btMultibodyLink Struct Reference

#include <btMultiBodyLink.h>

Collaboration diagram for btMultibodyLink:

Public Types
enum	eFeatherstoneJointType {   eRevolute = 0,   ePrismatic = 1,   eSpherical = 2,   ePlanar = 3,   eFixed = 4,   eInvalid }

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
void	setAxisTop (int dof, const btVector3 &axis)
void	setAxisBottom (int dof, const btVector3 &axis)
void	setAxisTop (int dof, const btScalar &x, const btScalar &y, const btScalar &z)
void	setAxisBottom (int dof, const btScalar &x, const btScalar &y, const btScalar &z)
const btVector3 &	getAxisTop (int dof) const
const btVector3 &	getAxisBottom (int dof) const
	btMultibodyLink ()
void	updateCacheMultiDof (btScalar *pq=0)

Public Attributes
btScalar	m_mass
btVector3	m_inertiaLocal
int	m_parent
btQuaternion	m_zeroRotParentToThis
btVector3	m_dVector
btVector3	m_eVector
btSpatialMotionVector	m_absFrameTotVelocity
btSpatialMotionVector	m_absFrameLocVelocity
btSpatialMotionVector	m_axes [6]
int	m_dofOffset
int	m_cfgOffset
btQuaternion	m_cachedRotParentToThis
btVector3	m_cachedRVector
btVector3	m_appliedForce
btVector3	m_appliedTorque
btVector3	m_appliedConstraintForce
btVector3	m_appliedConstraintTorque
btScalar	m_jointPos [7]
btScalar	m_jointTorque [6]
class btMultiBodyLinkCollider *	m_collider
int	m_flags
int	m_dofCount
int	m_posVarCount
eFeatherstoneJointType	m_jointType
struct btMultiBodyJointFeedback *	m_jointFeedback
btTransform	m_cachedWorldTransform
const char *	m_linkName
const char *	m_jointName
const void *	m_userPtr
btScalar	m_jointDamping
btScalar	m_jointFriction
btScalar	m_jointLowerLimit
btScalar	m_jointUpperLimit
btScalar	m_jointMaxForce
btScalar	m_jointMaxVelocity

Detailed Description

Definition at line 48 of file btMultiBodyLink.h.

Member Enumeration Documentation

enum btMultibodyLink::eFeatherstoneJointType

Enumerator
eRevolute
ePrismatic
eSpherical
ePlanar
eFixed
eInvalid

Definition at line 72 of file btMultiBodyLink.h.

Constructor & Destructor Documentation

btMultibodyLink::btMultibodyLink ( )

inline

Definition at line 155 of file btMultiBodyLink.h.

Member Function Documentation

btMultibodyLink::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

const btVector3& btMultibodyLink::getAxisBottom ( int  dof ) const

inline

Definition at line 112 of file btMultiBodyLink.h.

const btVector3& btMultibodyLink::getAxisTop ( int  dof ) const

inline

Definition at line 111 of file btMultiBodyLink.h.

void btMultibodyLink::setAxisBottom ( int  dof, const btVector3 &  axis  )

inline

Definition at line 99 of file btMultiBodyLink.h.

void btMultibodyLink::setAxisBottom ( int  dof, const btScalar &  x, const btScalar &  y, const btScalar &  z  )

inline

Definition at line 107 of file btMultiBodyLink.h.

void btMultibodyLink::setAxisTop ( int  dof, const btVector3 &  axis  )

inline

Definition at line 98 of file btMultiBodyLink.h.

void btMultibodyLink::setAxisTop ( int  dof, const btScalar &  x, const btScalar &  y, const btScalar &  z  )

inline

Definition at line 103 of file btMultiBodyLink.h.

void btMultibodyLink::updateCacheMultiDof ( btScalar *  pq = 0 )

inline

Definition at line 195 of file btMultiBodyLink.h.

Member Data Documentation

btSpatialMotionVector btMultibodyLink::m_absFrameLocVelocity

Definition at line 70 of file btMultiBodyLink.h.

btSpatialMotionVector btMultibodyLink::m_absFrameTotVelocity

Definition at line 70 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_appliedConstraintForce

Definition at line 122 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_appliedConstraintTorque

Definition at line 123 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_appliedForce

Definition at line 119 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_appliedTorque

Definition at line 120 of file btMultiBodyLink.h.

btSpatialMotionVector btMultibodyLink::m_axes[6]

Definition at line 97 of file btMultiBodyLink.h.

btQuaternion btMultibodyLink::m_cachedRotParentToThis

Definition at line 116 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_cachedRVector

Definition at line 117 of file btMultiBodyLink.h.

btTransform btMultibodyLink::m_cachedWorldTransform

Definition at line 141 of file btMultiBodyLink.h.

int btMultibodyLink::m_cfgOffset

Definition at line 114 of file btMultiBodyLink.h.

class btMultiBodyLinkCollider* btMultibodyLink::m_collider

Definition at line 131 of file btMultiBodyLink.h.

int btMultibodyLink::m_dofCount

Definition at line 135 of file btMultiBodyLink.h.

int btMultibodyLink::m_dofOffset

Definition at line 114 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_dVector

Definition at line 60 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_eVector

Definition at line 68 of file btMultiBodyLink.h.

int btMultibodyLink::m_flags

Definition at line 132 of file btMultiBodyLink.h.

btVector3 btMultibodyLink::m_inertiaLocal

Definition at line 54 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_jointDamping

Definition at line 147 of file btMultiBodyLink.h.

struct btMultiBodyJointFeedback* btMultibodyLink::m_jointFeedback

Definition at line 139 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_jointFriction

Definition at line 148 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_jointLowerLimit

Definition at line 149 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_jointMaxForce

Definition at line 151 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_jointMaxVelocity

Definition at line 152 of file btMultiBodyLink.h.

const char* btMultibodyLink::m_jointName

Definition at line 144 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_jointPos[7]

Definition at line 125 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_jointTorque[6]

Definition at line 129 of file btMultiBodyLink.h.

eFeatherstoneJointType btMultibodyLink::m_jointType

Definition at line 137 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_jointUpperLimit

Definition at line 150 of file btMultiBodyLink.h.

const char* btMultibodyLink::m_linkName

Definition at line 143 of file btMultiBodyLink.h.

btScalar btMultibodyLink::m_mass

Definition at line 53 of file btMultiBodyLink.h.

int btMultibodyLink::m_parent

Definition at line 56 of file btMultiBodyLink.h.

int btMultibodyLink::m_posVarCount

Definition at line 135 of file btMultiBodyLink.h.

const void* btMultibodyLink::m_userPtr

Definition at line 145 of file btMultiBodyLink.h.

btQuaternion btMultibodyLink::m_zeroRotParentToThis

Definition at line 58 of file btMultiBodyLink.h.

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The documentation for this struct was generated from the following file:

• btMultiBodyLink.h