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

#include <btMultiBodySliderConstraint.h>

Inheritance diagram for btMultiBodySliderConstraint:

Collaboration diagram for btMultiBodySliderConstraint:

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Public Member Functions
	btMultiBodySliderConstraint (btMultiBody body, int link, btRigidBody bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB, const btVector3 &jointAxis)
	btMultiBodySliderConstraint (btMultiBody bodyA, int linkA, btMultiBody bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB, const btVector3 &jointAxis)
virtual	~btMultiBodySliderConstraint ()
virtual void	finalizeMultiDof ()
virtual int	getIslandIdA () const
virtual int	getIslandIdB () const
virtual void	createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
const btVector3 &	getPivotInA () const
void	setPivotInA (const btVector3 &pivotInA)
const btVector3 &	getPivotInB () const
virtual void	setPivotInB (const btVector3 &pivotInB)
const btMatrix3x3 &	getFrameInA () const
void	setFrameInA (const btMatrix3x3 &frameInA)
const btMatrix3x3 &	getFrameInB () const
virtual void	setFrameInB (const btMatrix3x3 &frameInB)
const btVector3 &	getJointAxis () const
void	setJointAxis (const btVector3 &jointAxis)
virtual void	debugDraw (class btIDebugDraw *drawer)
Public Member Functions inherited from btMultiBodyConstraint
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btMultiBodyConstraint (btMultiBody bodyA, btMultiBody bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type)
virtual	~btMultiBodyConstraint ()
void	updateJacobianSizes ()
void	allocateJacobiansMultiDof ()
int	getConstraintType () const
int	getNumRows () const
btMultiBody *	getMultiBodyA ()
btMultiBody *	getMultiBodyB ()
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
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)
virtual void	setGearRatio (btScalar ratio)
virtual void	setGearAuxLink (int gearAuxLink)
virtual void	setRelativePositionTarget (btScalar relPosTarget)
virtual void	setErp (btScalar erp)

Protected Attributes
btRigidBody *	m_rigidBodyA
btRigidBody *	m_rigidBodyB
btVector3	m_pivotInA
btVector3	m_pivotInB
btMatrix3x3	m_frameInA
btMatrix3x3	m_frameInB
btVector3	m_jointAxis
Protected Attributes inherited from btMultiBodyConstraint
btMultiBody *	m_bodyA
btMultiBody *	m_bodyB
int	m_linkA
int	m_linkB
int	m_type
int	m_numRows
int	m_jacSizeA
int	m_jacSizeBoth
int	m_posOffset
bool	m_isUnilateral
int	m_numDofsFinalized
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)
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, btScalar damping=1.0)

Detailed Description

This file was written by Erwin Coumans.

Definition at line 23 of file btMultiBodySliderConstraint.h.

Constructor & Destructor Documentation

◆ btMultiBodySliderConstraint() [1/2]

btMultiBodySliderConstraint::btMultiBodySliderConstraint	(	btMultiBody *	body,
		int	link,
		btRigidBody *	bodyB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB,
		const btMatrix3x3 &	frameInA,
		const btMatrix3x3 &	frameInB,
		const btVector3 &	jointAxis )

Definition at line 27 of file btMultiBodySliderConstraint.cpp.

◆ btMultiBodySliderConstraint() [2/2]

btMultiBodySliderConstraint::btMultiBodySliderConstraint	(	btMultiBody *	bodyA,
		int	linkA,
		btMultiBody *	bodyB,
		int	linkB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB,
		const btMatrix3x3 &	frameInA,
		const btMatrix3x3 &	frameInB,
		const btVector3 &	jointAxis )

Definition at line 40 of file btMultiBodySliderConstraint.cpp.

◆ ~btMultiBodySliderConstraint()

btMultiBodySliderConstraint::~btMultiBodySliderConstraint ( )

virtual

Definition at line 59 of file btMultiBodySliderConstraint.cpp.

Member Function Documentation

◆ createConstraintRows()

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