btMultiBodyPoint2Point Class Reference

This file was written by Erwin Coumans. More...

#include <btMultiBodyPoint2Point.h>

Inheritance diagram for btMultiBodyPoint2Point:

Collaboration diagram for btMultiBodyPoint2Point:

Public Member Functions
	btMultiBodyPoint2Point (btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB)
	This file was written by Erwin Coumans.
	btMultiBodyPoint2Point (btMultiBody *bodyA, int linkA, btMultiBody *bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB)
virtual	~btMultiBodyPoint2Point ()
virtual int	getIslandIdA () const
virtual int	getIslandIdB () const
virtual void	createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
const btVector3 &	getPivotInB () const
void	setPivotInB (const btVector3 &pivotInB)
Public Member Functions inherited from btMultiBodyConstraint
	btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral)
virtual	~btMultiBodyConstraint ()
int	getNumRows () const
btMultiBody *	getMultiBodyA ()
btMultiBody *	getMultiBodyB ()
btScalar	getPosition (int row) const
void	setPosition (int row, btScalar pos)
bool	isUnilateral () const
btScalar *	jacobianA (int row)
const btScalar *	jacobianA (int row) const
btScalar *	jacobianB (int row)
const btScalar *	jacobianB (int row) const
btScalar	getMaxAppliedImpulse () const
void	setMaxAppliedImpulse (btScalar maxImp)

Protected Attributes
btRigidBody *	m_rigidBodyA
btRigidBody *	m_rigidBodyB
btVector3	m_pivotInA
btVector3	m_pivotInB
Protected Attributes inherited from btMultiBodyConstraint
btMultiBody *	m_bodyA
btMultiBody *	m_bodyB
int	m_linkA
int	m_linkB
int	m_num_rows
int	m_jac_size_A
int	m_jac_size_both
int	m_pos_offset
bool	m_isUnilateral
btScalar	m_maxAppliedImpulse
btAlignedObjectArray< btScalar >	m_data

Additional Inherited Members
Protected Member Functions inherited from btMultiBodyConstraint
void	applyDeltaVee (btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof)
void	fillMultiBodyConstraintMixed (btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, const btVector3 &contactNormalOnB, const btVector3 &posAworld, const btVector3 &posBworld, btScalar position, const btContactSolverInfo &infoGlobal, btScalar &relaxation, bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0)
btScalar	fillConstraintRowMultiBodyMultiBody (btMultiBodySolverConstraint &constraintRow, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btContactSolverInfo &infoGlobal, btScalar desiredVelocity, btScalar lowerLimit, btScalar upperLimit)

Detailed Description

This file was written by Erwin Coumans.

Definition at line 23 of file btMultiBodyPoint2Point.h.

Constructor & Destructor Documentation

btMultiBodyPoint2Point::btMultiBodyPoint2Point	(	btMultiBody *	body,
		int	link,
		btRigidBody *	bodyB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB
	)

This file was written by Erwin Coumans.

Definition at line 22 of file btMultiBodyPoint2Point.cpp.

btMultiBodyPoint2Point::btMultiBodyPoint2Point	(	btMultiBody *	bodyA,
		int	linkA,
		btMultiBody *	bodyB,
		int	linkB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB
	)

Definition at line 31 of file btMultiBodyPoint2Point.cpp.

btMultiBodyPoint2Point::~btMultiBodyPoint2Point ( )

virtual

Definition at line 41 of file btMultiBodyPoint2Point.cpp.

Member Function Documentation

void btMultiBodyPoint2Point::createConstraintRows ( btMultiBodyConstraintArray &  constraintRows, btMultiBodyJacobianData &  data, const btContactSolverInfo &  infoGlobal  )

virtual

Implements btMultiBodyConstraint.

Definition at line 87 of file btMultiBodyPoint2Point.cpp.

int btMultiBodyPoint2Point::getIslandIdA ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 46 of file btMultiBodyPoint2Point.cpp.

int btMultiBodyPoint2Point::getIslandIdB ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 65 of file btMultiBodyPoint2Point.cpp.

const btVector3& btMultiBodyPoint2Point::getPivotInB ( ) const

inline

Definition at line 47 of file btMultiBodyPoint2Point.h.

void btMultiBodyPoint2Point::setPivotInB ( const btVector3 &  pivotInB )

inline

Definition at line 52 of file btMultiBodyPoint2Point.h.

Member Data Documentation

btVector3 btMultiBodyPoint2Point::m_pivotInA

protected

Definition at line 29 of file btMultiBodyPoint2Point.h.

btVector3 btMultiBodyPoint2Point::m_pivotInB

protected

Definition at line 30 of file btMultiBodyPoint2Point.h.

btRigidBody* btMultiBodyPoint2Point::m_rigidBodyA

protected

Definition at line 27 of file btMultiBodyPoint2Point.h.

btRigidBody* btMultiBodyPoint2Point::m_rigidBodyB

protected

Definition at line 28 of file btMultiBodyPoint2Point.h.

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

• btMultiBodyPoint2Point.h
• btMultiBodyPoint2Point.cpp