Bullet Collision Detection & Physics Library
Public Member Functions | Private Member Functions | Private Attributes | List of all members
btMultiBody Class Reference

#include <btMultiBody.h>

Collaboration diagram for btMultiBody:
Collaboration graph
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btMultiBody (int n_links, btScalar mass, const btVector3 &inertia, bool fixedBase, bool canSleep, bool multiDof=false)
 
 ~btMultiBody ()
 
void setupFixed (int linkIndex, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision)
 
void setupPrismatic (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisComOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision)
 
void setupRevolute (int linkIndex, btScalar mass, const btVector3 &inertia, int parentIndex, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)
 
void setupSpherical (int linkIndex, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision=false)
 
void setupPlanar (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &rotationAxis, const btVector3 &parentComToThisComOffset, bool disableParentCollision=false)
 
const btMultibodyLinkgetLink (int index) const
 
btMultibodyLinkgetLink (int index)
 
void setBaseCollider (btMultiBodyLinkCollider *collider)
 
const btMultiBodyLinkCollidergetBaseCollider () const
 
btMultiBodyLinkCollidergetBaseCollider ()
 
int getParent (int link_num) const
 
int getNumLinks () const
 
int getNumDofs () const
 
int getNumPosVars () const
 
btScalar getBaseMass () const
 
const btVector3getBaseInertia () const
 
btScalar getLinkMass (int i) const
 
const btVector3getLinkInertia (int i) const
 
void setBaseMass (btScalar mass)
 
void setBaseInertia (const btVector3 &inertia)
 
const btVector3getBasePos () const
 
const btVector3 getBaseVel () const
 
const btQuaterniongetWorldToBaseRot () const
 
btVector3 getBaseOmega () const
 
void setBasePos (const btVector3 &pos)
 
void setBaseWorldTransform (const btTransform &tr)
 
void setBaseVel (const btVector3 &vel)
 
void setWorldToBaseRot (const btQuaternion &rot)
 
void setBaseOmega (const btVector3 &omega)
 
btScalar getJointPos (int i) const
 
btScalar getJointVel (int i) const
 
btScalargetJointVelMultiDof (int i)
 
btScalargetJointPosMultiDof (int i)
 
void setJointPos (int i, btScalar q)
 
void setJointVel (int i, btScalar qdot)
 
void setJointPosMultiDof (int i, btScalar *q)
 
void setJointVelMultiDof (int i, btScalar *qdot)
 
const btScalargetVelocityVector () const
 
const btVector3getRVector (int i) const
 
const btQuaterniongetParentToLocalRot (int i) const
 
btVector3 localPosToWorld (int i, const btVector3 &vec) const
 
btVector3 localDirToWorld (int i, const btVector3 &vec) const
 
btVector3 worldPosToLocal (int i, const btVector3 &vec) const
 
btVector3 worldDirToLocal (int i, const btVector3 &vec) const
 
btScalar getKineticEnergy () const
 
btVector3 getAngularMomentum () const
 
void clearForcesAndTorques ()
 
void clearVelocities ()
 
void addBaseForce (const btVector3 &f)
 
void addBaseTorque (const btVector3 &t)
 
void addLinkForce (int i, const btVector3 &f)
 
void addLinkTorque (int i, const btVector3 &t)
 
void addJointTorque (int i, btScalar Q)
 
void addJointTorqueMultiDof (int i, int dof, btScalar Q)
 
void addJointTorqueMultiDof (int i, const btScalar *Q)
 
const btVector3getBaseForce () const
 
const btVector3getBaseTorque () const
 
const btVector3getLinkForce (int i) const
 
const btVector3getLinkTorque (int i) const
 
btScalar getJointTorque (int i) const
 
btScalargetJointTorqueMultiDof (int i)
 
void stepVelocities (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m)
 
void stepVelocitiesMultiDof (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m)
 
void calcAccelerationDeltas (const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const
 
void calcAccelerationDeltasMultiDof (const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const
 
void applyDeltaVee (const btScalar *delta_vee)
 
void applyDeltaVee (const btScalar *delta_vee, btScalar multiplier)
 
void applyDeltaVeeMultiDof (const btScalar *delta_vee, btScalar multiplier)
 
void stepPositions (btScalar dt)
 
void stepPositionsMultiDof (btScalar dt, btScalar *pq=0, btScalar *pqd=0)
 
void fillContactJacobian (int link, const btVector3 &contact_point, const btVector3 &normal, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const
 
void fillContactJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const
 
void filConstraintJacobianMultiDof (int link, const btVector3 &contact_point, const btVector3 &normal_ang, const btVector3 &normal_lin, btScalar *jac, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m) const
 
void setCanSleep (bool canSleep)
 
bool getCanSleep () const
 
bool isAwake () const
 
void wakeUp ()
 
void goToSleep ()
 
void checkMotionAndSleepIfRequired (btScalar timestep)
 
bool hasFixedBase () const
 
int getCompanionId () const
 
void setCompanionId (int id)
 
void setNumLinks (int numLinks)
 
btScalar getLinearDamping () const
 
void setLinearDamping (btScalar damp)
 
btScalar getAngularDamping () const
 
void setAngularDamping (btScalar damp)
 
bool getUseGyroTerm () const
 
void setUseGyroTerm (bool useGyro)
 
btScalar getMaxCoordinateVelocity () const
 
void setMaxCoordinateVelocity (btScalar maxVel)
 
btScalar getMaxAppliedImpulse () const
 
void setMaxAppliedImpulse (btScalar maxImp)
 
void setHasSelfCollision (bool hasSelfCollision)
 
bool hasSelfCollision () const
 
bool isMultiDof ()
 
void finalizeMultiDof ()
 
void useRK4Integration (bool use)
 
bool isUsingRK4Integration () const
 
void useGlobalVelocities (bool use)
 
bool isUsingGlobalVelocities () const
 
bool isPosUpdated () const
 
void setPosUpdated (bool updated)
 

Private Member Functions

 btMultiBody (const btMultiBody &)
 
void operator= (const btMultiBody &)
 
void compTreeLinkVelocities (btVector3 *omega, btVector3 *vel) const
 
void solveImatrix (const btVector3 &rhs_top, const btVector3 &rhs_bot, float result[6]) const
 
void solveImatrix (const btSpatialForceVector &rhs, btSpatialMotionVector &result) const
 
void updateLinksDofOffsets ()
 
void mulMatrix (btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
 

Private Attributes

btMultiBodyLinkColliderm_baseCollider
 
btVector3 m_basePos
 
btQuaternion m_baseQuat
 
btScalar m_baseMass
 
btVector3 m_baseInertia
 
btVector3 m_baseForce
 
btVector3 m_baseTorque
 
btAlignedObjectArray< btMultibodyLinkm_links
 
btAlignedObjectArray< btMultiBodyLinkCollider * > m_colliders
 
btAlignedObjectArray< btScalarm_realBuf
 
btAlignedObjectArray< btVector3m_vectorBuf
 
btAlignedObjectArray< btMatrix3x3m_matrixBuf
 
btMatrix3x3 m_cachedInertiaTopLeft
 
btMatrix3x3 m_cachedInertiaTopRight
 
btMatrix3x3 m_cachedInertiaLowerLeft
 
btMatrix3x3 m_cachedInertiaLowerRight
 
bool m_fixedBase
 
bool m_awake
 
bool m_canSleep
 
btScalar m_sleepTimer
 
int m_companionId
 
btScalar m_linearDamping
 
btScalar m_angularDamping
 
bool m_useGyroTerm
 
btScalar m_maxAppliedImpulse
 
btScalar m_maxCoordinateVelocity
 
bool m_hasSelfCollision
 
bool m_isMultiDof
 
bool __posUpdated
 
int m_dofCount
 
int m_posVarCnt
 
bool m_useRK4
 
bool m_useGlobalVelocities
 

Detailed Description

Definition at line 37 of file btMultiBody.h.

Constructor & Destructor Documentation

§ btMultiBody() [1/2]

btMultiBody::btMultiBody ( int  n_links,
btScalar  mass,
const btVector3 inertia,
bool  fixedBase,
bool  canSleep,
bool  multiDof = false 
)

Definition at line 84 of file btMultiBody.cpp.

§ ~btMultiBody()

btMultiBody::~btMultiBody ( )

Definition at line 131 of file btMultiBody.cpp.

§ btMultiBody() [2/2]

btMultiBody::btMultiBody ( const btMultiBody )
private

Member Function Documentation

§ addBaseForce()

void btMultiBody::addBaseForce ( const btVector3 f)
inline

Definition at line 268 of file btMultiBody.h.

§ addBaseTorque()

void btMultiBody::addBaseTorque ( const btVector3 t)
inline

Definition at line 272 of file btMultiBody.h.

§ addJointTorque()

void btMultiBody::addJointTorque ( int  i,
btScalar  Q 
)

Definition at line 572 of file btMultiBody.cpp.

§ addJointTorqueMultiDof() [1/2]

void btMultiBody::addJointTorqueMultiDof ( int  i,
int  dof,
btScalar  Q 
)

Definition at line 577 of file btMultiBody.cpp.

§ addJointTorqueMultiDof() [2/2]

void btMultiBody::addJointTorqueMultiDof ( int  i,
const btScalar Q 
)

Definition at line 582 of file btMultiBody.cpp.

§ addLinkForce()

void btMultiBody::addLinkForce ( int  i,
const btVector3 f 
)

Definition at line 562 of file btMultiBody.cpp.

§ addLinkTorque()

void btMultiBody::addLinkTorque ( int  i,
const btVector3 t 
)

Definition at line 567 of file btMultiBody.cpp.

§ applyDeltaVee() [1/2]

void btMultiBody::applyDeltaVee ( const btScalar delta_vee)
inline

Definition at line 328 of file btMultiBody.h.

§ applyDeltaVee() [2/2]

void btMultiBody::applyDeltaVee ( const btScalar delta_vee,
btScalar  multiplier 
)
inline

Definition at line 337 of file btMultiBody.h.

§ applyDeltaVeeMultiDof()

void btMultiBody::applyDeltaVeeMultiDof ( const btScalar delta_vee,
btScalar  multiplier 
)
inline

Definition at line 367 of file btMultiBody.h.

§ BT_DECLARE_ALIGNED_ALLOCATOR()

btMultiBody::BT_DECLARE_ALIGNED_ALLOCATOR ( )

§ calcAccelerationDeltas()

void btMultiBody::calcAccelerationDeltas ( const btScalar force,
btScalar output,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v 
) const

Definition at line 2309 of file btMultiBody.cpp.

§ calcAccelerationDeltasMultiDof()

void btMultiBody::calcAccelerationDeltasMultiDof ( const btScalar force,
btScalar output,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v 
) const

Definition at line 2146 of file btMultiBody.cpp.

§ checkMotionAndSleepIfRequired()

void btMultiBody::checkMotionAndSleepIfRequired ( btScalar  timestep)

Definition at line 2861 of file btMultiBody.cpp.

§ clearForcesAndTorques()

void btMultiBody::clearForcesAndTorques ( )

Definition at line 542 of file btMultiBody.cpp.

§ clearVelocities()

void btMultiBody::clearVelocities ( )

Definition at line 555 of file btMultiBody.cpp.

§ compTreeLinkVelocities()

void btMultiBody::compTreeLinkVelocities ( btVector3 omega,
btVector3 vel 
) const
private

Definition at line 480 of file btMultiBody.cpp.

§ filConstraintJacobianMultiDof()

void btMultiBody::filConstraintJacobianMultiDof ( int  link,
const btVector3 contact_point,
const btVector3 normal_ang,
const btVector3 normal_lin,
btScalar jac,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m 
) const

Definition at line 2626 of file btMultiBody.cpp.

§ fillContactJacobian()

void btMultiBody::fillContactJacobian ( int  link,
const btVector3 contact_point,
const btVector3 normal,
btScalar jac,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m 
) const

Definition at line 2758 of file btMultiBody.cpp.

§ fillContactJacobianMultiDof()

void btMultiBody::fillContactJacobianMultiDof ( int  link,
const btVector3 contact_point,
const btVector3 normal,
btScalar jac,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m 
) const
inline

Definition at line 413 of file btMultiBody.h.

§ finalizeMultiDof()

void btMultiBody::finalizeMultiDof ( )

Definition at line 352 of file btMultiBody.cpp.

§ getAngularDamping()

btScalar btMultiBody::getAngularDamping ( ) const
inline

Definition at line 479 of file btMultiBody.h.

§ getAngularMomentum()

btVector3 btMultiBody::getAngularMomentum ( ) const

Definition at line 521 of file btMultiBody.cpp.

§ getBaseCollider() [1/2]

const btMultiBodyLinkCollider* btMultiBody::getBaseCollider ( ) const
inline

Definition at line 124 of file btMultiBody.h.

§ getBaseCollider() [2/2]

btMultiBodyLinkCollider* btMultiBody::getBaseCollider ( )
inline

Definition at line 128 of file btMultiBody.h.

§ getBaseForce()

const btVector3& btMultiBody::getBaseForce ( ) const
inline

Definition at line 279 of file btMultiBody.h.

§ getBaseInertia()

const btVector3& btMultiBody::getBaseInertia ( ) const
inline

Definition at line 149 of file btMultiBody.h.

§ getBaseMass()

btScalar btMultiBody::getBaseMass ( ) const
inline

Definition at line 148 of file btMultiBody.h.

§ getBaseOmega()

btVector3 btMultiBody::getBaseOmega ( ) const
inline

Definition at line 175 of file btMultiBody.h.

§ getBasePos()

const btVector3& btMultiBody::getBasePos ( ) const
inline

Definition at line 166 of file btMultiBody.h.

§ getBaseTorque()

const btVector3& btMultiBody::getBaseTorque ( ) const
inline

Definition at line 280 of file btMultiBody.h.

§ getBaseVel()

const btVector3 btMultiBody::getBaseVel ( ) const
inline

Definition at line 167 of file btMultiBody.h.

§ getCanSleep()

bool btMultiBody::getCanSleep ( ) const
inline

Definition at line 441 of file btMultiBody.h.

§ getCompanionId()

int btMultiBody::getCompanionId ( ) const
inline

Definition at line 456 of file btMultiBody.h.

§ getJointPos()

btScalar btMultiBody::getJointPos ( int  i) const

Definition at line 377 of file btMultiBody.cpp.

§ getJointPosMultiDof()

btScalar * btMultiBody::getJointPosMultiDof ( int  i)

Definition at line 387 of file btMultiBody.cpp.

§ getJointTorque()

btScalar btMultiBody::getJointTorque ( int  i) const

Definition at line 598 of file btMultiBody.cpp.

§ getJointTorqueMultiDof()

btScalar * btMultiBody::getJointTorqueMultiDof ( int  i)

Definition at line 603 of file btMultiBody.cpp.

§ getJointVel()

btScalar btMultiBody::getJointVel ( int  i) const

Definition at line 382 of file btMultiBody.cpp.

§ getJointVelMultiDof()

btScalar * btMultiBody::getJointVelMultiDof ( int  i)

Definition at line 392 of file btMultiBody.cpp.

§ getKineticEnergy()

btScalar btMultiBody::getKineticEnergy ( ) const

Definition at line 501 of file btMultiBody.cpp.

§ getLinearDamping()

btScalar btMultiBody::getLinearDamping ( ) const
inline

Definition at line 471 of file btMultiBody.h.

§ getLink() [1/2]

const btMultibodyLink& btMultiBody::getLink ( int  index) const
inline

Definition at line 109 of file btMultiBody.h.

§ getLink() [2/2]

btMultibodyLink& btMultiBody::getLink ( int  index)
inline

Definition at line 114 of file btMultiBody.h.

§ getLinkForce()

const btVector3 & btMultiBody::getLinkForce ( int  i) const

Definition at line 588 of file btMultiBody.cpp.

§ getLinkInertia()

const btVector3 & btMultiBody::getLinkInertia ( int  i) const

Definition at line 372 of file btMultiBody.cpp.

§ getLinkMass()

btScalar btMultiBody::getLinkMass ( int  i) const

Definition at line 367 of file btMultiBody.cpp.

§ getLinkTorque()

const btVector3 & btMultiBody::getLinkTorque ( int  i) const

Definition at line 593 of file btMultiBody.cpp.

§ getMaxAppliedImpulse()

btScalar btMultiBody::getMaxAppliedImpulse ( ) const
inline

Definition at line 505 of file btMultiBody.h.

§ getMaxCoordinateVelocity()

btScalar btMultiBody::getMaxCoordinateVelocity ( ) const
inline

Definition at line 496 of file btMultiBody.h.

§ getNumDofs()

int btMultiBody::getNumDofs ( ) const
inline

Definition at line 146 of file btMultiBody.h.

§ getNumLinks()

int btMultiBody::getNumLinks ( ) const
inline

Definition at line 145 of file btMultiBody.h.

§ getNumPosVars()

int btMultiBody::getNumPosVars ( ) const
inline

Definition at line 147 of file btMultiBody.h.

§ getParent()

int btMultiBody::getParent ( int  link_num) const

Definition at line 362 of file btMultiBody.cpp.

§ getParentToLocalRot()

const btQuaternion & btMultiBody::getParentToLocalRot ( int  i) const

Definition at line 427 of file btMultiBody.cpp.

§ getRVector()

const btVector3 & btMultiBody::getRVector ( int  i) const

Definition at line 422 of file btMultiBody.cpp.

§ getUseGyroTerm()

bool btMultiBody::getUseGyroTerm ( ) const
inline

Definition at line 488 of file btMultiBody.h.

§ getVelocityVector()

const btScalar* btMultiBody::getVelocityVector ( ) const
inline

Definition at line 224 of file btMultiBody.h.

§ getWorldToBaseRot()

const btQuaternion& btMultiBody::getWorldToBaseRot ( ) const
inline

Definition at line 171 of file btMultiBody.h.

§ goToSleep()

void btMultiBody::goToSleep ( )

Definition at line 2856 of file btMultiBody.cpp.

§ hasFixedBase()

bool btMultiBody::hasFixedBase ( ) const
inline

Definition at line 451 of file btMultiBody.h.

§ hasSelfCollision()

bool btMultiBody::hasSelfCollision ( ) const
inline

Definition at line 517 of file btMultiBody.h.

§ isAwake()

bool btMultiBody::isAwake ( ) const
inline

Definition at line 446 of file btMultiBody.h.

§ isMultiDof()

bool btMultiBody::isMultiDof ( )
inline

Definition at line 522 of file btMultiBody.h.

§ isPosUpdated()

bool btMultiBody::isPosUpdated ( ) const
inline

Definition at line 530 of file btMultiBody.h.

§ isUsingGlobalVelocities()

bool btMultiBody::isUsingGlobalVelocities ( ) const
inline

Definition at line 528 of file btMultiBody.h.

§ isUsingRK4Integration()

bool btMultiBody::isUsingRK4Integration ( ) const
inline

Definition at line 526 of file btMultiBody.h.

§ localDirToWorld()

btVector3 btMultiBody::localDirToWorld ( int  i,
const btVector3 vec 
) const

Definition at line 460 of file btMultiBody.cpp.

§ localPosToWorld()

btVector3 btMultiBody::localPosToWorld ( int  i,
const btVector3 vec 
) const

Definition at line 432 of file btMultiBody.cpp.

§ mulMatrix()

void btMultiBody::mulMatrix ( btScalar pA,
btScalar pB,
int  rowsA,
int  colsA,
int  rowsB,
int  colsB,
btScalar pC 
) const
private

Definition at line 1949 of file btMultiBody.cpp.

§ operator=()

void btMultiBody::operator= ( const btMultiBody )
private

§ setAngularDamping()

void btMultiBody::setAngularDamping ( btScalar  damp)
inline

Definition at line 483 of file btMultiBody.h.

§ setBaseCollider()

void btMultiBody::setBaseCollider ( btMultiBodyLinkCollider collider)
inline

Definition at line 120 of file btMultiBody.h.

§ setBaseInertia()

void btMultiBody::setBaseInertia ( const btVector3 inertia)
inline

Definition at line 159 of file btMultiBody.h.

§ setBaseMass()

void btMultiBody::setBaseMass ( btScalar  mass)
inline

Definition at line 158 of file btMultiBody.h.

§ setBaseOmega()

void btMultiBody::setBaseOmega ( const btVector3 omega)
inline

Definition at line 197 of file btMultiBody.h.

§ setBasePos()

void btMultiBody::setBasePos ( const btVector3 pos)
inline

Definition at line 177 of file btMultiBody.h.

§ setBaseVel()

void btMultiBody::setBaseVel ( const btVector3 vel)
inline

Definition at line 188 of file btMultiBody.h.

§ setBaseWorldTransform()

void btMultiBody::setBaseWorldTransform ( const btTransform tr)
inline

Definition at line 182 of file btMultiBody.h.

§ setCanSleep()

void btMultiBody::setCanSleep ( bool  canSleep)
inline

Definition at line 436 of file btMultiBody.h.

§ setCompanionId()

void btMultiBody::setCompanionId ( int  id)
inline

Definition at line 460 of file btMultiBody.h.

§ setHasSelfCollision()

void btMultiBody::setHasSelfCollision ( bool  hasSelfCollision)
inline

Definition at line 513 of file btMultiBody.h.

§ setJointPos()

void btMultiBody::setJointPos ( int  i,
btScalar  q 
)

Definition at line 397 of file btMultiBody.cpp.

§ setJointPosMultiDof()

void btMultiBody::setJointPosMultiDof ( int  i,
btScalar q 
)

Definition at line 403 of file btMultiBody.cpp.

§ setJointVel()

void btMultiBody::setJointVel ( int  i,
btScalar  qdot 
)

Definition at line 411 of file btMultiBody.cpp.

§ setJointVelMultiDof()

void btMultiBody::setJointVelMultiDof ( int  i,
btScalar qdot 
)

Definition at line 416 of file btMultiBody.cpp.

§ setLinearDamping()

void btMultiBody::setLinearDamping ( btScalar  damp)
inline

Definition at line 475 of file btMultiBody.h.

§ setMaxAppliedImpulse()

void btMultiBody::setMaxAppliedImpulse ( btScalar  maxImp)
inline

Definition at line 509 of file btMultiBody.h.

§ setMaxCoordinateVelocity()

void btMultiBody::setMaxCoordinateVelocity ( btScalar  maxVel)
inline

Definition at line 500 of file btMultiBody.h.

§ setNumLinks()

void btMultiBody::setNumLinks ( int  numLinks)
inline

Definition at line 466 of file btMultiBody.h.

§ setPosUpdated()

void btMultiBody::setPosUpdated ( bool  updated)
inline

Definition at line 534 of file btMultiBody.h.

§ setupFixed()

void btMultiBody::setupFixed ( int  linkIndex,
btScalar  mass,
const btVector3 inertia,
int  parent,
const btQuaternion rotParentToThis,
const btVector3 parentComToThisPivotOffset,
const btVector3 thisPivotToThisComOffset,
bool  disableParentCollision 
)

Definition at line 135 of file btMultiBody.cpp.

§ setupPlanar()

void btMultiBody::setupPlanar ( int  i,
btScalar  mass,
const btVector3 inertia,
int  parent,
const btQuaternion rotParentToThis,
const btVector3 rotationAxis,
const btVector3 parentComToThisComOffset,
bool  disableParentCollision = false 
)

Definition at line 302 of file btMultiBody.cpp.

§ setupPrismatic()

void btMultiBody::setupPrismatic ( int  i,
btScalar  mass,
const btVector3 inertia,
int  parent,
const btQuaternion rotParentToThis,
const btVector3 jointAxis,
const btVector3 parentComToThisComOffset,
const btVector3 thisPivotToThisComOffset,
bool  disableParentCollision 
)

Definition at line 171 of file btMultiBody.cpp.

§ setupRevolute()

void btMultiBody::setupRevolute ( int  linkIndex,
btScalar  mass,
const btVector3 inertia,
int  parentIndex,
const btQuaternion rotParentToThis,
const btVector3 jointAxis,
const btVector3 parentComToThisPivotOffset,
const btVector3 thisPivotToThisComOffset,
bool  disableParentCollision = false 
)

Definition at line 215 of file btMultiBody.cpp.

§ setupSpherical()

void btMultiBody::setupSpherical ( int  linkIndex,
btScalar  mass,
const btVector3 inertia,
int  parent,
const btQuaternion rotParentToThis,
const btVector3 parentComToThisPivotOffset,
const btVector3 thisPivotToThisComOffset,
bool  disableParentCollision = false 
)

Definition at line 260 of file btMultiBody.cpp.

§ setUseGyroTerm()

void btMultiBody::setUseGyroTerm ( bool  useGyro)
inline

Definition at line 492 of file btMultiBody.h.

§ setWorldToBaseRot()

void btMultiBody::setWorldToBaseRot ( const btQuaternion rot)
inline

Definition at line 193 of file btMultiBody.h.

§ solveImatrix() [1/2]

void btMultiBody::solveImatrix ( const btVector3 rhs_top,
const btVector3 rhs_bot,
float  result[6] 
) const
private

solve I * x = rhs, so the result = invI * rhs

Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices

Definition at line 1859 of file btMultiBody.cpp.

§ solveImatrix() [2/2]

void btMultiBody::solveImatrix ( const btSpatialForceVector rhs,
btSpatialMotionVector result 
) const
private

solve I * x = rhs, so the result = invI * rhs

Special routine for calculating the inverse of a spatial inertia matrix the 6x6 matrix is stored as 4 blocks of 3x3 matrices

Definition at line 1908 of file btMultiBody.cpp.

§ stepPositions()

void btMultiBody::stepPositions ( btScalar  dt)

Definition at line 2455 of file btMultiBody.cpp.

§ stepPositionsMultiDof()

void btMultiBody::stepPositionsMultiDof ( btScalar  dt,
btScalar pq = 0,
btScalar pqd = 0 
)

baseBody => quat is alibi and omega is local coor

Definition at line 2491 of file btMultiBody.cpp.

§ stepVelocities()

void btMultiBody::stepVelocities ( btScalar  dt,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m 
)

Definition at line 1552 of file btMultiBody.cpp.

§ stepVelocitiesMultiDof()

void btMultiBody::stepVelocitiesMultiDof ( btScalar  dt,
btAlignedObjectArray< btScalar > &  scratch_r,
btAlignedObjectArray< btVector3 > &  scratch_v,
btAlignedObjectArray< btMatrix3x3 > &  scratch_m 
)

Definition at line 1078 of file btMultiBody.cpp.

§ updateLinksDofOffsets()

void btMultiBody::updateLinksDofOffsets ( )
inlineprivate

Definition at line 550 of file btMultiBody.h.

§ useGlobalVelocities()

void btMultiBody::useGlobalVelocities ( bool  use)
inline

Definition at line 527 of file btMultiBody.h.

§ useRK4Integration()

void btMultiBody::useRK4Integration ( bool  use)
inline

Definition at line 525 of file btMultiBody.h.

§ wakeUp()

void btMultiBody::wakeUp ( )

Definition at line 2851 of file btMultiBody.cpp.

§ worldDirToLocal()

btVector3 btMultiBody::worldDirToLocal ( int  i,
const btVector3 vec 
) const

Definition at line 471 of file btMultiBody.cpp.

§ worldPosToLocal()

btVector3 btMultiBody::worldPosToLocal ( int  i,
const btVector3 vec 
) const

Definition at line 449 of file btMultiBody.cpp.

Member Data Documentation

§ __posUpdated

bool btMultiBody::__posUpdated
private

Definition at line 622 of file btMultiBody.h.

§ m_angularDamping

btScalar btMultiBody::m_angularDamping
private

Definition at line 616 of file btMultiBody.h.

§ m_awake

bool btMultiBody::m_awake
private

Definition at line 610 of file btMultiBody.h.

§ m_baseCollider

btMultiBodyLinkCollider* btMultiBody::m_baseCollider
private

Definition at line 565 of file btMultiBody.h.

§ m_baseForce

btVector3 btMultiBody::m_baseForce
private

Definition at line 573 of file btMultiBody.h.

§ m_baseInertia

btVector3 btMultiBody::m_baseInertia
private

Definition at line 571 of file btMultiBody.h.

§ m_baseMass

btScalar btMultiBody::m_baseMass
private

Definition at line 570 of file btMultiBody.h.

§ m_basePos

btVector3 btMultiBody::m_basePos
private

Definition at line 567 of file btMultiBody.h.

§ m_baseQuat

btQuaternion btMultiBody::m_baseQuat
private

Definition at line 568 of file btMultiBody.h.

§ m_baseTorque

btVector3 btMultiBody::m_baseTorque
private

Definition at line 574 of file btMultiBody.h.

§ m_cachedInertiaLowerLeft

btMatrix3x3 btMultiBody::m_cachedInertiaLowerLeft
private

Definition at line 604 of file btMultiBody.h.

§ m_cachedInertiaLowerRight

btMatrix3x3 btMultiBody::m_cachedInertiaLowerRight
private

Definition at line 605 of file btMultiBody.h.

§ m_cachedInertiaTopLeft

btMatrix3x3 btMultiBody::m_cachedInertiaTopLeft
private

Definition at line 602 of file btMultiBody.h.

§ m_cachedInertiaTopRight

btMatrix3x3 btMultiBody::m_cachedInertiaTopRight
private

Definition at line 603 of file btMultiBody.h.

§ m_canSleep

bool btMultiBody::m_canSleep
private

Definition at line 611 of file btMultiBody.h.

§ m_colliders

btAlignedObjectArray<btMultiBodyLinkCollider*> btMultiBody::m_colliders
private

Definition at line 577 of file btMultiBody.h.

§ m_companionId

int btMultiBody::m_companionId
private

Definition at line 614 of file btMultiBody.h.

§ m_dofCount

int btMultiBody::m_dofCount
private

Definition at line 623 of file btMultiBody.h.

§ m_fixedBase

bool btMultiBody::m_fixedBase
private

Definition at line 607 of file btMultiBody.h.

§ m_hasSelfCollision

bool btMultiBody::m_hasSelfCollision
private

Definition at line 620 of file btMultiBody.h.

§ m_isMultiDof

bool btMultiBody::m_isMultiDof
private

Definition at line 621 of file btMultiBody.h.

§ m_linearDamping

btScalar btMultiBody::m_linearDamping
private

Definition at line 615 of file btMultiBody.h.

§ m_links

btAlignedObjectArray<btMultibodyLink> btMultiBody::m_links
private

Definition at line 576 of file btMultiBody.h.

§ m_matrixBuf

btAlignedObjectArray<btMatrix3x3> btMultiBody::m_matrixBuf
private

Definition at line 598 of file btMultiBody.h.

§ m_maxAppliedImpulse

btScalar btMultiBody::m_maxAppliedImpulse
private

Definition at line 618 of file btMultiBody.h.

§ m_maxCoordinateVelocity

btScalar btMultiBody::m_maxCoordinateVelocity
private

Definition at line 619 of file btMultiBody.h.

§ m_posVarCnt

int btMultiBody::m_posVarCnt
private

Definition at line 623 of file btMultiBody.h.

§ m_realBuf

btAlignedObjectArray<btScalar> btMultiBody::m_realBuf
private

Definition at line 596 of file btMultiBody.h.

§ m_sleepTimer

btScalar btMultiBody::m_sleepTimer
private

Definition at line 612 of file btMultiBody.h.

§ m_useGlobalVelocities

bool btMultiBody::m_useGlobalVelocities
private

Definition at line 624 of file btMultiBody.h.

§ m_useGyroTerm

bool btMultiBody::m_useGyroTerm
private

Definition at line 617 of file btMultiBody.h.

§ m_useRK4

bool btMultiBody::m_useRK4
private

Definition at line 624 of file btMultiBody.h.

§ m_vectorBuf

btAlignedObjectArray<btVector3> btMultiBody::m_vectorBuf
private

Definition at line 597 of file btMultiBody.h.


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