btMultiBodyConstraint.h File Reference

#include "LinearMath/btScalar.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btMultiBody.h"
#include "btMultiBodySolverConstraint.h"

Go to the source code of this file.

Classes
struct	btMultiBodyJacobianData

Enumerations
enum	btTypedMultiBodyConstraintType {   MULTIBODY_CONSTRAINT_LIMIT =3 , MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR , MULTIBODY_CONSTRAINT_GEAR , MULTIBODY_CONSTRAINT_POINT_TO_POINT ,   MULTIBODY_CONSTRAINT_SLIDER , MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR , MULTIBODY_CONSTRAINT_FIXED , MAX_MULTIBODY_CONSTRAINT_TYPE }

Functions
void	applyDeltaVee (btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof)
btScalar	fillMultiBodyConstraint (btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar *jacOrgA, btScalar *jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btMultiBodyConstraint (btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type)
virtual	~btMultiBodyConstraint ()
void	updateJacobianSizes ()
void	allocateJacobiansMultiDof ()
int	getConstraintType () const
virtual void	setFrameInB (const btMatrix3x3 &frameInB)
virtual void	setPivotInB (const btVector3 &pivotInB)
virtual void	finalizeMultiDof ()=0
virtual int	getIslandIdA () const =0
virtual int	getIslandIdB () const =0
virtual void	createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)=0
int	getNumRows () const
btMultiBody *	getMultiBodyA ()
btMultiBody *	getMultiBodyB ()
int	getLinkA () const
int	getLinkB () const
void	internalSetAppliedImpulse (int dof, btScalar appliedImpulse)
btScalar	getAppliedImpulse (int dof)
btScalar	getPosition (int row) const
void	setPosition (int row, btScalar pos)
bool	isUnilateral () const
btScalar *	jacobianA (int row)
btScalar *	jacobianB (int row)
btScalar	getMaxAppliedImpulse () const
void	setMaxAppliedImpulse (btScalar maxImp)
virtual void	debugDraw (class btIDebugDraw *drawer)=0
virtual void	setGearRatio (btScalar ratio)
virtual void	setGearAuxLink (int gearAuxLink)
virtual void	setRelativePositionTarget (btScalar relPosTarget)
virtual void	setErp (btScalar erp)

Variables
	btMultiBodyConstraint
btMultiBody *	m_bodyB
int	m_linkA
int	m_linkB
int	m_type
int	m_numRows
int	m_jacSizeA
int	m_jacSizeBoth
int	m_posOffset
bool	m_isUnilateral
int	m_numDofsFinalized
btScalar	m_maxAppliedImpulse
btAlignedObjectArray< btScalar >	m_data

Enumeration Type Documentation

btTypedMultiBodyConstraintType

enum btTypedMultiBodyConstraintType

Enumerator
MULTIBODY_CONSTRAINT_LIMIT
MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR
MULTIBODY_CONSTRAINT_GEAR
MULTIBODY_CONSTRAINT_POINT_TO_POINT
MULTIBODY_CONSTRAINT_SLIDER
MULTIBODY_CONSTRAINT_SPHERICAL_MOTOR
MULTIBODY_CONSTRAINT_FIXED
MAX_MULTIBODY_CONSTRAINT_TYPE

Definition at line 25 of file btMultiBodyConstraint.h.

Function Documentation

allocateJacobiansMultiDof()

void btMultiBodyConstraint::allocateJacobiansMultiDof

(

)

Definition at line 35 of file btMultiBodyConstraint.cpp.

References m_data, m_jacSizeBoth, m_numRows, m_posOffset, btAlignedObjectArray< T >::resize(), and updateJacobianSizes().

Referenced by btMultiBodyGearConstraint::finalizeMultiDof(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), btMultiBodyJointMotor::finalizeMultiDof(), and btMultiBodySphericalJointMotor::finalizeMultiDof().

applyDeltaVee()

void btMultiBodyConstraint::applyDeltaVee	(	btMultiBodyJacobianData &	data,
		btScalar *	delta_vee,
		btScalar	impulse,
		int	velocityIndex,
		int	ndof )

Definition at line 47 of file btMultiBodyConstraint.cpp.

Referenced by resolveConeFrictionConstraintRows(), resolveSingleConstraintRowGeneric(), setupMultiBodyContactConstraint(), and btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations().

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

btMultiBodyConstraint()

btMultiBodyConstraint	(	btMultiBody *	bodyA,
		btMultiBody *	bodyB,
		int	linkA,
		int	linkB,
		int	numRows,
		bool	isUnilateral,
		int	type )

createConstraintRows()

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

pure virtual

debugDraw()

virtual void debugDraw ( class btIDebugDraw * drawer )

pure virtual

fillMultiBodyConstraint()

btScalar btMultiBodyConstraint::fillMultiBodyConstraint	(	btMultiBodySolverConstraint &	solverConstraint,
		btMultiBodyJacobianData &	data,
		btScalar *	jacOrgA,
		btScalar *	jacOrgB,
		const btVector3 &	constraintNormalAng,
		const btVector3 &	constraintNormalLin,
		const btVector3 &	posAworld,
		const btVector3 &	posBworld,
		btScalar	posError,
		const btContactSolverInfo &	infoGlobal,
		btScalar	lowerLimit,
		btScalar	upperLimit,
		bool	angConstraint = false,
		btScalar	relaxation = 1.f,
		bool	isFriction = false,
		btScalar	desiredVelocity = 0,
		btScalar	cfmSlip = 0 )

Definition at line 53 of file btMultiBodyConstraint.cpp.

References btAssert, btMultiBody, btSolverBody, btVector3, cross(), btRigidBody::getAngularFactor(), btRigidBody::getAngularVelocity(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), btRigidBody::getLinearVelocity(), infoGlobal, l, m_bodyB, m_linkA, m_linkB, and SIMD_EPSILON.

Referenced by btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), and btMultiBodySphericalJointMotor::createConstraintRows().

finalizeMultiDof()

virtual void finalizeMultiDof ( )

pure virtual

getAppliedImpulse()

btScalar getAppliedImpulse

(

int

dof

)

Definition at line 154 of file btMultiBodyConstraint.h.

References btAssert, getNumRows(), and m_data.

getConstraintType()

int getConstraintType

(

)

const

Definition at line 108 of file btMultiBodyConstraint.h.

References m_type.

getIslandIdA()

virtual int getIslandIdA ( ) const

pure virtual

getIslandIdB()

virtual int getIslandIdB ( ) const

pure virtual

getLinkA()

int getLinkA

(

)

const

Definition at line 139 of file btMultiBodyConstraint.h.

References m_linkA.

getLinkB()

int getLinkB

(

)

const

Definition at line 143 of file btMultiBodyConstraint.h.

References m_linkB.

getMaxAppliedImpulse()

btScalar getMaxAppliedImpulse

(

)

const

Definition at line 198 of file btMultiBodyConstraint.h.

References m_maxAppliedImpulse.

getMultiBodyA()

btMultiBody * getMultiBodyA

(

)

Definition at line 130 of file btMultiBodyConstraint.h.

getMultiBodyB()

btMultiBody * getMultiBodyB

(

)

Definition at line 134 of file btMultiBodyConstraint.h.

References m_bodyB.

getNumRows()

int getNumRows

(

)

const

Definition at line 125 of file btMultiBodyConstraint.h.

References m_numRows.

Referenced by btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySphericalJointMotor::createConstraintRows(), getAppliedImpulse(), and internalSetAppliedImpulse().

getPosition()

btScalar getPosition

(

int

row

)

const

Definition at line 163 of file btMultiBodyConstraint.h.

References m_data, and m_posOffset.

Referenced by mikk::Mikktspace< Mesh >::accumulateTSpaces(), and btMultiBodyJointLimitConstraint::createConstraintRows().

internalSetAppliedImpulse()

void internalSetAppliedImpulse	(	int	dof,
		btScalar	appliedImpulse )

Definition at line 147 of file btMultiBodyConstraint.h.

References btAssert, getNumRows(), and m_data.

isUnilateral()

bool isUnilateral

(

)

const

Definition at line 173 of file btMultiBodyConstraint.h.

References m_isUnilateral.

jacobianA()

const btScalar * jacobianA

(

int

row

)

Definition at line 181 of file btMultiBodyConstraint.h.

References m_data, m_jacSizeBoth, and m_numRows.

Referenced by btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), btMultiBodyJointMotor::finalizeMultiDof(), and btMultiBodySphericalJointMotor::finalizeMultiDof().

jacobianB()

const btScalar * jacobianB

(

int

row

)

Definition at line 189 of file btMultiBodyConstraint.h.

References m_data, m_jacSizeA, m_jacSizeBoth, and m_numRows.

Referenced by btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), and btMultiBodyJointLimitConstraint::finalizeMultiDof().

setErp()

virtual void setErp ( btScalar erp )

virtual

Definition at line 212 of file btMultiBodyConstraint.h.

setFrameInB()

virtual void setFrameInB ( const btMatrix3x3 & frameInB )

virtual

Definition at line 113 of file btMultiBodyConstraint.h.

setGearAuxLink()

virtual void setGearAuxLink ( int gearAuxLink )

virtual

Definition at line 210 of file btMultiBodyConstraint.h.

setGearRatio()

virtual void setGearRatio ( btScalar ratio )

virtual

Definition at line 209 of file btMultiBodyConstraint.h.

setMaxAppliedImpulse()

void setMaxAppliedImpulse

(

btScalar

maxImp

)

Definition at line 202 of file btMultiBodyConstraint.h.

References m_maxAppliedImpulse.

setPivotInB()

virtual void setPivotInB ( const btVector3 & pivotInB )

virtual

Definition at line 114 of file btMultiBodyConstraint.h.

setPosition()

void setPosition	(	int	row,
		btScalar	pos )

Definition at line 168 of file btMultiBodyConstraint.h.

References m_data, m_posOffset, and pos.

Referenced by btMultiBodyJointLimitConstraint::createConstraintRows().

setRelativePositionTarget()

virtual void setRelativePositionTarget ( btScalar relPosTarget )

virtual

Definition at line 211 of file btMultiBodyConstraint.h.

updateJacobianSizes()

void btMultiBodyConstraint::updateJacobianSizes

(

)

Definition at line 20 of file btMultiBodyConstraint.cpp.

References m_bodyB, m_jacSizeA, and m_jacSizeBoth.

Referenced by allocateJacobiansMultiDof().

~btMultiBodyConstraint()

btMultiBodyConstraint::~btMultiBodyConstraint ( )

virtual

Definition at line 43 of file btMultiBodyConstraint.cpp.

Variable Documentation

btMultiBodyConstraint

btMultiBodyConstraint::btMultiBodyConstraint

Initial value:

{
protected:
    btMultiBody* m_bodyA

Definition at line 56 of file btMultiBodyConstraint.h.

m_bodyB

btMultiBody* m_bodyB

Definition at line 60 of file btMultiBodyConstraint.h.

Referenced by btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), btMultiBodyFixedConstraint::debugDraw(), btMultiBodySliderConstraint::debugDraw(), fillMultiBodyConstraint(), btMultiBodyFixedConstraint::getIslandIdB(), btMultiBodyGearConstraint::getIslandIdB(), btMultiBodyJointLimitConstraint::getIslandIdB(), btMultiBodyJointMotor::getIslandIdB(), btMultiBodySliderConstraint::getIslandIdB(), btMultiBodySphericalJointMotor::getIslandIdB(), getMultiBodyB(), and updateJacobianSizes().

m_data

btAlignedObjectArray<btScalar> m_data

Definition at line 80 of file btMultiBodyConstraint.h.

Referenced by btBvhTree::_build_sub_tree(), btQuantizedBvhTree::_build_sub_tree(), allocateJacobiansMultiDof(), applyDeltaVee(), btAlignedObjectArray< T >::at(), btAlignedObjectArray< T >::at(), btAlignedObjectArray< T >::btAlignedObjectArray(), btClock::btClock(), btClock::btClock(), btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(), btMultiBodyFixedConstraint::btMultiBodyFixedConstraint(), btMultiBodyPoint2Point(), btMultiBodyPoint2Point(), btMultiBodySliderConstraint::btMultiBodySliderConstraint(), btMultiBodySliderConstraint::btMultiBodySliderConstraint(), btAlignedObjectArray< T >::copy(), btAlignedObjectArray< T >::copyFromArray(), btMultiBodyMLCPConstraintSolver::createMLCPFastMultiBody(), btAlignedObjectArray< T >::deallocate(), btAlignedObjectArray< T >::destroy(), btAlignedObjectArray< T >::expand(), btAlignedObjectArray< T >::expandNonInitializing(), btAlignedObjectArray< T >::findBinarySearch(), btAlignedObjectArray< T >::findLinearSearch(), btAlignedObjectArray< T >::findLinearSearch2(), getAppliedImpulse(), blender::io::hydra::HydraSceneDelegate::GetMeshTopology(), getPosition(), blender::io::hydra::HydraSceneDelegate::GetPrimvarDescriptors(), btClock::getTimeMicroseconds(), btClock::getTimeMilliseconds(), btClock::getTimeNanoseconds(), btAlignedObjectArray< T >::heapSort(), btAlignedObjectArray< T >::init(), btAlignedObjectArray< T >::initializeFromBuffer(), internalSetAppliedImpulse(), jacobianA(), jacobianB(), btClock::operator=(), btAlignedObjectArray< T >::operator[](), btAlignedObjectArray< T >::operator[](), btAlignedObjectArray< T >::pop_back(), btAlignedObjectArray< T >::push_back(), btAlignedObjectArray< T >::quickSortInternal(), btAlignedObjectArray< T >::reserve(), btClock::reset(), btAlignedObjectArray< T >::resize(), resolveConeFrictionConstraintRows(), resolveSingleConstraintRowGeneric(), setPosition(), setupMultiBodyContactConstraint(), setupMultiBodyTorsionalFrictionConstraint(), btMultiBodyMLCPConstraintSolver::solveGroupCacheFriendlyIterations(), btAlignedObjectArray< T >::swap(), blender::io::hydra::MaterialData::update(), writeBackSolverBodyToMultiBody(), and btClock::~btClock().

m_isUnilateral

bool m_isUnilateral

Definition at line 71 of file btMultiBodyConstraint.h.

Referenced by isUnilateral().

m_jacSizeA

int m_jacSizeA

Definition at line 67 of file btMultiBodyConstraint.h.

Referenced by jacobianB(), and updateJacobianSizes().

m_jacSizeBoth

int m_jacSizeBoth

Definition at line 68 of file btMultiBodyConstraint.h.

Referenced by allocateJacobiansMultiDof(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySphericalJointMotor::createConstraintRows(), btMultiBodyGearConstraint::finalizeMultiDof(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), btMultiBodyJointMotor::finalizeMultiDof(), btMultiBodySphericalJointMotor::finalizeMultiDof(), jacobianA(), jacobianB(), and updateJacobianSizes().

m_linkA

int m_linkA

Definition at line 61 of file btMultiBodyConstraint.h.

Referenced by btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), btMultiBodySphericalJointMotor::createConstraintRows(), btMultiBodyFixedConstraint::debugDraw(), btMultiBodySliderConstraint::debugDraw(), fillMultiBodyConstraint(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), btMultiBodyJointMotor::finalizeMultiDof(), btMultiBodySphericalJointMotor::finalizeMultiDof(), btMultiBodyFixedConstraint::getIslandIdA(), btMultiBodyGearConstraint::getIslandIdA(), btMultiBodyJointLimitConstraint::getIslandIdA(), btMultiBodyJointMotor::getIslandIdA(), btMultiBodySliderConstraint::getIslandIdA(), btMultiBodySphericalJointMotor::getIslandIdA(), and getLinkA().

m_linkB

int m_linkB

Definition at line 62 of file btMultiBodyConstraint.h.

Referenced by btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodyGearConstraint::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), btMultiBodyFixedConstraint::debugDraw(), btMultiBodySliderConstraint::debugDraw(), fillMultiBodyConstraint(), btMultiBodyFixedConstraint::getIslandIdB(), btMultiBodyGearConstraint::getIslandIdB(), btMultiBodyJointLimitConstraint::getIslandIdB(), btMultiBodyJointMotor::getIslandIdB(), btMultiBodySliderConstraint::getIslandIdB(), btMultiBodySphericalJointMotor::getIslandIdB(), and getLinkB().

m_maxAppliedImpulse

btScalar m_maxAppliedImpulse

Definition at line 73 of file btMultiBodyConstraint.h.

Referenced by getMaxAppliedImpulse(), and setMaxAppliedImpulse().

m_numDofsFinalized

int m_numDofsFinalized

Definition at line 72 of file btMultiBodyConstraint.h.

Referenced by btMultiBodyGearConstraint::createConstraintRows(), btMultiBodyJointLimitConstraint::createConstraintRows(), btMultiBodyJointMotor::createConstraintRows(), btMultiBodySphericalJointMotor::createConstraintRows(), btMultiBodyGearConstraint::finalizeMultiDof(), btMultiBodyJointLimitConstraint::finalizeMultiDof(), btMultiBodyJointMotor::finalizeMultiDof(), and btMultiBodySphericalJointMotor::finalizeMultiDof().

m_numRows

int m_numRows

Definition at line 66 of file btMultiBodyConstraint.h.

Referenced by allocateJacobiansMultiDof(), getNumRows(), jacobianA(), and jacobianB().

m_posOffset

int m_posOffset

Definition at line 69 of file btMultiBodyConstraint.h.

Referenced by allocateJacobiansMultiDof(), getPosition(), and setPosition().

m_type

int m_type

Definition at line 64 of file btMultiBodyConstraint.h.

Referenced by bsdf_aniso_D(), bsdf_D(), bsdf_lambda_from_sqr_alpha_tan_n(), bsdf_microfacet_sample(), getConstraintType(), iTaSC::Object::getType(), and iTaSC::Object::Object().