btMultiBodySolverConstraint.h File Reference

#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"

Go to the source code of this file.

Typedefs
typedef btAlignedObjectArray< btMultiBodySolverConstraint >	btMultiBodyConstraintArray

Enumerations
enum	btSolverConstraintType { BT_SOLVER_CONTACT_1D = 0 , BT_SOLVER_FRICTION_1D , BT_SOLVER_CONTACT_1D = 0 , BT_SOLVER_FRICTION_1D }

Variables
	btMultiBodySolverConstraint
	1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. More...
int	m_deltaVelAindex
int	m_jacAindex
int	m_deltaVelBindex
int	m_jacBindex
btVector3	m_relpos1CrossNormal
btVector3	m_contactNormal1
btVector3	m_relpos2CrossNormal
btVector3	m_contactNormal2
btVector3	m_angularComponentA
btVector3	m_angularComponentB
btSimdScalar	m_appliedPushImpulse
btSimdScalar	m_appliedImpulse
btScalar	m_friction
btScalar	m_jacDiagABInv
btScalar	m_rhs
btScalar	m_cfm
btScalar	m_lowerLimit
btScalar	m_upperLimit
btScalar	m_rhsPenetration
union {
void *   m_originalContactPoint
btScalar   m_unusedPadding4
};
int	m_overrideNumSolverIterations
int	m_frictionIndex
int	m_solverBodyIdA
btMultiBody *	m_multiBodyA
int	m_linkA
int	m_solverBodyIdB
btMultiBody *	m_multiBodyB
int	m_linkB
btMultiBodyConstraint *	m_orgConstraint
int	m_orgDofIndex

Typedef Documentation

btMultiBodyConstraintArray

typedef btAlignedObjectArray<btMultiBodySolverConstraint> btMultiBodyConstraintArray

Definition at line 88 of file btMultiBodySolverConstraint.h.

Enumeration Type Documentation

btSolverConstraintType

enum btSolverConstraintType

Enumerator
BT_SOLVER_CONTACT_1D
BT_SOLVER_FRICTION_1D
BT_SOLVER_CONTACT_1D
BT_SOLVER_FRICTION_1D

Definition at line 81 of file btMultiBodySolverConstraint.h.

Variable Documentation

union { ... }

btMultiBodySolverConstraint

btMultiBodySolverConstraint

Initial value:

{
    BT_DECLARE_ALIGNED_ALLOCATOR()

1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.

Definition at line 29 of file btMultiBodySolverConstraint.h.

Referenced by addMultiBodyFrictionConstraint(), addMultiBodySpinningFrictionConstraint(), addMultiBodyTorsionalFrictionConstraint(), convertMultiBodyContact(), btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), btMultiBodySphericalJointMotor::createConstraintRows(), btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody(), resolveConeFrictionConstraintRows(), btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(), and btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlySetup().

m_angularComponentA

btVector3 m_angularComponentA

Definition at line 47 of file btMultiBodySolverConstraint.h.

m_angularComponentB

btVector3 m_angularComponentB

Definition at line 48 of file btMultiBodySolverConstraint.h.

m_appliedImpulse

btSimdScalar m_appliedImpulse

mutable

Definition at line 51 of file btMultiBodySolverConstraint.h.

m_appliedPushImpulse

btSimdScalar m_appliedPushImpulse

mutable

Definition at line 50 of file btMultiBodySolverConstraint.h.

m_cfm

btScalar m_cfm

Definition at line 56 of file btMultiBodySolverConstraint.h.

m_contactNormal1

btVector3 m_contactNormal1

Definition at line 43 of file btMultiBodySolverConstraint.h.

m_contactNormal2

btVector3 m_contactNormal2

Definition at line 45 of file btMultiBodySolverConstraint.h.

m_deltaVelAindex

int m_deltaVelAindex

Definition at line 37 of file btMultiBodySolverConstraint.h.

m_deltaVelBindex

int m_deltaVelBindex

Definition at line 39 of file btMultiBodySolverConstraint.h.

m_friction

btScalar m_friction

Definition at line 53 of file btMultiBodySolverConstraint.h.

m_frictionIndex

int m_frictionIndex

Definition at line 67 of file btMultiBodySolverConstraint.h.

m_jacAindex

int m_jacAindex

Definition at line 38 of file btMultiBodySolverConstraint.h.

m_jacBindex

int m_jacBindex

Definition at line 40 of file btMultiBodySolverConstraint.h.

m_jacDiagABInv

btScalar m_jacDiagABInv

Definition at line 54 of file btMultiBodySolverConstraint.h.

m_linkA

int m_linkA

Definition at line 71 of file btMultiBodySolverConstraint.h.

m_linkB

int m_linkB

Definition at line 75 of file btMultiBodySolverConstraint.h.

m_lowerLimit

btScalar m_lowerLimit

Definition at line 58 of file btMultiBodySolverConstraint.h.

m_multiBodyA

btMultiBody* m_multiBodyA

Definition at line 70 of file btMultiBodySolverConstraint.h.

m_multiBodyB

btMultiBody* m_multiBodyB

Definition at line 74 of file btMultiBodySolverConstraint.h.

m_orgConstraint

btMultiBodyConstraint* m_orgConstraint

Definition at line 78 of file btMultiBodySolverConstraint.h.

m_orgDofIndex

int m_orgDofIndex

Definition at line 79 of file btMultiBodySolverConstraint.h.

m_originalContactPoint

void* m_originalContactPoint

Definition at line 62 of file btMultiBodySolverConstraint.h.

m_overrideNumSolverIterations

int m_overrideNumSolverIterations

Definition at line 66 of file btMultiBodySolverConstraint.h.

m_relpos1CrossNormal

btVector3 m_relpos1CrossNormal

Definition at line 42 of file btMultiBodySolverConstraint.h.

m_relpos2CrossNormal

btVector3 m_relpos2CrossNormal

Definition at line 44 of file btMultiBodySolverConstraint.h.

m_rhs

btScalar m_rhs

Definition at line 55 of file btMultiBodySolverConstraint.h.

m_rhsPenetration

btScalar m_rhsPenetration

Definition at line 60 of file btMultiBodySolverConstraint.h.

m_solverBodyIdA

int m_solverBodyIdA

Definition at line 69 of file btMultiBodySolverConstraint.h.

m_solverBodyIdB

int m_solverBodyIdB

Definition at line 73 of file btMultiBodySolverConstraint.h.

m_unusedPadding4

btScalar m_unusedPadding4

Definition at line 63 of file btMultiBodySolverConstraint.h.

m_upperLimit

btScalar m_upperLimit

Definition at line 59 of file btMultiBodySolverConstraint.h.