btMultiBodyGearConstraint Class Reference

This file was written by Erwin Coumans. More...

#include <btMultiBodyGearConstraint.h>

Inherits btMultiBodyConstraint.

Public Member Functions
	btMultiBodyGearConstraint (btMultiBody *bodyA, int linkA, btMultiBody *bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
	This file was written by Erwin Coumans.
virtual	~btMultiBodyGearConstraint ()
virtual void	finalizeMultiDof ()
virtual int	getIslandIdA () const
virtual int	getIslandIdB () const
virtual void	createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
const btVector3 &	getPivotInA () const
void	setPivotInA (const btVector3 &pivotInA)
const btVector3 &	getPivotInB () const
virtual void	setPivotInB (const btVector3 &pivotInB)
const btMatrix3x3 &	getFrameInA () const
void	setFrameInA (const btMatrix3x3 &frameInA)
const btMatrix3x3 &	getFrameInB () const
virtual void	setFrameInB (const btMatrix3x3 &frameInB)
virtual void	debugDraw (class btIDebugDraw *drawer)
virtual void	setGearRatio (btScalar gearRatio)
virtual void	setGearAuxLink (int gearAuxLink)
virtual void	setRelativePositionTarget (btScalar relPosTarget)
virtual void	setErp (btScalar erp)

Protected Attributes
btRigidBody *	m_rigidBodyA
btRigidBody *	m_rigidBodyB
btVector3	m_pivotInA
btVector3	m_pivotInB
btMatrix3x3	m_frameInA
btMatrix3x3	m_frameInB
btScalar	m_gearRatio
int	m_gearAuxLink
btScalar	m_erp
btScalar	m_relativePositionTarget

Detailed Description

This file was written by Erwin Coumans.

Definition at line 23 of file btMultiBodyGearConstraint.h.

Constructor & Destructor Documentation

btMultiBodyGearConstraint()

btMultiBodyGearConstraint::btMultiBodyGearConstraint	(	btMultiBody *	bodyA,
		int	linkA,
		btMultiBody *	bodyB,
		int	linkB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB,
		const btMatrix3x3 &	frameInA,
		const btMatrix3x3 &	frameInB )

This file was written by Erwin Coumans.

Definition at line 23 of file btMultiBodyGearConstraint.cpp.

~btMultiBodyGearConstraint()

btMultiBodyGearConstraint::~btMultiBodyGearConstraint ( )

virtual

Definition at line 39 of file btMultiBodyGearConstraint.cpp.

Member Function Documentation

createConstraintRows()

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

virtual

Definition at line 81 of file btMultiBodyGearConstraint.cpp.

References btAssert, btMultiBodySolverConstraint, diff(), btMultibodyLink::ePrismatic, btMultibodyLink::eRevolute, btAlignedObjectArray< T >::expandNonInitializing(), fillMultiBodyConstraint(), finalizeMultiDof(), getNumRows(), infoGlobal, jacobianA(), jacobianB(), m_bodyB, m_erp, m_gearAuxLink, m_gearRatio, m_jacSizeBoth, m_linkA, m_linkB, m_numDofsFinalized, m_relativePositionTarget, and quatRotate().

debugDraw()

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

inlinevirtual

Definition at line 92 of file btMultiBodyGearConstraint.h.

finalizeMultiDof()

void btMultiBodyGearConstraint::finalizeMultiDof ( )

virtual

Definition at line 32 of file btMultiBodyGearConstraint.cpp.

References allocateJacobiansMultiDof(), m_jacSizeBoth, and m_numDofsFinalized.

Referenced by createConstraintRows().

getFrameInA()

const btMatrix3x3 & btMultiBodyGearConstraint::getFrameInA ( ) const

inline

Definition at line 72 of file btMultiBodyGearConstraint.h.

References m_frameInA.

getFrameInB()

const btMatrix3x3 & btMultiBodyGearConstraint::getFrameInB ( ) const

inline

Definition at line 82 of file btMultiBodyGearConstraint.h.

References m_frameInB.

getIslandIdA()

int btMultiBodyGearConstraint::getIslandIdA ( ) const

virtual

Definition at line 43 of file btMultiBodyGearConstraint.cpp.

References col, and m_linkA.

getIslandIdB()

int btMultiBodyGearConstraint::getIslandIdB ( ) const

virtual

Definition at line 62 of file btMultiBodyGearConstraint.cpp.

References col, m_bodyB, and m_linkB.

getPivotInA()

const btVector3 & btMultiBodyGearConstraint::getPivotInA ( ) const

inline

Definition at line 52 of file btMultiBodyGearConstraint.h.

References m_pivotInA.

getPivotInB()

const btVector3 & btMultiBodyGearConstraint::getPivotInB ( ) const

inline

Definition at line 62 of file btMultiBodyGearConstraint.h.

References m_pivotInB.

setErp()

virtual void btMultiBodyGearConstraint::setErp ( btScalar erp )

inlinevirtual

Definition at line 109 of file btMultiBodyGearConstraint.h.

References m_erp.

setFrameInA()

void btMultiBodyGearConstraint::setFrameInA ( const btMatrix3x3 & frameInA )

inline

Definition at line 77 of file btMultiBodyGearConstraint.h.

References frameInA, and m_frameInA.

setFrameInB()

virtual void btMultiBodyGearConstraint::setFrameInB ( const btMatrix3x3 & frameInB )

inlinevirtual

Definition at line 87 of file btMultiBodyGearConstraint.h.

References frameInB, and m_frameInB.

setGearAuxLink()

virtual void btMultiBodyGearConstraint::setGearAuxLink ( int gearAuxLink )

inlinevirtual

Definition at line 101 of file btMultiBodyGearConstraint.h.

References m_gearAuxLink.

setGearRatio()

virtual void btMultiBodyGearConstraint::setGearRatio ( btScalar gearRatio )

inlinevirtual

Definition at line 97 of file btMultiBodyGearConstraint.h.

References m_gearRatio.

setPivotInA()

void btMultiBodyGearConstraint::setPivotInA ( const btVector3 & pivotInA )

inline

Definition at line 57 of file btMultiBodyGearConstraint.h.

References m_pivotInA.

setPivotInB()

virtual void btMultiBodyGearConstraint::setPivotInB ( const btVector3 & pivotInB )

inlinevirtual

Definition at line 67 of file btMultiBodyGearConstraint.h.

References m_pivotInB.

setRelativePositionTarget()

virtual void btMultiBodyGearConstraint::setRelativePositionTarget ( btScalar relPosTarget )

inlinevirtual

Definition at line 105 of file btMultiBodyGearConstraint.h.

References m_relativePositionTarget.

Member Data Documentation

m_erp

btScalar btMultiBodyGearConstraint::m_erp

protected

Definition at line 34 of file btMultiBodyGearConstraint.h.

Referenced by createConstraintRows(), and setErp().

m_frameInA

btMatrix3x3 btMultiBodyGearConstraint::m_frameInA

protected

Definition at line 30 of file btMultiBodyGearConstraint.h.

Referenced by getFrameInA(), and setFrameInA().

m_frameInB

btMatrix3x3 btMultiBodyGearConstraint::m_frameInB

protected

Definition at line 31 of file btMultiBodyGearConstraint.h.

Referenced by getFrameInB(), and setFrameInB().

m_gearAuxLink

int btMultiBodyGearConstraint::m_gearAuxLink

protected

Definition at line 33 of file btMultiBodyGearConstraint.h.

Referenced by createConstraintRows(), and setGearAuxLink().

m_gearRatio

btScalar btMultiBodyGearConstraint::m_gearRatio

protected

Definition at line 32 of file btMultiBodyGearConstraint.h.

Referenced by createConstraintRows(), and setGearRatio().

m_pivotInA

btVector3 btMultiBodyGearConstraint::m_pivotInA

protected

Definition at line 28 of file btMultiBodyGearConstraint.h.

Referenced by getPivotInA(), and setPivotInA().

m_pivotInB

btVector3 btMultiBodyGearConstraint::m_pivotInB

protected

Definition at line 29 of file btMultiBodyGearConstraint.h.

Referenced by getPivotInB(), and setPivotInB().

m_relativePositionTarget

btScalar btMultiBodyGearConstraint::m_relativePositionTarget

protected

Definition at line 35 of file btMultiBodyGearConstraint.h.

Referenced by createConstraintRows(), and setRelativePositionTarget().

m_rigidBodyA

btRigidBody* btMultiBodyGearConstraint::m_rigidBodyA

protected

Definition at line 26 of file btMultiBodyGearConstraint.h.

m_rigidBodyB

btRigidBody* btMultiBodyGearConstraint::m_rigidBodyB

protected

Definition at line 27 of file btMultiBodyGearConstraint.h.

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

• btMultiBodyGearConstraint.h
• btMultiBodyGearConstraint.cpp