btMultiBodyFixedConstraint Class Reference

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

#include <btMultiBodyFixedConstraint.h>

Inherits btMultiBodyConstraint.

Public Member Functions
	btMultiBodyFixedConstraint (btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
	btMultiBodyFixedConstraint (btMultiBody *bodyA, int linkA, btMultiBody *bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
virtual	~btMultiBodyFixedConstraint ()
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)

Protected Attributes
btRigidBody *	m_rigidBodyA
btRigidBody *	m_rigidBodyB
btVector3	m_pivotInA
btVector3	m_pivotInB
btMatrix3x3	m_frameInA
btMatrix3x3	m_frameInB

Detailed Description

This file was written by Erwin Coumans.

Definition at line 23 of file btMultiBodyFixedConstraint.h.

Constructor & Destructor Documentation

btMultiBodyFixedConstraint() [1/2]

btMultiBodyFixedConstraint::btMultiBodyFixedConstraint	(	btMultiBody *	body,
		int	link,
		btRigidBody *	bodyB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB,
		const btMatrix3x3 &	frameInA,
		const btMatrix3x3 &	frameInB )

Definition at line 26 of file btMultiBodyFixedConstraint.cpp.

References BTMBFIXEDCONSTRAINT_DIM, m_data, and btAlignedObjectArray< T >::resize().

btMultiBodyFixedConstraint() [2/2]

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

Definition at line 38 of file btMultiBodyFixedConstraint.cpp.

References BTMBFIXEDCONSTRAINT_DIM, m_data, and btAlignedObjectArray< T >::resize().

~btMultiBodyFixedConstraint()

btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint ( )

virtual

Definition at line 56 of file btMultiBodyFixedConstraint.cpp.

Member Function Documentation

createConstraintRows()

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

virtual

Definition at line 103 of file btMultiBodyFixedConstraint.cpp.

References btMatrix3x3, BTMBFIXEDCONSTRAINT_DIM, btMultiBodySolverConstraint, dot(), btAlignedObjectArray< T >::expandNonInitializing(), fillMultiBodyConstraint(), btRigidBody::getCenterOfMassTransform(), btRigidBody::getOrientation(), infoGlobal, m_bodyB, m_frameInA, m_frameInB, m_linkA, m_linkB, m_pivotInA, m_pivotInB, m_rigidBodyA, and m_rigidBodyB.

debugDraw()

void btMultiBodyFixedConstraint::debugDraw ( class btIDebugDraw * drawer )

virtual

Definition at line 185 of file btMultiBodyFixedConstraint.cpp.

References btTransform, btIDebugDraw::drawTransform(), btRigidBody::getCenterOfMassTransform(), m_bodyB, m_linkA, m_linkB, m_pivotInA, m_pivotInB, m_rigidBodyA, and m_rigidBodyB.

finalizeMultiDof()

void btMultiBodyFixedConstraint::finalizeMultiDof ( )

virtual

Definition at line 50 of file btMultiBodyFixedConstraint.cpp.

References btAssert.

getFrameInA()

const btMatrix3x3 & btMultiBodyFixedConstraint::getFrameInA ( ) const

inline

Definition at line 68 of file btMultiBodyFixedConstraint.h.

References m_frameInA.

getFrameInB()

const btMatrix3x3 & btMultiBodyFixedConstraint::getFrameInB ( ) const

inline

Definition at line 78 of file btMultiBodyFixedConstraint.h.

References m_frameInB.

getIslandIdA()

int btMultiBodyFixedConstraint::getIslandIdA ( ) const

virtual

Definition at line 60 of file btMultiBodyFixedConstraint.cpp.

References col, m_linkA, and m_rigidBodyA.

getIslandIdB()

int btMultiBodyFixedConstraint::getIslandIdB ( ) const

virtual

Definition at line 82 of file btMultiBodyFixedConstraint.cpp.

References col, m_bodyB, m_linkB, and m_rigidBodyB.

getPivotInA()

const btVector3 & btMultiBodyFixedConstraint::getPivotInA ( ) const

inline

Definition at line 48 of file btMultiBodyFixedConstraint.h.

References m_pivotInA.

getPivotInB()

const btVector3 & btMultiBodyFixedConstraint::getPivotInB ( ) const

inline

Definition at line 58 of file btMultiBodyFixedConstraint.h.

References m_pivotInB.

setFrameInA()

void btMultiBodyFixedConstraint::setFrameInA ( const btMatrix3x3 & frameInA )

inline

Definition at line 73 of file btMultiBodyFixedConstraint.h.

References frameInA, and m_frameInA.

setFrameInB()

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

inlinevirtual

Definition at line 83 of file btMultiBodyFixedConstraint.h.

References frameInB, and m_frameInB.

setPivotInA()

void btMultiBodyFixedConstraint::setPivotInA ( const btVector3 & pivotInA )

inline

Definition at line 53 of file btMultiBodyFixedConstraint.h.

References m_pivotInA.

setPivotInB()

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

inlinevirtual

Definition at line 63 of file btMultiBodyFixedConstraint.h.

References m_pivotInB.

Member Data Documentation

m_frameInA

btMatrix3x3 btMultiBodyFixedConstraint::m_frameInA

protected

Definition at line 30 of file btMultiBodyFixedConstraint.h.

Referenced by createConstraintRows(), getFrameInA(), and setFrameInA().

m_frameInB

btMatrix3x3 btMultiBodyFixedConstraint::m_frameInB

protected

Definition at line 31 of file btMultiBodyFixedConstraint.h.

Referenced by createConstraintRows(), getFrameInB(), and setFrameInB().

m_pivotInA

btVector3 btMultiBodyFixedConstraint::m_pivotInA

protected

Definition at line 28 of file btMultiBodyFixedConstraint.h.

Referenced by createConstraintRows(), debugDraw(), getPivotInA(), and setPivotInA().

m_pivotInB

btVector3 btMultiBodyFixedConstraint::m_pivotInB

protected

Definition at line 29 of file btMultiBodyFixedConstraint.h.

Referenced by createConstraintRows(), debugDraw(), getPivotInB(), and setPivotInB().

m_rigidBodyA

btRigidBody* btMultiBodyFixedConstraint::m_rigidBodyA

protected

Definition at line 26 of file btMultiBodyFixedConstraint.h.

Referenced by createConstraintRows(), debugDraw(), and getIslandIdA().

m_rigidBodyB

btRigidBody* btMultiBodyFixedConstraint::m_rigidBodyB

protected

Definition at line 27 of file btMultiBodyFixedConstraint.h.

Referenced by createConstraintRows(), debugDraw(), and getIslandIdB().

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

• btMultiBodyFixedConstraint.h
• btMultiBodyFixedConstraint.cpp