Blender V5.0
Public Member Functions | Protected Attributes | List of all members
btMultiBodySliderConstraint Class Reference

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

#include <btMultiBodySliderConstraint.h>

Inherits btMultiBodyConstraint.

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)

Protected Attributes

btRigidBody * m_rigidBodyA
btRigidBody * m_rigidBodyB
btVector3 m_pivotInA
btVector3 m_pivotInB
btMatrix3x3 m_frameInA
btMatrix3x3 m_frameInB
btVector3 m_jointAxis

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.

References btMatrix3x3, BTMBSLIDERCONSTRAINT_DIM, btMultiBody, btMultiBodyConstraint, btVector3, false, frameInA, frameInB, m_data, m_frameInA, m_frameInB, m_jointAxis, m_pivotInA, m_pivotInB, m_rigidBodyA, m_rigidBodyB, and MULTIBODY_CONSTRAINT_SLIDER.

◆ 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.

References btMatrix3x3, BTMBSLIDERCONSTRAINT_DIM, btMultiBody, btMultiBodyConstraint, btVector3, false, frameInA, frameInB, m_data, m_frameInA, m_frameInB, m_jointAxis, m_pivotInA, m_pivotInB, m_rigidBodyA, m_rigidBodyB, and MULTIBODY_CONSTRAINT_SLIDER.

◆ ~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 )
virtual

Definition at line 105 of file btMultiBodySliderConstraint.cpp.

References btMatrix3x3, BTMBSLIDERCONSTRAINT_DIM, btMultiBodySolverConstraint, btVector3, data, dot(), EPSILON, btAlignedObjectArray< T >::expandNonInitializing(), fillMultiBodyConstraint(), i, infoGlobal, m_bodyB, m_frameInA, m_frameInB, m_jointAxis, m_linkA, m_linkB, m_pivotInA, m_pivotInB, m_rigidBodyA, m_rigidBodyB, quatRotate(), and safeNorm().

◆ debugDraw()

void btMultiBodySliderConstraint::debugDraw ( class btIDebugDraw * drawer)
virtual

Definition at line 204 of file btMultiBodySliderConstraint.cpp.

References btTransform, btVector3, btIDebugDraw::drawTransform(), m_bodyB, m_linkA, m_linkB, m_pivotInA, m_pivotInB, m_rigidBodyA, and m_rigidBodyB.

◆ finalizeMultiDof()

void btMultiBodySliderConstraint::finalizeMultiDof ( )
virtual

Definition at line 53 of file btMultiBodySliderConstraint.cpp.

References btAssert.

◆ getFrameInA()

const btMatrix3x3 & btMultiBodySliderConstraint::getFrameInA ( ) const
inline

Definition at line 69 of file btMultiBodySliderConstraint.h.

References btMatrix3x3, and m_frameInA.

◆ getFrameInB()

const btMatrix3x3 & btMultiBodySliderConstraint::getFrameInB ( ) const
inline

Definition at line 79 of file btMultiBodySliderConstraint.h.

References btMatrix3x3, and m_frameInB.

◆ getIslandIdA()

int btMultiBodySliderConstraint::getIslandIdA ( ) const
virtual

Definition at line 63 of file btMultiBodySliderConstraint.cpp.

References col, m_linkA, and m_rigidBodyA.

◆ getIslandIdB()

int btMultiBodySliderConstraint::getIslandIdB ( ) const
virtual

Definition at line 85 of file btMultiBodySliderConstraint.cpp.

References col, m_bodyB, m_linkB, and m_rigidBodyB.

◆ getJointAxis()

const btVector3 & btMultiBodySliderConstraint::getJointAxis ( ) const
inline

Definition at line 89 of file btMultiBodySliderConstraint.h.

References btVector3, and m_jointAxis.

◆ getPivotInA()

const btVector3 & btMultiBodySliderConstraint::getPivotInA ( ) const
inline

Definition at line 49 of file btMultiBodySliderConstraint.h.

References btVector3, and m_pivotInA.

◆ getPivotInB()

const btVector3 & btMultiBodySliderConstraint::getPivotInB ( ) const
inline

Definition at line 59 of file btMultiBodySliderConstraint.h.

References btVector3, and m_pivotInB.

◆ setFrameInA()

void btMultiBodySliderConstraint::setFrameInA ( const btMatrix3x3 & frameInA)
inline

Definition at line 74 of file btMultiBodySliderConstraint.h.

References btMatrix3x3, frameInA, and m_frameInA.

◆ setFrameInB()

virtual void btMultiBodySliderConstraint::setFrameInB ( const btMatrix3x3 & frameInB)
inlinevirtual

Definition at line 84 of file btMultiBodySliderConstraint.h.

References btMatrix3x3, frameInB, and m_frameInB.

◆ setJointAxis()

void btMultiBodySliderConstraint::setJointAxis ( const btVector3 & jointAxis)
inline

Definition at line 94 of file btMultiBodySliderConstraint.h.

References btVector3, and m_jointAxis.

◆ setPivotInA()

void btMultiBodySliderConstraint::setPivotInA ( const btVector3 & pivotInA)
inline

Definition at line 54 of file btMultiBodySliderConstraint.h.

References btVector3, and m_pivotInA.

◆ setPivotInB()

virtual void btMultiBodySliderConstraint::setPivotInB ( const btVector3 & pivotInB)
inlinevirtual

Definition at line 64 of file btMultiBodySliderConstraint.h.

References btVector3, and m_pivotInB.

Member Data Documentation

◆ m_frameInA

btMatrix3x3 btMultiBodySliderConstraint::m_frameInA
protected

Definition at line 30 of file btMultiBodySliderConstraint.h.

Referenced by btMultiBodySliderConstraint(), btMultiBodySliderConstraint(), createConstraintRows(), getFrameInA(), and setFrameInA().

◆ m_frameInB

btMatrix3x3 btMultiBodySliderConstraint::m_frameInB
protected

Definition at line 31 of file btMultiBodySliderConstraint.h.

Referenced by btMultiBodySliderConstraint(), btMultiBodySliderConstraint(), createConstraintRows(), getFrameInB(), and setFrameInB().

◆ m_jointAxis

btVector3 btMultiBodySliderConstraint::m_jointAxis
protected

Definition at line 32 of file btMultiBodySliderConstraint.h.

Referenced by btMultiBodySliderConstraint(), btMultiBodySliderConstraint(), createConstraintRows(), getJointAxis(), and setJointAxis().

◆ m_pivotInA

btVector3 btMultiBodySliderConstraint::m_pivotInA
protected

Definition at line 28 of file btMultiBodySliderConstraint.h.

Referenced by btMultiBodySliderConstraint(), btMultiBodySliderConstraint(), createConstraintRows(), debugDraw(), getPivotInA(), and setPivotInA().

◆ m_pivotInB

btVector3 btMultiBodySliderConstraint::m_pivotInB
protected

Definition at line 29 of file btMultiBodySliderConstraint.h.

Referenced by btMultiBodySliderConstraint(), btMultiBodySliderConstraint(), createConstraintRows(), debugDraw(), getPivotInB(), and setPivotInB().

◆ m_rigidBodyA

btRigidBody* btMultiBodySliderConstraint::m_rigidBodyA
protected

Definition at line 26 of file btMultiBodySliderConstraint.h.

Referenced by btMultiBodySliderConstraint(), btMultiBodySliderConstraint(), createConstraintRows(), debugDraw(), and getIslandIdA().

◆ m_rigidBodyB

btRigidBody* btMultiBodySliderConstraint::m_rigidBodyB
protected

Definition at line 27 of file btMultiBodySliderConstraint.h.

Referenced by btMultiBodySliderConstraint(), btMultiBodySliderConstraint(), createConstraintRows(), debugDraw(), and getIslandIdB().

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