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

#include <btMultiBodyGearConstraint.h>

Inheritance diagram for btMultiBodyGearConstraint:

Collaboration diagram for btMultiBodyGearConstraint:

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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)
Public Member Functions inherited from btMultiBodyConstraint
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btMultiBodyConstraint (btMultiBody bodyA, btMultiBody bodyB, int linkA, int linkB, int numRows, bool isUnilateral)
virtual	~btMultiBodyConstraint ()
void	updateJacobianSizes ()
void	allocateJacobiansMultiDof ()
int	getNumRows () const
btMultiBody *	getMultiBodyA ()
btMultiBody *	getMultiBodyB ()
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)
const btScalar *	jacobianA (int row) const
btScalar *	jacobianB (int row)
const btScalar *	jacobianB (int row) const
btScalar	getMaxAppliedImpulse () const
void	setMaxAppliedImpulse (btScalar maxImp)

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
Protected Attributes inherited from btMultiBodyConstraint
btMultiBody *	m_bodyA
btMultiBody *	m_bodyB
int	m_linkA
int	m_linkB
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

Additional Inherited Members
Protected Member Functions inherited from btMultiBodyConstraint
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)

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 41 of file btMultiBodyGearConstraint.cpp.

Member Function Documentation

◆ createConstraintRows()

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