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

#include <btMultiBodyJointLimitConstraint.h>

Inheritance diagram for btMultiBodyJointLimitConstraint:
Inheritance graph
Collaboration diagram for btMultiBodyJointLimitConstraint:
Collaboration graph

Public Member Functions

 btMultiBodyJointLimitConstraint (btMultiBody *body, int link, btScalar lower, btScalar upper)
 This file was written by Erwin Coumans. More...
virtual ~btMultiBodyJointLimitConstraint ()
virtual void finalizeMultiDof ()
virtual int getIslandIdA () const
virtual int getIslandIdB () const
virtual void createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
virtual void debugDraw (class btIDebugDraw *drawer)
- Public Member Functions inherited from btMultiBodyConstraint
 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)
virtual void setErp (btScalar erp)

Protected Attributes

btScalar m_lowerBound
btScalar m_upperBound
- Protected Attributes inherited from btMultiBodyConstraint
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 22 of file btMultiBodyJointLimitConstraint.h.

Constructor & Destructor Documentation

btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint ( btMultiBody body,
int  link,
btScalar  lower,
btScalar  upper 

This file was written by Erwin Coumans.

Definition at line 25 of file btMultiBodyJointLimitConstraint.cpp.

btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint ( )

Definition at line 52 of file btMultiBodyJointLimitConstraint.cpp.

Member Function Documentation

void btMultiBodyJointLimitConstraint::createConstraintRows ( btMultiBodyConstraintArray constraintRows,
btMultiBodyJacobianData data,
const btContactSolverInfo infoGlobal 

Implements btMultiBodyConstraint.

Definition at line 97 of file btMultiBodyJointLimitConstraint.cpp.

virtual void btMultiBodyJointLimitConstraint::debugDraw ( class btIDebugDraw drawer)

Implements btMultiBodyConstraint.

Definition at line 42 of file btMultiBodyJointLimitConstraint.h.

void btMultiBodyJointLimitConstraint::finalizeMultiDof ( )

Implements btMultiBodyConstraint.

Definition at line 34 of file btMultiBodyJointLimitConstraint.cpp.

int btMultiBodyJointLimitConstraint::getIslandIdA ( ) const

Implements btMultiBodyConstraint.

Definition at line 57 of file btMultiBodyJointLimitConstraint.cpp.

int btMultiBodyJointLimitConstraint::getIslandIdB ( ) const

Implements btMultiBodyConstraint.

Definition at line 77 of file btMultiBodyJointLimitConstraint.cpp.

Member Data Documentation

btScalar btMultiBodyJointLimitConstraint::m_lowerBound

Definition at line 26 of file btMultiBodyJointLimitConstraint.h.

btScalar btMultiBodyJointLimitConstraint::m_upperBound

Definition at line 27 of file btMultiBodyJointLimitConstraint.h.

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