btSpatialMotionVector Struct Reference

#include <btSpatialAlgebra.h>

Public Member Functions
	btSpatialMotionVector ()
	btSpatialMotionVector (const btVector3 &angular, const btVector3 &linear)
void	setVector (const btVector3 &angular, const btVector3 &linear)
void	setValue (const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
void	addVector (const btVector3 &angular, const btVector3 &linear)
void	addValue (const btScalar &ax, const btScalar &ay, const btScalar &az, const btScalar &lx, const btScalar &ly, const btScalar &lz)
const btVector3 &	getAngular () const
const btVector3 &	getLinear () const
void	setAngular (const btVector3 &angular)
void	setLinear (const btVector3 &linear)
void	addAngular (const btVector3 &angular)
void	addLinear (const btVector3 &linear)
void	setZero ()
btScalar	dot (const btSpatialForceVector &b) const
template<typename SpatialVectorType >
void	cross (const SpatialVectorType &b, SpatialVectorType &out) const
template<typename SpatialVectorType >
SpatialVectorType	cross (const SpatialVectorType &b) const
btSpatialMotionVector &	operator+= (const btSpatialMotionVector &vec)
btSpatialMotionVector &	operator-= (const btSpatialMotionVector &vec)
btSpatialMotionVector &	operator*= (const btScalar &s)
btSpatialMotionVector	operator- (const btSpatialMotionVector &vec) const
btSpatialMotionVector	operator+ (const btSpatialMotionVector &vec) const
btSpatialMotionVector	operator- () const
btSpatialMotionVector	operator* (const btScalar &s) const

Public Attributes
btVector3	m_topVec
btVector3	m_bottomVec

Detailed Description

Definition at line 94 of file btSpatialAlgebra.h.

Constructor & Destructor Documentation

btSpatialMotionVector() [1/2]

btSpatialMotionVector::btSpatialMotionVector ( )

inline

Definition at line 98 of file btSpatialAlgebra.h.

References setZero().

Referenced by operator*(), operator+(), operator-(), and operator-().

btSpatialMotionVector() [2/2]

btSpatialMotionVector::btSpatialMotionVector ( const btVector3 & angular, const btVector3 & linear )

inline

Definition at line 99 of file btSpatialAlgebra.h.

Member Function Documentation

addAngular()

void btSpatialMotionVector::addAngular ( const btVector3 & angular )

inline

Definition at line 133 of file btSpatialAlgebra.h.

References m_topVec.

addLinear()

void btSpatialMotionVector::addLinear ( const btVector3 & linear )

inline

Definition at line 134 of file btSpatialAlgebra.h.

References m_bottomVec.

addValue()

void btSpatialMotionVector::addValue ( const btScalar & ax, const btScalar & ay, const btScalar & az, const btScalar & lx, const btScalar & ly, const btScalar & lz )

inline

Definition at line 117 of file btSpatialAlgebra.h.

References m_bottomVec, and m_topVec.

addVector()

void btSpatialMotionVector::addVector ( const btVector3 & angular, const btVector3 & linear )

inline

Definition at line 112 of file btSpatialAlgebra.h.

References m_bottomVec, and m_topVec.

cross() [1/2]

template<typename SpatialVectorType >

SpatialVectorType btSpatialMotionVector::cross ( const SpatialVectorType & b ) const

inline

Definition at line 154 of file btSpatialAlgebra.h.

References b, m_bottomVec, and m_topVec.

cross() [2/2]

template<typename SpatialVectorType >

void btSpatialMotionVector::cross ( const SpatialVectorType & b, SpatialVectorType & out ) const

inline

Definition at line 148 of file btSpatialAlgebra.h.

References b, m_bottomVec, and m_topVec.

Referenced by computeAccelerationsArticulatedBodyAlgorithmMultiDof().

dot()

btScalar btSpatialMotionVector::dot ( const btSpatialForceVector & b ) const

inline

Definition at line 142 of file btSpatialAlgebra.h.

References b, m_bottomVec, and m_topVec.

Referenced by calcAccelerationDeltasMultiDof(), and computeAccelerationsArticulatedBodyAlgorithmMultiDof().

getAngular()

const btVector3 & btSpatialMotionVector::getAngular ( ) const

inline

Definition at line 127 of file btSpatialAlgebra.h.

References m_topVec.

Referenced by calcAccelerationDeltasMultiDof(), and computeAccelerationsArticulatedBodyAlgorithmMultiDof().

getLinear()

const btVector3 & btSpatialMotionVector::getLinear ( ) const

inline

Definition at line 128 of file btSpatialAlgebra.h.

References m_bottomVec.

Referenced by calcAccelerationDeltasMultiDof(), and computeAccelerationsArticulatedBodyAlgorithmMultiDof().

operator*()

btSpatialMotionVector btSpatialMotionVector::operator* ( const btScalar & s ) const

inline

Definition at line 183 of file btSpatialAlgebra.h.

References btSpatialMotionVector(), m_bottomVec, and m_topVec.

operator*=()

btSpatialMotionVector & btSpatialMotionVector::operator*= ( const btScalar & s )

inline

Definition at line 174 of file btSpatialAlgebra.h.

References m_bottomVec, and m_topVec.

operator+()

btSpatialMotionVector btSpatialMotionVector::operator+ ( const btSpatialMotionVector & vec ) const

inline

Definition at line 181 of file btSpatialAlgebra.h.

References btSpatialMotionVector(), m_bottomVec, and m_topVec.

operator+=()

btSpatialMotionVector & btSpatialMotionVector::operator+= ( const btSpatialMotionVector & vec )

inline

Definition at line 162 of file btSpatialAlgebra.h.

References m_bottomVec, and m_topVec.

operator-() [1/2]

btSpatialMotionVector btSpatialMotionVector::operator- ( ) const

inline

Definition at line 182 of file btSpatialAlgebra.h.

References btSpatialMotionVector(), m_bottomVec, and m_topVec.

operator-() [2/2]

btSpatialMotionVector btSpatialMotionVector::operator- ( const btSpatialMotionVector & vec ) const

inline

Definition at line 180 of file btSpatialAlgebra.h.

References btSpatialMotionVector(), m_bottomVec, and m_topVec.

operator-=()

btSpatialMotionVector & btSpatialMotionVector::operator-= ( const btSpatialMotionVector & vec )

inline

Definition at line 168 of file btSpatialAlgebra.h.

References m_bottomVec, and m_topVec.

setAngular()

void btSpatialMotionVector::setAngular ( const btVector3 & angular )

inline

Definition at line 130 of file btSpatialAlgebra.h.

References m_topVec.

setLinear()

void btSpatialMotionVector::setLinear ( const btVector3 & linear )

inline

Definition at line 131 of file btSpatialAlgebra.h.

References m_bottomVec.

setValue()

void btSpatialMotionVector::setValue ( const btScalar & ax, const btScalar & ay, const btScalar & az, const btScalar & lx, const btScalar & ly, const btScalar & lz )

inline

Definition at line 106 of file btSpatialAlgebra.h.

References m_bottomVec, and m_topVec.

setVector()

void btSpatialMotionVector::setVector ( const btVector3 & angular, const btVector3 & linear )

inline

Definition at line 101 of file btSpatialAlgebra.h.

References m_bottomVec, and m_topVec.

Referenced by computeAccelerationsArticulatedBodyAlgorithmMultiDof().

setZero()

void btSpatialMotionVector::setZero ( )

inline

Definition at line 136 of file btSpatialAlgebra.h.

References m_bottomVec, and m_topVec.

Referenced by btSpatialMotionVector(), calcAccelerationDeltasMultiDof(), and computeAccelerationsArticulatedBodyAlgorithmMultiDof().

Member Data Documentation

m_bottomVec

btVector3 btSpatialMotionVector::m_bottomVec

Definition at line 96 of file btSpatialAlgebra.h.

Referenced by addLinear(), addValue(), addVector(), cross(), cross(), dot(), btMultibodyLink::getAxisBottom(), getLinear(), operator*(), btSymmetricSpatialDyad::operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-(), operator-=(), btMultibodyLink::setAxisBottom(), btMultibodyLink::setAxisBottom(), setLinear(), setValue(), setVector(), and setZero().

m_topVec

btVector3 btSpatialMotionVector::m_topVec

Definition at line 96 of file btSpatialAlgebra.h.

Referenced by addAngular(), addValue(), addVector(), cross(), cross(), dot(), getAngular(), btMultibodyLink::getAxisTop(), operator*(), btSymmetricSpatialDyad::operator*(), operator*=(), operator+(), operator+=(), operator-(), operator-(), operator-=(), setAngular(), btMultibodyLink::setAxisTop(), btMultibodyLink::setAxisTop(), setValue(), setVector(), and setZero().

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The documentation for this struct was generated from the following file:

• btSpatialAlgebra.h