btMultiBodySphericalJointMotor Class Reference

#include <btMultiBodySphericalJointMotor.h>

Inherits btMultiBodyConstraint.

Public Member Functions
	btMultiBodySphericalJointMotor (btMultiBody *body, int link, btScalar maxMotorImpulse)
	This file was written by Erwin Coumans.
virtual	~btMultiBodySphericalJointMotor ()
virtual void	finalizeMultiDof ()
virtual int	getIslandIdA () const
virtual int	getIslandIdB () const
virtual void	createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
virtual void	setVelocityTarget (const btVector3 &velTarget, btScalar kd=1.f)
virtual void	setPositionTarget (const btQuaternion &posTarget, btScalar kp=1.f)
virtual void	setErp (btScalar erp)
virtual btScalar	getErp () const
virtual void	setRhsClamp (btScalar rhsClamp)
virtual void	debugDraw (class btIDebugDraw *drawer)

Protected Attributes
btVector3	m_desiredVelocity
btQuaternion	m_desiredPosition
btScalar	m_kd
btScalar	m_kp
btScalar	m_erp
btScalar	m_rhsClamp

Detailed Description

Definition at line 24 of file btMultiBodySphericalJointMotor.h.

Constructor & Destructor Documentation

btMultiBodySphericalJointMotor()

btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor	(	btMultiBody *	body,
		int	link,
		btScalar	maxMotorImpulse )

This file was written by Erwin Coumans.

Definition at line 25 of file btMultiBodySphericalJointMotor.cpp.

References btMultiBody, btMultiBodyConstraint, getLink(), m_desiredPosition, m_desiredVelocity, m_erp, m_kd, m_kp, m_rhsClamp, MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR, SIMD_INFINITY, and true.

~btMultiBodySphericalJointMotor()

btMultiBodySphericalJointMotor::~btMultiBodySphericalJointMotor ( )

virtual

Definition at line 55 of file btMultiBodySphericalJointMotor.cpp.

Member Function Documentation

createConstraintRows()

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

virtual

Definition at line 95 of file btMultiBodySphericalJointMotor.cpp.

References btAssert, btMatrix3x3, btMultiBodySolverConstraint, btVector3, data, btMultibodyLink::eSpherical, btAlignedObjectArray< T >::expandNonInitializing(), fillMultiBodyConstraint(), finalizeMultiDof(), getNumRows(), infoGlobal, btQuaternion::inverse(), m_desiredPosition, m_desiredVelocity, m_jacSizeBoth, m_kp, m_linkA, and m_numDofsFinalized.

debugDraw()

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

inlinevirtual

Definition at line 71 of file btMultiBodySphericalJointMotor.h.

finalizeMultiDof()

void btMultiBodySphericalJointMotor::finalizeMultiDof ( )

virtual

Definition at line 39 of file btMultiBodySphericalJointMotor.cpp.

References allocateJacobiansMultiDof(), jacobianA(), m_jacSizeBoth, m_linkA, and m_numDofsFinalized.

Referenced by createConstraintRows().

getErp()

virtual btScalar btMultiBodySphericalJointMotor::getErp ( ) const

inlinevirtual

Definition at line 63 of file btMultiBodySphericalJointMotor.h.

References m_erp.

getIslandIdA()

int btMultiBodySphericalJointMotor::getIslandIdA ( ) const

virtual

Definition at line 59 of file btMultiBodySphericalJointMotor.cpp.

References col, and m_linkA.

getIslandIdB()

int btMultiBodySphericalJointMotor::getIslandIdB ( ) const

virtual

Definition at line 77 of file btMultiBodySphericalJointMotor.cpp.

References col, m_bodyB, and m_linkB.

setErp()

virtual void btMultiBodySphericalJointMotor::setErp ( btScalar erp )

inlinevirtual

Definition at line 59 of file btMultiBodySphericalJointMotor.h.

References m_erp.

setPositionTarget()

virtual void btMultiBodySphericalJointMotor::setPositionTarget ( const btQuaternion & posTarget, btScalar kp = 1.f )

inlinevirtual

Definition at line 53 of file btMultiBodySphericalJointMotor.h.

References m_desiredPosition, and m_kp.

setRhsClamp()

virtual void btMultiBodySphericalJointMotor::setRhsClamp ( btScalar rhsClamp )

inlinevirtual

Definition at line 67 of file btMultiBodySphericalJointMotor.h.

References m_rhsClamp.

setVelocityTarget()

virtual void btMultiBodySphericalJointMotor::setVelocityTarget ( const btVector3 & velTarget, btScalar kd = 1.f )

inlinevirtual

Definition at line 47 of file btMultiBodySphericalJointMotor.h.

References btVector3, m_desiredVelocity, and m_kd.

Member Data Documentation

m_desiredPosition

btQuaternion btMultiBodySphericalJointMotor::m_desiredPosition

protected

Definition at line 28 of file btMultiBodySphericalJointMotor.h.

Referenced by btMultiBodySphericalJointMotor(), createConstraintRows(), and setPositionTarget().

m_desiredVelocity

btVector3 btMultiBodySphericalJointMotor::m_desiredVelocity

protected

Definition at line 27 of file btMultiBodySphericalJointMotor.h.

Referenced by btMultiBodySphericalJointMotor(), createConstraintRows(), and setVelocityTarget().

m_erp

btScalar btMultiBodySphericalJointMotor::m_erp

protected

Definition at line 31 of file btMultiBodySphericalJointMotor.h.

Referenced by btMultiBodySphericalJointMotor(), getErp(), and setErp().

m_kd

btScalar btMultiBodySphericalJointMotor::m_kd

protected

Definition at line 29 of file btMultiBodySphericalJointMotor.h.

Referenced by btMultiBodySphericalJointMotor(), and setVelocityTarget().

m_kp

btScalar btMultiBodySphericalJointMotor::m_kp

protected

Definition at line 30 of file btMultiBodySphericalJointMotor.h.

Referenced by btMultiBodySphericalJointMotor(), createConstraintRows(), and setPositionTarget().

m_rhsClamp

btScalar btMultiBodySphericalJointMotor::m_rhsClamp

protected

Definition at line 32 of file btMultiBodySphericalJointMotor.h.

Referenced by btMultiBodySphericalJointMotor(), and setRhsClamp().

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

• btMultiBodySphericalJointMotor.h
• btMultiBodySphericalJointMotor.cpp