btMultiBodyJointMotor Class Reference

#include <btMultiBodyJointMotor.h>

Inherits btMultiBodyConstraint.

Public Member Functions
	btMultiBodyJointMotor (btMultiBody *body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
	This file was written by Erwin Coumans.
	btMultiBodyJointMotor (btMultiBody *body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse)
virtual	~btMultiBodyJointMotor ()
virtual void	finalizeMultiDof ()
virtual int	getIslandIdA () const
virtual int	getIslandIdB () const
virtual void	createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
virtual void	setVelocityTarget (btScalar velTarget, btScalar kd=1.f)
virtual void	setPositionTarget (btScalar 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
btScalar	m_desiredVelocity
btScalar	m_desiredPosition
btScalar	m_kd
btScalar	m_kp
btScalar	m_erp
btScalar	m_rhsClamp

Detailed Description

Definition at line 24 of file btMultiBodyJointMotor.h.

Constructor & Destructor Documentation

btMultiBodyJointMotor() [1/2]

btMultiBodyJointMotor::btMultiBodyJointMotor	(	btMultiBody *	body,
		int	link,
		btScalar	desiredVelocity,
		btScalar	maxMotorImpulse )

This file was written by Erwin Coumans.

Definition at line 23 of file btMultiBodyJointMotor.cpp.

btMultiBodyJointMotor() [2/2]

btMultiBodyJointMotor::btMultiBodyJointMotor	(	btMultiBody *	body,
		int	link,
		int	linkDoF,
		btScalar	desiredVelocity,
		btScalar	maxMotorImpulse )

Definition at line 52 of file btMultiBodyJointMotor.cpp.

References btAssert, and getLink().

~btMultiBodyJointMotor()

btMultiBodyJointMotor::~btMultiBodyJointMotor ( )

virtual

Definition at line 66 of file btMultiBodyJointMotor.cpp.

Member Function Documentation

createConstraintRows()

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

virtual

Definition at line 106 of file btMultiBodyJointMotor.cpp.

References btAssert, btMultiBodySolverConstraint, btMultibodyLink::ePrismatic, btMultibodyLink::eRevolute, btAlignedObjectArray< T >::expandNonInitializing(), fillMultiBodyConstraint(), finalizeMultiDof(), getNumRows(), infoGlobal, jacobianA(), jacobianB(), m_desiredPosition, m_desiredVelocity, m_erp, m_jacSizeBoth, m_kd, m_kp, m_linkA, m_numDofsFinalized, m_rhsClamp, quatRotate(), and rhs.

debugDraw()

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

inlinevirtual

Definition at line 71 of file btMultiBodyJointMotor.h.

finalizeMultiDof()

void btMultiBodyJointMotor::finalizeMultiDof ( )

virtual

Definition at line 37 of file btMultiBodyJointMotor.cpp.

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

Referenced by createConstraintRows().

getErp()

virtual btScalar btMultiBodyJointMotor::getErp ( ) const

inlinevirtual

Definition at line 63 of file btMultiBodyJointMotor.h.

References m_erp.

getIslandIdA()

int btMultiBodyJointMotor::getIslandIdA ( ) const

virtual

Definition at line 70 of file btMultiBodyJointMotor.cpp.

References col, and m_linkA.

getIslandIdB()

int btMultiBodyJointMotor::getIslandIdB ( ) const

virtual

Definition at line 88 of file btMultiBodyJointMotor.cpp.

References col, m_bodyB, and m_linkB.

setErp()

virtual void btMultiBodyJointMotor::setErp ( btScalar erp )

inlinevirtual

Definition at line 59 of file btMultiBodyJointMotor.h.

References m_erp.

setPositionTarget()

virtual void btMultiBodyJointMotor::setPositionTarget ( btScalar posTarget, btScalar kp = 1.f )

inlinevirtual

Definition at line 53 of file btMultiBodyJointMotor.h.

References m_desiredPosition, and m_kp.

setRhsClamp()

virtual void btMultiBodyJointMotor::setRhsClamp ( btScalar rhsClamp )

inlinevirtual

Definition at line 67 of file btMultiBodyJointMotor.h.

References m_rhsClamp.

setVelocityTarget()

virtual void btMultiBodyJointMotor::setVelocityTarget ( btScalar velTarget, btScalar kd = 1.f )

inlinevirtual

Definition at line 47 of file btMultiBodyJointMotor.h.

References m_desiredVelocity, and m_kd.

Member Data Documentation

m_desiredPosition

btScalar btMultiBodyJointMotor::m_desiredPosition

protected

Definition at line 28 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), and setPositionTarget().

m_desiredVelocity

btScalar btMultiBodyJointMotor::m_desiredVelocity

protected

Definition at line 27 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), and setVelocityTarget().

m_erp

btScalar btMultiBodyJointMotor::m_erp

protected

Definition at line 31 of file btMultiBodyJointMotor.h.

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

m_kd

btScalar btMultiBodyJointMotor::m_kd

protected

Definition at line 29 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), and setVelocityTarget().

m_kp

btScalar btMultiBodyJointMotor::m_kp

protected

Definition at line 30 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), and setPositionTarget().

m_rhsClamp

btScalar btMultiBodyJointMotor::m_rhsClamp

protected

Definition at line 32 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), and setRhsClamp().

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

• btMultiBodyJointMotor.h
• btMultiBodyJointMotor.cpp