#include "LinearMath/btScalar.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btMatrix3x3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btMultiBodyLink.h"

Macros
#define	btMultiBodyData btMultiBodyFloatData
	serialization data, don't change them if you are not familiar with the details of the serialization mechanisms

#define	btMultiBodyDataName "btMultiBodyFloatData"

#define	btMultiBodyLinkData btMultiBodyLinkFloatData

#define	btMultiBodyLinkDataName "btMultiBodyLinkFloatData"

Functions
	btMultiBody (int n_links, btScalar mass, const btVector3 &inertia, bool fixedBase, bool canSleep, bool deprecatedMultiDof=true)

virtual	~btMultiBody ()

void	setupFixed (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true)

void	setupPrismatic (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision)

void	setupRevolute (int i, btScalar mass, const btVector3 &inertia, int parentIndex, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)

void	setupSpherical (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)

void	setupPlanar (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &rotationAxis, const btVector3 &parentComToThisComOffset, bool disableParentCollision=false)

const btMultibodyLink &	getLink (int index) const

void	setBaseCollider (btMultiBodyLinkCollider *collider)

const btMultiBodyLinkCollider *	getBaseCollider () const

const btMultiBodyLinkCollider *	getLinkCollider (int index) const

int	getParent (int link_num) const

int	getNumLinks () const

int	getNumDofs () const

int	getNumPosVars () const

btScalar	getBaseMass () const

const btVector3 &	getBaseInertia () const

btScalar	getLinkMass (int i) const

const btVector3 &	getLinkInertia (int i) const

void	setBaseMass (btScalar mass)

void	setBaseInertia (const btVector3 &inertia)

const btVector3 &	getBasePos () const

const btVector3	getBaseVel () const

const btQuaternion &	getWorldToBaseRot () const

const btVector3 &	getInterpolateBasePos () const

const btQuaternion &	getInterpolateWorldToBaseRot () const

btVector3	getBaseOmega () const

void	setBasePos (const btVector3 &pos)

void	setBaseWorldTransform (const btTransform &tr)

btTransform	getBaseWorldTransform () const

void	setBaseVel (const btVector3 &vel)

void	setWorldToBaseRot (const btQuaternion &rot)

void	setBaseOmega (const btVector3 &omega)

btScalar	getJointPos (int i) const

btScalar	getJointVel (int i) const

btScalar *	getJointVelMultiDof (int i)

btScalar *	getJointPosMultiDof (int i)

void	setJointPos (int i, btScalar q)

void	setJointVel (int i, btScalar qdot)

void	setJointPosMultiDof (int i, const double *q)

void	setJointVelMultiDof (int i, const double *qdot)

void	setJointPosMultiDof (int i, const float *q)

void	setJointVelMultiDof (int i, const float *qdot)

const btScalar *	getVelocityVector () const

const btScalar *	getDeltaVelocityVector () const

const btScalar *	getSplitVelocityVector () const

const btVector3 &	getRVector (int i) const

const btQuaternion &	getParentToLocalRot (int i) const

const btVector3 &	getInterpolateRVector (int i) const

const btQuaternion &	getInterpolateParentToLocalRot (int i) const

btVector3	localPosToWorld (int i, const btVector3 &local_pos) const

btVector3	localDirToWorld (int i, const btVector3 &local_dir) const

btVector3	worldPosToLocal (int i, const btVector3 &world_pos) const

btVector3	worldDirToLocal (int i, const btVector3 &world_dir) const

btMatrix3x3	localFrameToWorld (int i, const btMatrix3x3 &local_frame) const

void	clearForcesAndTorques ()

void	clearConstraintForces ()

void	clearVelocities ()

void	addBaseForce (const btVector3 &f)

void	addBaseTorque (const btVector3 &t)

void	addLinkForce (int i, const btVector3 &f)

void	addLinkTorque (int i, const btVector3 &t)

void	addBaseConstraintForce (const btVector3 &f)

void	addBaseConstraintTorque (const btVector3 &t)

void	addLinkConstraintForce (int i, const btVector3 &f)

void	addLinkConstraintTorque (int i, const btVector3 &t)

void	addJointTorque (int i, btScalar Q)

void	addJointTorqueMultiDof (int i, int dof, btScalar Q)

void	addJointTorqueMultiDof (int i, const btScalar *Q)

const btVector3 &	getBaseForce () const

const btVector3 &	getBaseTorque () const

const btVector3 &	getLinkForce (int i) const

const btVector3 &	getLinkTorque (int i) const

btScalar	getJointTorque (int i) const

btScalar *	getJointTorqueMultiDof (int i)

void	computeAccelerationsArticulatedBodyAlgorithmMultiDof (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m, bool isConstraintPass, bool jointFeedbackInWorldSpace, bool jointFeedbackInJointFrame)

void	calcAccelerationDeltasMultiDof (const btScalar force, btScalar output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const
	stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead

void	applyDeltaVeeMultiDof2 (const btScalar *delta_vee, btScalar multiplier)

void	applyDeltaSplitVeeMultiDof (const btScalar *delta_vee, btScalar multiplier)

void	addSplitV ()

void	substractSplitV ()

void	processDeltaVeeMultiDof2 ()

void	applyDeltaVeeMultiDof (const btScalar *delta_vee, btScalar multiplier)

void	stepPositionsMultiDof (btScalar dt, btScalar pq=0, btScalar pqd=0)

void	predictPositionsMultiDof (btScalar dt)

void	fillContactJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const

void	fillConstraintJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal_ang, const btVector3 &normal_lin, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const

void	setCanSleep (bool canSleep)

bool	getCanSleep () const

bool	getCanWakeup () const

void	setCanWakeup (bool canWakeup)

bool	isAwake () const

void	wakeUp ()

void	goToSleep ()

void	checkMotionAndSleepIfRequired (btScalar timestep)

bool	hasFixedBase () const

void	setFixedBase (bool fixedBase)

int	getCompanionId () const

void	setCompanionId (int id)

void	setNumLinks (int numLinks)

btScalar	getLinearDamping () const

void	setLinearDamping (btScalar damp)

btScalar	getAngularDamping () const

void	setAngularDamping (btScalar damp)

bool	getUseGyroTerm () const

void	setUseGyroTerm (bool useGyro)

btScalar	getMaxCoordinateVelocity () const

void	setMaxCoordinateVelocity (btScalar maxVel)

btScalar	getMaxAppliedImpulse () const

void	setMaxAppliedImpulse (btScalar maxImp)

void	setHasSelfCollision (bool hasSelfCollision)

bool	hasSelfCollision () const

void	finalizeMultiDof ()

void	useRK4Integration (bool use)

bool	isUsingRK4Integration () const

void	useGlobalVelocities (bool use)

bool	isUsingGlobalVelocities () const

bool	isPosUpdated () const

void	setPosUpdated (bool updated)

bool	internalNeedsJointFeedback () const

void	forwardKinematics (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin)

void	compTreeLinkVelocities (btVector3 omega, btVector3 vel) const

void	updateCollisionObjectWorldTransforms (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin)

void	updateCollisionObjectInterpolationWorldTransforms (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin)

virtual int	calculateSerializeBufferSize () const

virtual const char *	serialize (void dataBuffer, class btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)

const char *	getBaseName () const

void	setBaseName (const char *name)
	memory of setBaseName needs to be manager by user

void *	getUserPointer () const
	users can point to their objects, userPointer is not used by Bullet

int	getUserIndex () const

int	getUserIndex2 () const

void	setUserPointer (void *userPointer)
	users can point to their objects, userPointer is not used by Bullet

void	setUserIndex (int index)
	users can point to their objects, userPointer is not used by Bullet

void	setUserIndex2 (int index)

static void	spatialTransform (const btMatrix3x3 &rotation_matrix, const btVector3 &displacement, const btVector3 &top_in, const btVector3 &bottom_in, btVector3 &top_out, btVector3 &bottom_out)

Variables
	btMultiBody

Macro Definition Documentation

◆ btMultiBodyData

#define btMultiBodyData btMultiBodyFloatData

serialization data, don't change them if you are not familiar with the details of the serialization mechanisms

Definition at line 40 of file btMultiBody.h.

Referenced by btMultiBodyLinkCollider::serialize().

◆ btMultiBodyDataName

#define btMultiBodyDataName "btMultiBodyFloatData"

Definition at line 41 of file btMultiBody.h.

◆ btMultiBodyLinkData

#define btMultiBodyLinkData btMultiBodyLinkFloatData

Definition at line 42 of file btMultiBody.h.

◆ btMultiBodyLinkDataName

#define btMultiBodyLinkDataName "btMultiBodyLinkFloatData"

Definition at line 43 of file btMultiBody.h.

Function Documentation

◆ addBaseConstraintForce()

void addBaseConstraintForce ( const btVector3 & f )

Definition at line 333 of file btMultiBody.h.

◆ addBaseConstraintTorque()

void addBaseConstraintTorque ( const btVector3 & t )

Definition at line 337 of file btMultiBody.h.

◆ addBaseForce()

void addBaseForce ( const btVector3 & f )

Definition at line 325 of file btMultiBody.h.

◆ addBaseTorque()

void addBaseTorque ( const btVector3 & t )

Definition at line 329 of file btMultiBody.h.

◆ addJointTorque()

void btMultiBody::addJointTorque	(	int	i,
		btScalar	Q )

Definition at line 640 of file btMultiBody.cpp.

◆ addJointTorqueMultiDof() [1/2]

void btMultiBody::addJointTorqueMultiDof	(	int	i,
		const btScalar *	Q )

Definition at line 650 of file btMultiBody.cpp.

◆ addJointTorqueMultiDof() [2/2]

void btMultiBody::addJointTorqueMultiDof	(	int	i,
		int	dof,
		btScalar	Q )

Definition at line 645 of file btMultiBody.cpp.

◆ addLinkConstraintForce()

void btMultiBody::addLinkConstraintForce	(	int	i,
		const btVector3 &	f )

Definition at line 630 of file btMultiBody.cpp.

◆ addLinkConstraintTorque()

void btMultiBody::addLinkConstraintTorque	(	int	i,
		const btVector3 &	t )

Definition at line 635 of file btMultiBody.cpp.

◆ addLinkForce()

void btMultiBody::addLinkForce	(	int	i,
		const btVector3 &	f )

Definition at line 620 of file btMultiBody.cpp.

◆ addLinkTorque()

void btMultiBody::addLinkTorque	(	int	i,
		const btVector3 &	t )

Definition at line 625 of file btMultiBody.cpp.

◆ addSplitV()

void addSplitV ( )

Definition at line 412 of file btMultiBody.h.

References applyDeltaVeeMultiDof().

◆ applyDeltaSplitVeeMultiDof()

void applyDeltaSplitVeeMultiDof	(	const btScalar *	delta_vee,
		btScalar	multiplier )

Definition at line 405 of file btMultiBody.h.

References getNumDofs().

◆ applyDeltaVeeMultiDof()

void applyDeltaVeeMultiDof	(	const btScalar *	delta_vee,
		btScalar	multiplier )

Definition at line 435 of file btMultiBody.h.

References btClamp(), and getNumDofs().

Referenced by addSplitV(), computeAccelerationsArticulatedBodyAlgorithmMultiDof(), processDeltaVeeMultiDof2(), and substractSplitV().

◆ applyDeltaVeeMultiDof2()

void applyDeltaVeeMultiDof2	(	const btScalar *	delta_vee,
		btScalar	multiplier )

Definition at line 398 of file btMultiBody.h.

References getNumDofs().

◆ btMultiBody()

btMultiBody	(	int	n_links,
		btScalar	mass,
		const btVector3 &	inertia,
		bool	fixedBase,
		bool	canSleep,
		bool	deprecatedMultiDof = true )

◆ calcAccelerationDeltasMultiDof()

void btMultiBody::calcAccelerationDeltasMultiDof	(	const btScalar *	force,
		btScalar *	output,
		btAlignedObjectArray< btScalar > &	scratch_r,
		btAlignedObjectArray< btVector3 > &	scratch_v ) const

stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead

Definition at line 1394 of file btMultiBody.cpp.

References btMatrix3x3, btSpatialMotionVector::dot(), btSpatialMotionVector::getAngular(), btSpatialMotionVector::getLinear(), getNumLinks(), btSpatialTransformationMatrix::m_rotMat, btSpatialTransformationMatrix::m_trnVec, btAlignedObjectArray< T >::resize(), result, btSpatialForceVector::setZero(), btSpatialMotionVector::setZero(), btSpatialTransformationMatrix::transform(), btSpatialTransformationMatrix::transformInverse(), btSpatialTransformationMatrix::transformRotationOnly(), and Y.

◆ calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

◆ checkMotionAndSleepIfRequired()

void btMultiBody::checkMotionAndSleepIfRequired ( btScalar timestep )

Definition at line 2001 of file btMultiBody.cpp.

References gDisableDeactivation, goToSleep(), and wakeUp().

◆ clearConstraintForces()

void btMultiBody::clearConstraintForces ( )

Definition at line 589 of file btMultiBody.cpp.

References getNumLinks().

◆ clearForcesAndTorques()

void btMultiBody::clearForcesAndTorques ( )

Definition at line 600 of file btMultiBody.cpp.

References getNumLinks().

◆ clearVelocities()

void btMultiBody::clearVelocities ( )

Definition at line 613 of file btMultiBody.cpp.

References getNumDofs().

◆ compTreeLinkVelocities()

void btMultiBody::compTreeLinkVelocities	(	btVector3 *	omega,
		btVector3 *	vel ) const

Definition at line 560 of file btMultiBody.cpp.

References btMatrix3x3, btMultibodyLink::getAxisBottom(), btMultibodyLink::getAxisTop(), getBaseOmega(), getBaseVel(), getJointVelMultiDof(), getLink(), getNumLinks(), getWorldToBaseRot(), btMultibodyLink::m_cachedRotParentToThis, btMultibodyLink::m_cachedRVector, btMultibodyLink::m_dofCount, btMultibodyLink::m_parent, quatRotate(), and spatialTransform().

◆ computeAccelerationsArticulatedBodyAlgorithmMultiDof()

void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof	(	btScalar	dt,
		btAlignedObjectArray< btScalar > &	scratch_r,
		btAlignedObjectArray< btVector3 > &	scratch_v,
		btAlignedObjectArray< btMatrix3x3 > &	scratch_m,
		bool	isConstraintPass,
		bool	jointFeedbackInWorldSpace,
		bool	jointFeedbackInJointFrame )

Definition at line 700 of file btMultiBody.cpp.

References btSpatialTransformationMatrix::Add, btSpatialForceVector::addAngular(), btSpatialForceVector::addLinear(), btSpatialForceVector::addVector(), applyDeltaVeeMultiDof(), btMatrix3x3, col, btSpatialMotionVector::cross(), cross(), btSpatialMotionVector::dot(), btMultibodyLink::ePlanar, btMultibodyLink::ePrismatic, btMultibodyLink::eRevolute, btMultibodyLink::eSpherical, btSpatialMotionVector::getAngular(), getBaseOmega(), getBaseVel(), getJointVelMultiDof(), btSpatialMotionVector::getLinear(), getNumLinks(), m_angularDamping, btSymmetricSpatialDyad::m_bottomLeftMat, m_jointFeedback, m_linearDamping, btSpatialTransformationMatrix::m_rotMat, btSymmetricSpatialDyad::m_topLeftMat, btSymmetricSpatialDyad::m_topRightMat, btSpatialTransformationMatrix::m_trnVec, btAlignedObjectArray< T >::resize(), result, safeNorm(), btSymmetricSpatialDyad::setMatrix(), btSpatialForceVector::setVector(), btSpatialMotionVector::setVector(), btSpatialForceVector::setZero(), btSpatialMotionVector::setZero(), SIMD_EPSILON, symmetricSpatialOuterProduct(), btSpatialTransformationMatrix::transform(), btSpatialTransformationMatrix::transformInverse(), btSpatialTransformationMatrix::transformInverseRotationOnly(), btSpatialTransformationMatrix::transformRotationOnly(), and Y.

◆ fillConstraintJacobianMultiDof()

void btMultiBody::fillConstraintJacobianMultiDof	(	int	link,
		const btVector3 &	contact_point,
		const btVector3 &	normal_ang,
		const btVector3 &	normal_lin,
		btScalar *	jac,
		btAlignedObjectArray< btScalar > &	scratch_r,
		btAlignedObjectArray< btVector3 > &	scratch_v,
		btAlignedObjectArray< btMatrix3x3 > &	scratch_m ) const

Definition at line 1847 of file btMultiBody.cpp.

References btAssert, btMatrix3x3, cross(), btMultibodyLink::ePlanar, btMultibodyLink::ePrismatic, btMultibodyLink::eRevolute, btMultibodyLink::eSpherical, getNumDofs(), getNumLinks(), l, btAlignedObjectArray< T >::resize(), and btAlignedObjectArray< T >::size().

Referenced by fillContactJacobianMultiDof().

◆ fillContactJacobianMultiDof()

void fillContactJacobianMultiDof	(	int	link,
		const btVector3 &	contact_point,
		const btVector3 &	normal,
		btScalar *	jac,
		btAlignedObjectArray< btScalar > &	scratch_r,
		btAlignedObjectArray< btVector3 > &	scratch_v,
		btAlignedObjectArray< btMatrix3x3 > &	scratch_m ) const

Definition at line 474 of file btMultiBody.h.

References btVector3, and fillConstraintJacobianMultiDof().

◆ finalizeMultiDof()

void finalizeMultiDof ( )

◆ forwardKinematics()

void forwardKinematics	(	btAlignedObjectArray< btQuaternion > &	world_to_local,
		btAlignedObjectArray< btVector3 > &	local_origin )

◆ getAngularDamping()

btScalar getAngularDamping ( ) const

Definition at line 556 of file btMultiBody.h.

References m_angularDamping.

◆ getBaseCollider()

btMultiBodyLinkCollider * getBaseCollider ( ) const

Definition at line 128 of file btMultiBody.h.

Referenced by updateCollisionObjectInterpolationWorldTransforms(), and updateCollisionObjectWorldTransforms().

◆ getBaseForce()

const btVector3 & getBaseForce ( ) const

Definition at line 345 of file btMultiBody.h.

◆ getBaseInertia()

const btVector3 & getBaseInertia ( ) const

Definition at line 170 of file btMultiBody.h.

◆ getBaseMass()

btScalar getBaseMass ( ) const

Definition at line 169 of file btMultiBody.h.

◆ getBaseName()

const char * getBaseName ( ) const

Definition at line 632 of file btMultiBody.h.

◆ getBaseOmega()

btVector3 getBaseOmega ( ) const

Definition at line 208 of file btMultiBody.h.

References btVector3.

Referenced by compTreeLinkVelocities(), and computeAccelerationsArticulatedBodyAlgorithmMultiDof().

◆ getBasePos()

const btVector3 & getBasePos ( ) const

Definition at line 185 of file btMultiBody.h.

Referenced by getBaseWorldTransform(), localPosToWorld(), updateCollisionObjectWorldTransforms(), and worldPosToLocal().

◆ getBaseTorque()

const btVector3 & getBaseTorque ( ) const

Definition at line 346 of file btMultiBody.h.

◆ getBaseVel()

const btVector3 getBaseVel ( ) const

Definition at line 189 of file btMultiBody.h.

References btVector3.

Referenced by compTreeLinkVelocities(), and computeAccelerationsArticulatedBodyAlgorithmMultiDof().

◆ getBaseWorldTransform()

btTransform getBaseWorldTransform ( ) const

Definition at line 222 of file btMultiBody.h.

References btTransform, getBasePos(), getWorldToBaseRot(), and inverse().

◆ getCanSleep()

bool getCanSleep ( ) const

Definition at line 504 of file btMultiBody.h.

◆ getCanWakeup()

bool getCanWakeup ( ) const

Definition at line 509 of file btMultiBody.h.

◆ getCompanionId()

int getCompanionId ( ) const

Definition at line 533 of file btMultiBody.h.

References m_companionId.

◆ getDeltaVelocityVector()

const btScalar * getDeltaVelocityVector ( ) const

Definition at line 277 of file btMultiBody.h.

◆ getInterpolateBasePos()

const btVector3 & getInterpolateBasePos ( ) const

Definition at line 198 of file btMultiBody.h.

Referenced by updateCollisionObjectInterpolationWorldTransforms().

◆ getInterpolateParentToLocalRot()

const btQuaternion & btMultiBody::getInterpolateParentToLocalRot ( int i ) const

Definition at line 461 of file btMultiBody.cpp.

Referenced by updateCollisionObjectInterpolationWorldTransforms().

◆ getInterpolateRVector()

const btVector3 & btMultiBody::getInterpolateRVector ( int i ) const

Definition at line 456 of file btMultiBody.cpp.

Referenced by updateCollisionObjectInterpolationWorldTransforms().

◆ getInterpolateWorldToBaseRot()

const btQuaternion & getInterpolateWorldToBaseRot ( ) const

Definition at line 202 of file btMultiBody.h.

Referenced by updateCollisionObjectInterpolationWorldTransforms().

◆ getJointPos()

btScalar btMultiBody::getJointPos ( int i ) const

Definition at line 374 of file btMultiBody.cpp.

◆ getJointPosMultiDof()

const btScalar * getJointPosMultiDof ( int i )

Definition at line 384 of file btMultiBody.cpp.

◆ getJointTorque()

btScalar btMultiBody::getJointTorque ( int i ) const

Definition at line 666 of file btMultiBody.cpp.

◆ getJointTorqueMultiDof()

btScalar * btMultiBody::getJointTorqueMultiDof ( int i )

Definition at line 671 of file btMultiBody.cpp.

◆ getJointVel()

btScalar btMultiBody::getJointVel ( int i ) const

Definition at line 379 of file btMultiBody.cpp.

◆ getJointVelMultiDof()

const btScalar * getJointVelMultiDof ( int i )

Definition at line 389 of file btMultiBody.cpp.

Referenced by compTreeLinkVelocities(), computeAccelerationsArticulatedBodyAlgorithmMultiDof(), predictPositionsMultiDof(), and stepPositionsMultiDof().

◆ getLinearDamping()

btScalar getLinearDamping ( ) const

Definition at line 548 of file btMultiBody.h.

References m_linearDamping.

◆ getLink()

btMultibodyLink & getLink ( int index ) const

Definition at line 114 of file btMultiBody.h.

Referenced by btMultiBodyJointMotor::btMultiBodyJointMotor(), compTreeLinkVelocities(), getLinkCollider(), updateCollisionObjectInterpolationWorldTransforms(), and updateCollisionObjectWorldTransforms().

◆ getLinkCollider()

btMultiBodyLinkCollider * getLinkCollider ( int index ) const

Definition at line 137 of file btMultiBody.h.

References getLink(), getNumLinks(), and btMultibodyLink::m_collider.

◆ getLinkForce()

const btVector3 & btMultiBody::getLinkForce ( int i ) const

Definition at line 656 of file btMultiBody.cpp.

◆ getLinkInertia()

const btVector3 & btMultiBody::getLinkInertia ( int i ) const

Definition at line 369 of file btMultiBody.cpp.

◆ getLinkMass()

btScalar btMultiBody::getLinkMass ( int i ) const

Definition at line 364 of file btMultiBody.cpp.

◆ getLinkTorque()

const btVector3 & btMultiBody::getLinkTorque ( int i ) const

Definition at line 661 of file btMultiBody.cpp.

◆ getMaxAppliedImpulse()

btScalar getMaxAppliedImpulse ( ) const

Definition at line 582 of file btMultiBody.h.

◆ getMaxCoordinateVelocity()

btScalar getMaxCoordinateVelocity ( ) const

Definition at line 573 of file btMultiBody.h.

◆ getNumDofs()

int getNumDofs ( ) const

Definition at line 167 of file btMultiBody.h.

Referenced by applyDeltaSplitVeeMultiDof(), applyDeltaVeeMultiDof(), applyDeltaVeeMultiDof2(), clearVelocities(), fillConstraintJacobianMultiDof(), processDeltaVeeMultiDof2(), and substractSplitV().

◆ getNumLinks()

int getNumLinks ( ) const

Definition at line 166 of file btMultiBody.h.

Referenced by calcAccelerationDeltasMultiDof(), clearConstraintForces(), clearForcesAndTorques(), compTreeLinkVelocities(), computeAccelerationsArticulatedBodyAlgorithmMultiDof(), fillConstraintJacobianMultiDof(), getLinkCollider(), predictPositionsMultiDof(), stepPositionsMultiDof(), updateCollisionObjectInterpolationWorldTransforms(), and updateCollisionObjectWorldTransforms().

◆ getNumPosVars()

int getNumPosVars ( ) const

Definition at line 168 of file btMultiBody.h.

◆ getParent()

int btMultiBody::getParent ( int link_num ) const

Definition at line 359 of file btMultiBody.cpp.

Referenced by gather_objects_paths(), localDirToWorld(), localPosToWorld(), updateCollisionObjectInterpolationWorldTransforms(), updateCollisionObjectWorldTransforms(), visit_object(), worldDirToLocal(), and worldPosToLocal().

◆ getParentToLocalRot()

const btQuaternion & btMultiBody::getParentToLocalRot ( int i ) const

Definition at line 451 of file btMultiBody.cpp.

Referenced by localDirToWorld(), localPosToWorld(), updateCollisionObjectWorldTransforms(), worldDirToLocal(), and worldPosToLocal().

◆ getRVector()

const btVector3 & btMultiBody::getRVector ( int i ) const

Definition at line 446 of file btMultiBody.cpp.

Referenced by localPosToWorld(), updateCollisionObjectWorldTransforms(), and worldPosToLocal().

◆ getSplitVelocityVector()

const btScalar * getSplitVelocityVector ( ) const

Definition at line 282 of file btMultiBody.h.

◆ getUseGyroTerm()

bool getUseGyroTerm ( ) const

Definition at line 565 of file btMultiBody.h.

◆ getUserIndex()

int getUserIndex ( ) const

Definition at line 648 of file btMultiBody.h.

References m_userIndex.

◆ getUserIndex2()

int getUserIndex2 ( ) const

Definition at line 653 of file btMultiBody.h.

References m_userIndex2.

◆ getUserPointer()

void * getUserPointer ( ) const

users can point to their objects, userPointer is not used by Bullet

Definition at line 643 of file btMultiBody.h.

References m_userObjectPointer.

◆ getVelocityVector()

const btScalar * getVelocityVector ( ) const

Definition at line 272 of file btMultiBody.h.

◆ getWorldToBaseRot()

const btQuaternion & getWorldToBaseRot ( ) const

Definition at line 193 of file btMultiBody.h.

Referenced by compTreeLinkVelocities(), getBaseWorldTransform(), localDirToWorld(), localPosToWorld(), updateCollisionObjectWorldTransforms(), worldDirToLocal(), and worldPosToLocal().

◆ goToSleep()

void btMultiBody::goToSleep ( )

Definition at line 1996 of file btMultiBody.cpp.

Referenced by checkMotionAndSleepIfRequired().

◆ hasFixedBase()

bool hasFixedBase ( ) const

Definition at line 523 of file btMultiBody.h.

◆ hasSelfCollision()

bool hasSelfCollision ( ) const

Definition at line 594 of file btMultiBody.h.

Referenced by setHasSelfCollision().

◆ internalNeedsJointFeedback()

bool internalNeedsJointFeedback ( ) const

Definition at line 616 of file btMultiBody.h.

◆ isAwake()

bool isAwake ( ) const

Definition at line 518 of file btMultiBody.h.

◆ isPosUpdated()

bool isPosUpdated ( ) const

Definition at line 606 of file btMultiBody.h.

◆ isUsingGlobalVelocities()

bool isUsingGlobalVelocities ( ) const

Definition at line 604 of file btMultiBody.h.

◆ isUsingRK4Integration()

bool isUsingRK4Integration ( ) const

Definition at line 602 of file btMultiBody.h.

◆ localDirToWorld()

btVector3 btMultiBody::localDirToWorld	(	int	i,
		const btVector3 &	local_dir ) const

Definition at line 512 of file btMultiBody.cpp.

References btAssert, btVector3, getParent(), getParentToLocalRot(), getWorldToBaseRot(), inverse(), quatRotate(), result, and SIMD_INFINITY.

Referenced by localFrameToWorld().

◆ localFrameToWorld()

btMatrix3x3 btMultiBody::localFrameToWorld	(	int	i,
		const btMatrix3x3 &	local_frame ) const

Definition at line 550 of file btMultiBody.cpp.

References btMatrix3x3, localDirToWorld(), and result.

◆ localPosToWorld()

btVector3 btMultiBody::localPosToWorld	(	int	i,
		const btVector3 &	local_pos ) const

Definition at line 466 of file btMultiBody.cpp.

References btAssert, btVector3, getBasePos(), getParent(), getParentToLocalRot(), getRVector(), getWorldToBaseRot(), inverse(), quatRotate(), result, and SIMD_INFINITY.

◆ predictPositionsMultiDof()

void btMultiBody::predictPositionsMultiDof ( btScalar dt )

baseBody => quat is alibi and omega is local coor

Definition at line 1552 of file btMultiBody.cpp.

References ANGULAR_MOTION_THRESHOLD, btCos(), btSin(), btMultibodyLink::ePlanar, btMultibodyLink::ePrismatic, btMultibodyLink::eRevolute, btMultibodyLink::eSpherical, fAngle, getJointVelMultiDof(), getNumLinks(), btQuaternion::normalize(), operator()(), quatRotate(), and SIMD_HALF_PI.

◆ processDeltaVeeMultiDof2()

void processDeltaVeeMultiDof2 ( )

Definition at line 425 of file btMultiBody.h.

References applyDeltaVeeMultiDof(), and getNumDofs().

◆ serialize()

virtual const char * serialize	(	void *	dataBuffer,
		class btSerializer *	serializer ) const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

◆ setAngularDamping()

void setAngularDamping ( btScalar damp )

Definition at line 560 of file btMultiBody.h.

References m_angularDamping.

◆ setBaseCollider()

void setBaseCollider ( btMultiBodyLinkCollider * collider )

Definition at line 124 of file btMultiBody.h.

◆ setBaseInertia()

void setBaseInertia ( const btVector3 & inertia )

Definition at line 179 of file btMultiBody.h.

◆ setBaseMass()

void setBaseMass ( btScalar mass )

Definition at line 178 of file btMultiBody.h.

◆ setBaseName()

void setBaseName ( const char * name )

memory of setBaseName needs to be manager by user

Definition at line 637 of file btMultiBody.h.

◆ setBaseOmega()

void setBaseOmega ( const btVector3 & omega )

Definition at line 241 of file btMultiBody.h.

◆ setBasePos()

void setBasePos ( const btVector3 & pos )

Definition at line 210 of file btMultiBody.h.

References pos.

Referenced by setBaseWorldTransform().

◆ setBaseVel()

void setBaseVel ( const btVector3 & vel )

Definition at line 230 of file btMultiBody.h.

◆ setBaseWorldTransform()

void setBaseWorldTransform ( const btTransform & tr )

Definition at line 216 of file btMultiBody.h.

References setBasePos(), and setWorldToBaseRot().

◆ setCanSleep()

void setCanSleep ( bool canSleep )

Definition at line 496 of file btMultiBody.h.

◆ setCanWakeup()

void setCanWakeup ( bool canWakeup )

Definition at line 514 of file btMultiBody.h.

◆ setCompanionId()

void setCompanionId ( int id )

Definition at line 537 of file btMultiBody.h.

References m_companionId.

◆ setFixedBase()

void setFixedBase ( bool fixedBase )

Definition at line 528 of file btMultiBody.h.

◆ setHasSelfCollision()

void setHasSelfCollision ( bool hasSelfCollision )

Definition at line 590 of file btMultiBody.h.

References hasSelfCollision().

◆ setJointPos()

void btMultiBody::setJointPos	(	int	i,
		btScalar	q )

Definition at line 404 of file btMultiBody.cpp.

◆ setJointPosMultiDof() [1/2]

void btMultiBody::setJointPosMultiDof	(	int	i,
		const double *	q )

Definition at line 411 of file btMultiBody.cpp.

References pos.

◆ setJointPosMultiDof() [2/2]

void btMultiBody::setJointPosMultiDof	(	int	i,
		const float *	q )

Definition at line 419 of file btMultiBody.cpp.

References pos.

◆ setJointVel()

void btMultiBody::setJointVel	(	int	i,
		btScalar	qdot )

Definition at line 429 of file btMultiBody.cpp.

◆ setJointVelMultiDof() [1/2]

void btMultiBody::setJointVelMultiDof	(	int	i,
		const double *	qdot )

Definition at line 434 of file btMultiBody.cpp.

◆ setJointVelMultiDof() [2/2]

void btMultiBody::setJointVelMultiDof	(	int	i,
		const float *	qdot )

Definition at line 440 of file btMultiBody.cpp.

◆ setLinearDamping()

void setLinearDamping ( btScalar damp )

Definition at line 552 of file btMultiBody.h.

References m_linearDamping.

◆ setMaxAppliedImpulse()

void setMaxAppliedImpulse ( btScalar maxImp )

Definition at line 586 of file btMultiBody.h.

◆ setMaxCoordinateVelocity()

void setMaxCoordinateVelocity ( btScalar maxVel )

Definition at line 577 of file btMultiBody.h.

◆ setNumLinks()

void setNumLinks ( int numLinks )

Definition at line 543 of file btMultiBody.h.

◆ setPosUpdated()

void setPosUpdated ( bool updated )

Definition at line 610 of file btMultiBody.h.

◆ setupFixed()

void btMultiBody::setupFixed	(	int	i,
		btScalar	mass,
		const btVector3 &	inertia,
		int	parent,
		const btQuaternion &	rotParentToThis,
		const btVector3 &	parentComToThisPivotOffset,
		const btVector3 &	thisPivotToThisComOffset,
		bool	deprecatedDisableParentCollision = true )

Definition at line 150 of file btMultiBody.cpp.

References BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION, btVector3, and btMultibodyLink::eFixed.

◆ setupPlanar()

void btMultiBody::setupPlanar	(	int	i,
		btScalar	mass,
		const btVector3 &	inertia,
		int	parent,
		const btQuaternion &	rotParentToThis,
		const btVector3 &	rotationAxis,
		const btVector3 &	parentComToThisComOffset,
		bool	disableParentCollision = false )

Definition at line 292 of file btMultiBody.cpp.

References BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION, btMultibodyLink::ePlanar, and normalized().

◆ setupPrismatic()

void btMultiBody::setupPrismatic	(	int	i,
		btScalar	mass,
		const btVector3 &	inertia,
		int	parent,
		const btQuaternion &	rotParentToThis,
		const btVector3 &	jointAxis,
		const btVector3 &	parentComToThisPivotOffset,
		const btVector3 &	thisPivotToThisComOffset,
		bool	disableParentCollision )

Definition at line 178 of file btMultiBody.cpp.

References BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION, and btMultibodyLink::ePrismatic.

◆ setupRevolute()

void btMultiBody::setupRevolute	(	int	i,
		btScalar	mass,
		const btVector3 &	inertia,
		int	parentIndex,
		const btQuaternion &	rotParentToThis,
		const btVector3 &	jointAxis,
		const btVector3 &	parentComToThisPivotOffset,
		const btVector3 &	thisPivotToThisComOffset,
		bool	disableParentCollision = false )

Definition at line 216 of file btMultiBody.cpp.

References BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION, and btMultibodyLink::eRevolute.

◆ setupSpherical()

void btMultiBody::setupSpherical	(	int	i,
		btScalar	mass,
		const btVector3 &	inertia,
		int	parent,
		const btQuaternion &	rotParentToThis,
		const btVector3 &	parentComToThisPivotOffset,
		const btVector3 &	thisPivotToThisComOffset,
		bool	disableParentCollision = false )

Definition at line 252 of file btMultiBody.cpp.

References BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION, cross(), and btMultibodyLink::eSpherical.

◆ setUseGyroTerm()

void setUseGyroTerm ( bool useGyro )

Definition at line 569 of file btMultiBody.h.

◆ setUserIndex()

void setUserIndex ( int index )

users can point to their objects, userPointer is not used by Bullet

Definition at line 664 of file btMultiBody.h.

References m_userIndex.

◆ setUserIndex2()

void setUserIndex2 ( int index )

Definition at line 669 of file btMultiBody.h.

References m_userIndex2.

◆ setUserPointer()

void setUserPointer ( void * userPointer )

users can point to their objects, userPointer is not used by Bullet

Definition at line 658 of file btMultiBody.h.

References m_userObjectPointer.

◆ setWorldToBaseRot()

void setWorldToBaseRot ( const btQuaternion & rot )

Definition at line 236 of file btMultiBody.h.

References rot.

Referenced by setBaseWorldTransform().

◆ spatialTransform()

void btMultiBody::spatialTransform	(	const btMatrix3x3 &	rotation_matrix,
		const btVector3 &	displacement,
		const btVector3 &	top_in,
		const btVector3 &	bottom_in,
		btVector3 &	top_out,
		btVector3 &	bottom_out )

static

Definition at line 40 of file btMultiBody.cpp.

Referenced by compTreeLinkVelocities().

◆ stepPositionsMultiDof()

void btMultiBody::stepPositionsMultiDof	(	btScalar	dt,
		btScalar *	pq = 0,
		btScalar *	pqd = 0 )

baseBody => quat is alibi and omega is local coor

Definition at line 1705 of file btMultiBody.cpp.

References ANGULAR_MOTION_THRESHOLD, btCos(), btSin(), btMultibodyLink::ePlanar, btMultibodyLink::ePrismatic, btMultibodyLink::eRevolute, btMultibodyLink::eSpherical, fAngle, getJointVelMultiDof(), getNumLinks(), btQuaternion::normalize(), operator()(), quatRotate(), and SIMD_HALF_PI.

◆ substractSplitV()

void substractSplitV ( )

Definition at line 416 of file btMultiBody.h.

References applyDeltaVeeMultiDof(), and getNumDofs().

◆ updateCollisionObjectInterpolationWorldTransforms()

void btMultiBody::updateCollisionObjectInterpolationWorldTransforms	(	btAlignedObjectArray< btQuaternion > &	world_to_local,
		btAlignedObjectArray< btVector3 > &	local_origin )

Definition at line 2135 of file btMultiBody.cpp.

References btAssert, btTransform, col, getBaseCollider(), getInterpolateBasePos(), getInterpolateParentToLocalRot(), getInterpolateRVector(), getInterpolateWorldToBaseRot(), getLink(), getNumLinks(), getParent(), inverse(), btMultibodyLink::m_collider, btMultiBodyLinkCollider::m_link, quatRotate(), and btAlignedObjectArray< T >::resize().

◆ updateCollisionObjectWorldTransforms()

void btMultiBody::updateCollisionObjectWorldTransforms	(	btAlignedObjectArray< btQuaternion > &	world_to_local,
		btAlignedObjectArray< btVector3 > &	local_origin )

Definition at line 2082 of file btMultiBody.cpp.

References btAssert, btTransform, col, getBaseCollider(), getBasePos(), getLink(), getNumLinks(), getParent(), getParentToLocalRot(), getRVector(), getWorldToBaseRot(), inverse(), btMultibodyLink::m_collider, btMultiBodyLinkCollider::m_link, quatRotate(), and btAlignedObjectArray< T >::resize().

◆ useGlobalVelocities()

void useGlobalVelocities ( bool use )

Definition at line 603 of file btMultiBody.h.

◆ useRK4Integration()

void useRK4Integration ( bool use )

Definition at line 601 of file btMultiBody.h.

◆ wakeUp()

void btMultiBody::wakeUp ( )

Definition at line 1990 of file btMultiBody.cpp.

Referenced by checkMotionAndSleepIfRequired().

◆ worldDirToLocal()

btVector3 btMultiBody::worldDirToLocal	(	int	i,
		const btVector3 &	world_dir ) const

Definition at line 531 of file btMultiBody.cpp.

References btAssert, btVector3, getParent(), getParentToLocalRot(), getWorldToBaseRot(), quatRotate(), SIMD_INFINITY, and worldDirToLocal().

Referenced by worldDirToLocal().

◆ worldPosToLocal()

btVector3 btMultiBody::worldPosToLocal	(	int	i,
		const btVector3 &	world_pos ) const

Definition at line 491 of file btMultiBody.cpp.

References btAssert, btVector3, getBasePos(), getParent(), getParentToLocalRot(), getRVector(), getWorldToBaseRot(), quatRotate(), SIMD_INFINITY, and worldPosToLocal().

Referenced by worldPosToLocal().

◆ ~btMultiBody()

btMultiBody::~btMultiBody ( )

virtual

Definition at line 146 of file btMultiBody.cpp.

Variable Documentation

◆ btMultiBody

btMultiBody::btMultiBody

Initial value:

{
public:
    BT_DECLARE_ALIGNED_ALLOCATOR()

Definition at line 50 of file btMultiBody.h.

Macros

Functions

Variables

Macro Definition Documentation

◆ btMultiBodyData

◆ btMultiBodyDataName

◆ btMultiBodyLinkData

◆ btMultiBodyLinkDataName

Function Documentation

◆ addBaseConstraintForce()

◆ addBaseConstraintTorque()

◆ addBaseForce()

◆ addBaseTorque()

◆ addJointTorque()

◆ addJointTorqueMultiDof() [1/2]

◆ addJointTorqueMultiDof() [2/2]

◆ addLinkConstraintForce()

◆ addLinkConstraintTorque()

◆ addLinkForce()

◆ addLinkTorque()

◆ addSplitV()

◆ applyDeltaSplitVeeMultiDof()

◆ applyDeltaVeeMultiDof()

◆ applyDeltaVeeMultiDof2()

◆ btMultiBody()

◆ calcAccelerationDeltasMultiDof()

◆ calculateSerializeBufferSize()

◆ checkMotionAndSleepIfRequired()

◆ clearConstraintForces()

◆ clearForcesAndTorques()

◆ clearVelocities()

◆ compTreeLinkVelocities()

◆ computeAccelerationsArticulatedBodyAlgorithmMultiDof()

◆ fillConstraintJacobianMultiDof()

◆ fillContactJacobianMultiDof()

◆ finalizeMultiDof()

◆ forwardKinematics()

◆ getAngularDamping()

◆ getBaseCollider()

◆ getBaseForce()

◆ getBaseInertia()

◆ getBaseMass()

◆ getBaseName()

◆ getBaseOmega()

◆ getBasePos()

◆ getBaseTorque()

◆ getBaseVel()

◆ getBaseWorldTransform()

◆ getCanSleep()

◆ getCanWakeup()

◆ getCompanionId()

◆ getDeltaVelocityVector()

◆ getInterpolateBasePos()

◆ getInterpolateParentToLocalRot()

◆ getInterpolateRVector()

◆ getInterpolateWorldToBaseRot()

◆ getJointPos()

◆ getJointPosMultiDof()

◆ getJointTorque()

◆ getJointTorqueMultiDof()

◆ getJointVel()

◆ getJointVelMultiDof()

◆ getLinearDamping()

◆ getLink()

◆ getLinkCollider()

◆ getLinkForce()

◆ getLinkInertia()

◆ getLinkMass()

◆ getLinkTorque()

◆ getMaxAppliedImpulse()

◆ getMaxCoordinateVelocity()

◆ getNumDofs()

◆ getNumLinks()

◆ getNumPosVars()

◆ getParent()

◆ getParentToLocalRot()

◆ getRVector()

◆ getSplitVelocityVector()

◆ getUseGyroTerm()

◆ getUserIndex()