btMultiBodyJointLimitConstraint Class Reference

#include <btMultiBodyJointLimitConstraint.h>

Inheritance diagram for btMultiBodyJointLimitConstraint:

Public Member Functions
	btMultiBodyJointLimitConstraint (btMultiBody *body, int link, btScalar lower, btScalar upper)
	This file was written by Erwin Coumans. More...
virtual	~btMultiBodyJointLimitConstraint ()
virtual void	finalizeMultiDof ()
virtual int	getIslandIdA () const
virtual int	getIslandIdB () const
virtual void	createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
virtual void	debugDraw (class btIDebugDraw *drawer)
btScalar	getLowerBound () const
btScalar	getUpperBound () const
void	setLowerBound (btScalar lower)
void	setUpperBound (btScalar upper)

Protected Attributes
btScalar	m_lowerBound
btScalar	m_upperBound

Detailed Description

Definition at line 22 of file btMultiBodyJointLimitConstraint.h.

Constructor & Destructor Documentation

btMultiBodyJointLimitConstraint()

btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint	(	btMultiBody *	body,
		int	link,
		btScalar	lower,
		btScalar	upper
	)

This file was written by Erwin Coumans.

Definition at line 23 of file btMultiBodyJointLimitConstraint.cpp.

~btMultiBodyJointLimitConstraint()

btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint ( )

virtual

Definition at line 49 of file btMultiBodyJointLimitConstraint.cpp.

Member Function Documentation

createConstraintRows()

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

virtual

Definition at line 91 of file btMultiBodyJointLimitConstraint.cpp.

References btAssert, btMultiBodySolverConstraint, btVector3, data, btMultibodyLink::ePrismatic, btMultibodyLink::eRevolute, btAlignedObjectArray< T >::expandNonInitializing(), fillMultiBodyConstraint(), finalizeMultiDof(), getNumRows(), getPosition(), infoGlobal, jacobianA(), jacobianB(), m_bodyB, btContactSolverInfoData::m_erp, btContactSolverInfoData::m_erp2, m_jacSizeBoth, m_linkA, m_lowerBound, m_maxAppliedImpulse, m_numDofsFinalized, btContactSolverInfoData::m_splitImpulse, btContactSolverInfoData::m_splitImpulsePenetrationThreshold, btContactSolverInfoData::m_timeStep, m_upperBound, quatRotate(), and setPosition().

debugDraw()

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

inlinevirtual

Definition at line 41 of file btMultiBodyJointLimitConstraint.h.

finalizeMultiDof()

void btMultiBodyJointLimitConstraint::finalizeMultiDof ( )

virtual

Definition at line 31 of file btMultiBodyJointLimitConstraint.cpp.

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

Referenced by createConstraintRows().

getIslandIdA()

int btMultiBodyJointLimitConstraint::getIslandIdA ( ) const

virtual

Definition at line 53 of file btMultiBodyJointLimitConstraint.cpp.

References col, and m_linkA.

getIslandIdB()

int btMultiBodyJointLimitConstraint::getIslandIdB ( ) const

virtual

Definition at line 72 of file btMultiBodyJointLimitConstraint.cpp.

References col, m_bodyB, and m_linkB.

getLowerBound()

btScalar btMultiBodyJointLimitConstraint::getLowerBound ( ) const

inline

Definition at line 45 of file btMultiBodyJointLimitConstraint.h.

References m_lowerBound.

getUpperBound()

btScalar btMultiBodyJointLimitConstraint::getUpperBound ( ) const

inline

Definition at line 49 of file btMultiBodyJointLimitConstraint.h.

References m_upperBound.

setLowerBound()

void btMultiBodyJointLimitConstraint::setLowerBound ( btScalar  lower )

inline

Definition at line 53 of file btMultiBodyJointLimitConstraint.h.

References m_lowerBound.

setUpperBound()

void btMultiBodyJointLimitConstraint::setUpperBound ( btScalar  upper )

inline

Definition at line 57 of file btMultiBodyJointLimitConstraint.h.

References m_upperBound.

Member Data Documentation

m_lowerBound

btScalar btMultiBodyJointLimitConstraint::m_lowerBound

protected

Definition at line 25 of file btMultiBodyJointLimitConstraint.h.

Referenced by createConstraintRows(), getLowerBound(), and setLowerBound().

m_upperBound

btScalar btMultiBodyJointLimitConstraint::m_upperBound

protected

Definition at line 26 of file btMultiBodyJointLimitConstraint.h.

Referenced by createConstraintRows(), getUpperBound(), and setUpperBound().

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

• btMultiBodyJointLimitConstraint.h
• btMultiBodyJointLimitConstraint.cpp