ( ) const
inline

Definition at line 277 of file btMultiBody.h.

◆ getInterpolateBasePos()

const btVector3& btMultiBody::getInterpolateBasePos ( ) const
inline

Definition at line 198 of file btMultiBody.h.

◆ getInterpolateParentToLocalRot()

const btQuaternion & btMultiBody::getInterpolateParentToLocalRot ( int  i) const

Definition at line 459 of file btMultiBody.cpp.

◆ getInterpolateRVector()

const btVector3 & btMultiBody::getInterpolateRVector ( int  i) const

Definition at line 454 of file btMultiBody.cpp.

◆ getInterpolateWorldToBaseRot()

const btQuaternion& btMultiBody::getInterpolateWorldToBaseRot ( ) const
inline

Definition at line 202 of file btMultiBody.h.

◆ getJointPos()

btScalar btMultiBody::getJointPos ( int  i) const

Definition at line 372 of file btMultiBody.cpp.

◆ getJointPosMultiDof() [1/2]

btScalar * btMultiBody::getJointPosMultiDof ( int  i)

Definition at line 382 of file btMultiBody.cpp.

◆ getJointPosMultiDof() [2/2]

const btScalar * btMultiBody::getJointPosMultiDof ( int  i) const

Definition at line 392 of file btMultiBody.cpp.

◆ getJointTorque()

btScalar btMultiBody::getJointTorque ( int  i) const

Definition at line 710 of file btMultiBody.cpp.

◆ getJointTorqueMultiDof()

btScalar * btMultiBody::getJointTorqueMultiDof ( int  i)

Definition at line 715 of file btMultiBody.cpp.

◆ getJointVel()

btScalar btMultiBody::getJointVel ( int  i) const

Definition at line 377 of file btMultiBody.cpp.

◆ getJointVelMultiDof() [1/2]

btScalar * btMultiBody::getJointVelMultiDof ( int  i)

Definition at line 387 of file btMultiBody.cpp.

◆ getJointVelMultiDof() [2/2]

const btScalar * btMultiBody::getJointVelMultiDof ( int  i) const

Definition at line 397 of file btMultiBody.cpp.

◆ getKineticEnergy()

btScalar btMultiBody::getKineticEnergy ( ) const

Definition at line 586 of file btMultiBody.cpp.

◆ getLinearDamping()

btScalar btMultiBody::getLinearDamping ( ) const
inline

Definition at line 530 of file btMultiBody.h.

◆ getLink() [1/2]

btMultibodyLink& btMultiBody::getLink ( int  index)
inline

Definition at line 119 of file btMultiBody.h.

◆ getLink() [2/2]

const btMultibodyLink& btMultiBody::getLink ( int  index) const
inline

Definition at line 114 of file btMultiBody.h.

◆ getLinkCollider() [1/2]

btMultiBodyLinkCollider* btMultiBody::getLinkCollider ( int  index)
inline

Definition at line 146 of file btMultiBody.h.

◆ getLinkCollider() [2/2]

const btMultiBodyLinkCollider* btMultiBody::getLinkCollider ( int  index) const
inline

Definition at line 137 of file btMultiBody.h.

◆ getLinkForce()

const btVector3 & btMultiBody::getLinkForce ( int  i) const

Definition at line 700 of file btMultiBody.cpp.

◆ getLinkInertia()

const btVector3 & btMultiBody::getLinkInertia ( int  i) const

Definition at line 367 of file btMultiBody.cpp.

◆ getLinkMass()

btScalar btMultiBody::getLinkMass ( int  i) const

Definition at line 362 of file btMultiBody.cpp.

◆ getLinkTorque()

const btVector3 & btMultiBody::getLinkTorque ( int  i) const

Definition at line 705 of file btMultiBody.cpp.

◆ getMaxAppliedImpulse()

btScalar btMultiBody::getMaxAppliedImpulse ( ) const
inline

Definition at line 564 of file btMultiBody.h.

◆ getMaxCoordinateVelocity()

btScalar btMultiBody::getMaxCoordinateVelocity ( ) const
inline

Definition at line 555 of file btMultiBody.h.

◆ getNumDofs()

int btMultiBody::getNumDofs ( ) const
inline

Definition at line 167 of file btMultiBody.h.

◆ getNumLinks()

int btMultiBody::getNumLinks ( ) const
inline

Definition at line 166 of file btMultiBody.h.

◆ getNumPosVars()

int btMultiBody::getNumPosVars ( ) const
inline

Definition at line 168 of file btMultiBody.h.

◆ getParent()

int btMultiBody::getParent ( int  link_num) const

Definition at line 357 of file btMultiBody.cpp.

◆ getParentToLocalRot()

const btQuaternion & btMultiBody::getParentToLocalRot ( int  i) const

Definition at line 449 of file btMultiBody.cpp.

◆ getRVector()

const btVector3 & btMultiBody::getRVector ( int  i) const

Definition at line 444 of file btMultiBody.cpp.

◆ getUseGyroTerm()

bool btMultiBody::getUseGyroTerm ( ) const
inline

Definition at line 547 of file btMultiBody.h.

◆ getUserIndex()

int btMultiBody::getUserIndex ( ) const
inline

Definition at line 630 of file btMultiBody.h.

◆ getUserIndex2()

int btMultiBody::getUserIndex2 ( ) const
inline

Definition at line 635 of file btMultiBody.h.

◆ getUserPointer()

void* btMultiBody::getUserPointer ( ) const
inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 625 of file btMultiBody.h.

◆ getVelocityVector()

const btScalar* btMultiBody::getVelocityVector ( ) const
inline

Definition at line 272 of file btMultiBody.h.

◆ getWorldToBaseRot()

const btQuaternion& btMultiBody::getWorldToBaseRot ( ) const
inline

Definition at line 193 of file btMultiBody.h.

◆ goToSleep()

void btMultiBody::goToSleep ( )

Definition at line 2040 of file btMultiBody.cpp.

◆ hasFixedBase()

bool btMultiBody::hasFixedBase ( ) const
inline

Definition at line 505 of file btMultiBody.h.

◆ hasSelfCollision()

bool btMultiBody::hasSelfCollision ( ) const
inline

Definition at line 576 of file btMultiBody.h.

◆ internalNeedsJointFeedback()

bool btMultiBody::internalNeedsJointFeedback ( ) const
inline

Definition at line 598 of file btMultiBody.h.

◆ isAwake()

bool btMultiBody::isAwake ( ) const
inline

Definition at line 500 of file btMultiBody.h.

◆ isPosUpdated()

bool btMultiBody::isPosUpdated ( ) const
inline

Definition at line 588 of file btMultiBody.h.

◆ isUsingGlobalVelocities()

bool btMultiBody::isUsingGlobalVelocities ( ) const
inline

Definition at line 586 of file btMultiBody.h.

◆ isUsingRK4Integration()

bool btMultiBody::isUsingRK4Integration ( ) const
inline

Definition at line 584 of file btMultiBody.h.

◆ localDirToWorld()

btVector3 btMultiBody::localDirToWorld ( int  i,
const btVector3 local_dir 
) const

Definition at line 510 of file btMultiBody.cpp.

◆ localFrameToWorld()

btMatrix3x3 btMultiBody::localFrameToWorld ( int  i,
const btMatrix3x3 local_frame 
) const

Definition at line 548 of file btMultiBody.cpp.

◆ localPosToWorld()

btVector3 btMultiBody::localPosToWorld ( int  i,
const btVector3 local_pos 
) const

Definition at line 464 of file btMultiBody.cpp.

◆ mulMatrix()

void btMultiBody::mulMatrix ( btScalar pA,
btScalar pB,
int  rowsA,
int  colsA,
int  rowsB,
int  colsB,
btScalar pC 
) const
private

Definition at line 1423 of file btMultiBody.cpp.

◆ operator=()

void btMultiBody::operator= ( const btMultiBody )
private

◆ predictPositionsMultiDof()

void btMultiBody::predictPositionsMultiDof ( btScalar  dt)

baseBody => quat is alibi and omega is local coor

Definition at line 1596 of file btMultiBody.cpp.

◆ processDeltaVeeMultiDof2()

void btMultiBody::processDeltaVeeMultiDof2 ( )
inline

Definition at line 407 of file btMultiBody.h.

◆ serialize()

const char * btMultiBody::serialize ( void *  dataBuffer,
class btSerializer serializer 
) const
virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Definition at line 2237 of file btMultiBody.cpp.

◆ setAngularDamping()

void btMultiBody::setAngularDamping ( btScalar  damp)
inline

Definition at line 542 of file btMultiBody.h.

◆ setBaseCollider()

void btMultiBody::setBaseCollider ( btMultiBodyLinkCollider collider)
inline

Definition at line 124 of file btMultiBody.h.

◆ setBaseInertia()

void btMultiBody::setBaseInertia ( const btVector3 inertia)
inline

Definition at line 179 of file btMultiBody.h.

◆ setBaseMass()

void btMultiBody::setBaseMass ( btScalar  mass)
inline

Definition at line 178 of file btMultiBody.h.

◆ setBaseName()

void btMultiBody::setBaseName ( const char *  name)
inline

memory of setBaseName needs to be manager by user

Definition at line 619 of file btMultiBody.h.

◆ setBaseOmega()

void btMultiBody::setBaseOmega ( const btVector3 omega)
inline

Definition at line 241 of file btMultiBody.h.

◆ setBasePos()

void btMultiBody::setBasePos ( const btVector3 pos)
inline

Definition at line 210 of file btMultiBody.h.

◆ setBaseVel()

void btMultiBody::setBaseVel ( const btVector3 vel)
inline

Definition at line 230 of file btMultiBody.h.

◆ setBaseWorldTransform()

void btMultiBody::setBaseWorldTransform ( const btTransform tr)
inline

Definition at line 216 of file btMultiBody.h.

◆ setCanSleep()

void btMultiBody::setCanSleep ( bool  canSleep)
inline

Definition at line 478 of file btMultiBody.h.

◆ setCanWakeup()

void btMultiBody::setCanWakeup ( bool  canWakeup)
inline

Definition at line 496 of file btMultiBody.h.

◆ setCompanionId()

void btMultiBody::setCompanionId ( int  id)
inline

Definition at line 519 of file btMultiBody.h.

◆ setFixedBase()

void btMultiBody::setFixedBase ( bool  fixedBase)
inline

Definition at line 510 of file btMultiBody.h.

◆ setHasSelfCollision()

void btMultiBody::setHasSelfCollision ( bool  hasSelfCollision)
inline

Definition at line 572 of file btMultiBody.h.

◆ setJointPos()

void btMultiBody::setJointPos ( int  i,
btScalar  q 
)

Definition at line 402 of file btMultiBody.cpp.

◆ setJointPosMultiDof() [1/2]

void btMultiBody::setJointPosMultiDof ( int  i,
const double *  q 
)

Definition at line 409 of file btMultiBody.cpp.

◆ setJointPosMultiDof() [2/2]

void btMultiBody::setJointPosMultiDof ( int  i,
const float *  q 
)

Definition at line 417 of file btMultiBody.cpp.

◆ setJointVel()

void btMultiBody::setJointVel ( int  i,
btScalar  qdot 
)

Definition at line 427 of file btMultiBody.cpp.

◆ setJointVelMultiDof() [1/2]

void btMultiBody::setJointVelMultiDof ( int  i,
const double *  qdot 
)

Definition at line 432 of file btMultiBody.cpp.

◆ setJointVelMultiDof() [2/2]

void btMultiBody::setJointVelMultiDof ( int  i,
const float *  qdot 
)

Definition at line 438 of file btMultiBody.cpp.

◆ setLinearDamping()

void btMultiBody::setLinearDamping ( btScalar  damp)
inline

Definition at line 534 of file btMultiBody.h.

◆ setMaxAppliedImpulse()

void btMultiBody::setMaxAppliedImpulse ( btScalar  maxImp)
inline

Definition at line 568 of file btMultiBody.h.

◆ setMaxCoordinateVelocity()

void btMultiBody::setMaxCoordinateVelocity ( btScalar  maxVel)
inline

Definition at line 559 of file btMultiBody.h.

◆ setNumLinks()

void btMultiBody::setNumLinks ( int  numLinks)
inline

Definition at line 525 of file btMultiBody.h.

◆ setPosUpdated()

void btMultiBody::setPosUpdated ( bool  updated)
inline

Definition at line 592 of file btMultiBody.h.

◆ setupFixed()

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.

◆ setupPlanar()

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.

◆ setupPrismatic()

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.

◆ setupRevolute()

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.

◆ setupSpherical()

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.

◆ setUseGyroTerm()

void btMultiBody::setUseGyroTerm ( bool  useGyro)
inline

Definition at line 551 of file btMultiBody.h.

◆ setUserIndex()

void btMultiBody::setUserIndex ( int  index)
inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 646 of file btMultiBody.h.

◆ setUserIndex2()

void btMultiBody::setUserIndex2 ( int  index)
inline

Definition at line 651 of file btMultiBody.h.

◆ setUserPointer()

void btMultiBody::setUserPointer ( void *  userPointer)
inline

users can point to their objects, userPointer is not used by Bullet

Definition at line 640 of file btMultiBody.h.

◆ setWorldToBaseRot()

void btMultiBody::setWorldToBaseRot ( const btQuaternion rot)
inline

Definition at line 236 of file btMultiBody.h.

◆ solveImatrix() [1/2]

void btMultiBody::solveImatrix ( const btSpatialForceVector rhs,
btSpatialMotionVector result 
) const
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.

◆ solveImatrix() [2/2]

void btMultiBody::solveImatrix ( const btVector3 rhs_top,
const btVector3 rhs_bot,
btScalar  result[6] 
) const
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.

◆ spatialTransform()

void btMultiBody::spatialTransform ( const btMatrix3x3 rotation_matrix,
const btVector3 displacement,
const btVector3 top_in,
const btVector3 bottom_in,
btVector3 top_out,
btVector3 bottom_out 
)
static

Definition at line 40 of file btMultiBody.cpp.

◆ stepPositionsMultiDof()

void btMultiBody::stepPositionsMultiDof ( btScalar  dt,
btScalar pq = 0,
btScalar pqd = 0 
)

baseBody => quat is alibi and omega is local coor

Definition at line 1749 of file btMultiBody.cpp.

◆ updateCollisionObjectInterpolationWorldTransforms()

void btMultiBody::updateCollisionObjectInterpolationWorldTransforms ( btAlignedObjectArray< btQuaternion > &  world_to_local,
btAlignedObjectArray< btVector3 > &  local_origin 
)

Definition at line 2179 of file btMultiBody.cpp.

◆ updateCollisionObjectWorldTransforms()

void btMultiBody::updateCollisionObjectWorldTransforms ( btAlignedObjectArray< btQuaternion > &  world_to_local,
btAlignedObjectArray< btVector3 > &  local_origin 
)

Definition at line 2126 of file btMultiBody.cpp.

◆ updateLinksDofOffsets()

void btMultiBody::updateLinksDofOffsets ( )
inlineprivate

Definition at line 672 of file btMultiBody.h.

◆ useGlobalVelocities()

void btMultiBody::useGlobalVelocities ( bool  use)
inline

Definition at line 585 of file btMultiBody.h.

◆ useRK4Integration()

void btMultiBody::useRK4Integration ( bool  use)
inline

Definition at line 583 of file btMultiBody.h.

◆ wakeUp()

void btMultiBody::wakeUp ( )

Definition at line 2034 of file btMultiBody.cpp.

◆ worldDirToLocal()

btVector3 btMultiBody::worldDirToLocal ( int  i,
const btVector3 world_dir 
) const

Definition at line 529 of file btMultiBody.cpp.

◆ worldPosToLocal()

btVector3 btMultiBody::worldPosToLocal ( int  i,
const btVector3 world_pos 
) const

Definition at line 489 of file btMultiBody.cpp.

Member Data Documentation

◆ __posUpdated

bool btMultiBody::__posUpdated
private

Definition at line 752 of file btMultiBody.h.

◆ m_angularDamping

btScalar btMultiBody::m_angularDamping
private

Definition at line 746 of file btMultiBody.h.

◆ m_awake

bool btMultiBody::m_awake
private

Definition at line 735 of file btMultiBody.h.

◆ m_baseCollider

btMultiBodyLinkCollider* btMultiBody::m_baseCollider
private

Definition at line 687 of file btMultiBody.h.

◆ m_baseConstraintForce

btVector3 btMultiBody::m_baseConstraintForce
private

Definition at line 701 of file btMultiBody.h.

◆ m_baseConstraintTorque

btVector3 btMultiBody::m_baseConstraintTorque
private

Definition at line 702 of file btMultiBody.h.

◆ m_baseForce

btVector3 btMultiBody::m_baseForce
private

Definition at line 698 of file btMultiBody.h.

◆ m_baseInertia

btVector3 btMultiBody::m_baseInertia
private

Definition at line 696 of file btMultiBody.h.

◆ m_baseMass

btScalar btMultiBody::m_baseMass
private

Definition at line 695 of file btMultiBody.h.

◆ m_baseName

const char* btMultiBody::m_baseName
private

Definition at line 688 of file btMultiBody.h.

◆ m_basePos

btVector3 btMultiBody::m_basePos
private

Definition at line 690 of file btMultiBody.h.

◆ m_basePos_interpolate

btVector3 btMultiBody::m_basePos_interpolate
private

Definition at line 691 of file btMultiBody.h.

◆ m_baseQuat

btQuaternion btMultiBody::m_baseQuat
private

Definition at line 692 of file btMultiBody.h.

◆ m_baseQuat_interpolate

btQuaternion btMultiBody::m_baseQuat_interpolate
private

Definition at line 693 of file btMultiBody.h.

◆ m_baseTorque

btVector3 btMultiBody::m_baseTorque
private

Definition at line 699 of file btMultiBody.h.

◆ m_cachedInertiaLowerLeft

btMatrix3x3 btMultiBody::m_cachedInertiaLowerLeft
private

Definition at line 728 of file btMultiBody.h.

◆ m_cachedInertiaLowerRight

btMatrix3x3 btMultiBody::m_cachedInertiaLowerRight
private

Definition at line 729 of file btMultiBody.h.

◆ m_cachedInertiaTopLeft

btMatrix3x3 btMultiBody::m_cachedInertiaTopLeft
private

Definition at line 726 of file btMultiBody.h.

◆ m_cachedInertiaTopRight

btMatrix3x3 btMultiBody::m_cachedInertiaTopRight
private

Definition at line 727 of file btMultiBody.h.

◆ m_cachedInertiaValid

bool btMultiBody::m_cachedInertiaValid
private

Definition at line 730 of file btMultiBody.h.

◆ m_canSleep

bool btMultiBody::m_canSleep
private

Definition at line 736 of file btMultiBody.h.

◆ m_canWakeup

bool btMultiBody::m_canWakeup
private

Definition at line 737 of file btMultiBody.h.

◆ m_companionId

int btMultiBody::m_companionId
private

Definition at line 744 of file btMultiBody.h.

◆ m_deltaV

btAlignedObjectArray<btScalar> btMultiBody::m_deltaV
private

Definition at line 721 of file btMultiBody.h.

◆ m_dofCount

int btMultiBody::m_dofCount
private

Definition at line 753 of file btMultiBody.h.

◆ m_fixedBase

bool btMultiBody::m_fixedBase
private

Definition at line 732 of file btMultiBody.h.

◆ m_hasSelfCollision

bool btMultiBody::m_hasSelfCollision
private

Definition at line 750 of file btMultiBody.h.

◆ m_internalNeedsJointFeedback

bool btMultiBody::m_internalNeedsJointFeedback
private

the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only

Definition at line 760 of file btMultiBody.h.

◆ m_linearDamping

btScalar btMultiBody::m_linearDamping
private

Definition at line 745 of file btMultiBody.h.

◆ m_links

btAlignedObjectArray<btMultibodyLink> btMultiBody::m_links
private

Definition at line 704 of file btMultiBody.h.

◆ m_matrixBuf

btAlignedObjectArray<btMatrix3x3> btMultiBody::m_matrixBuf
private

Definition at line 724 of file btMultiBody.h.

◆ m_maxAppliedImpulse

btScalar btMultiBody::m_maxAppliedImpulse
private

Definition at line 748 of file btMultiBody.h.

◆ m_maxCoordinateVelocity

btScalar btMultiBody::m_maxCoordinateVelocity
private

Definition at line 749 of file btMultiBody.h.

◆ m_posVarCnt

int btMultiBody::m_posVarCnt
private

Definition at line 753 of file btMultiBody.h.

◆ m_realBuf

btAlignedObjectArray<btScalar> btMultiBody::m_realBuf
private

Definition at line 722 of file btMultiBody.h.

◆ m_sleepTimer

btScalar btMultiBody::m_sleepTimer
private

Definition at line 738 of file btMultiBody.h.

◆ m_useGlobalVelocities

bool btMultiBody::m_useGlobalVelocities
private

Definition at line 755 of file btMultiBody.h.

◆ m_useGyroTerm

bool btMultiBody::m_useGyroTerm
private

Definition at line 747 of file btMultiBody.h.

◆ m_userIndex

int btMultiBody::m_userIndex
private

Definition at line 742 of file btMultiBody.h.

◆ m_userIndex2

int btMultiBody::m_userIndex2
private

Definition at line 741 of file btMultiBody.h.

◆ m_useRK4

bool btMultiBody::m_useRK4
private

Definition at line 755 of file btMultiBody.h.

◆ m_userObjectPointer

void* btMultiBody::m_userObjectPointer
private

Definition at line 740 of file btMultiBody.h.

◆ m_vectorBuf

btAlignedObjectArray<btVector3> btMultiBody::m_vectorBuf
private

Definition at line 723 of file btMultiBody.h.


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