Blender
V3.3
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#include <btMultiBodyJointMotor.h>
Public Member Functions | |
btMultiBodyJointMotor (btMultiBody *body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse) | |
This file was written by Erwin Coumans. More... | |
btMultiBodyJointMotor (btMultiBody *body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse) | |
virtual | ~btMultiBodyJointMotor () |
virtual void | finalizeMultiDof () |
virtual int | getIslandIdA () const |
virtual int | getIslandIdB () const |
virtual void | createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal) |
virtual void | setVelocityTarget (btScalar velTarget, btScalar kd=1.f) |
virtual void | setPositionTarget (btScalar posTarget, btScalar kp=1.f) |
virtual void | setErp (btScalar erp) |
virtual btScalar | getErp () const |
virtual void | setRhsClamp (btScalar rhsClamp) |
virtual void | debugDraw (class btIDebugDraw *drawer) |
Protected Attributes | |
btScalar | m_desiredVelocity |
btScalar | m_desiredPosition |
btScalar | m_kd |
btScalar | m_kp |
btScalar | m_erp |
btScalar | m_rhsClamp |
Definition at line 24 of file btMultiBodyJointMotor.h.
btMultiBodyJointMotor::btMultiBodyJointMotor | ( | btMultiBody * | body, |
int | link, | ||
btScalar | desiredVelocity, | ||
btScalar | maxMotorImpulse | ||
) |
This file was written by Erwin Coumans.
Definition at line 23 of file btMultiBodyJointMotor.cpp.
References m_maxAppliedImpulse.
btMultiBodyJointMotor::btMultiBodyJointMotor | ( | btMultiBody * | body, |
int | link, | ||
int | linkDoF, | ||
btScalar | desiredVelocity, | ||
btScalar | maxMotorImpulse | ||
) |
Definition at line 52 of file btMultiBodyJointMotor.cpp.
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virtual |
Definition at line 66 of file btMultiBodyJointMotor.cpp.
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virtual |
Definition at line 106 of file btMultiBodyJointMotor.cpp.
References btAssert, btMultiBodySolverConstraint, btVector3, data, btMultibodyLink::ePrismatic, btMultibodyLink::eRevolute, btAlignedObjectArray< T >::expandNonInitializing(), fillMultiBodyConstraint(), finalizeMultiDof(), getNumRows(), infoGlobal, jacobianA(), jacobianB(), m_desiredPosition, m_desiredVelocity, m_erp, m_jacSizeBoth, m_kd, m_kp, m_linkA, m_maxAppliedImpulse, m_numDofsFinalized, m_rhsClamp, btContactSolverInfoData::m_timeStep, and quatRotate().
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inlinevirtual |
Definition at line 71 of file btMultiBodyJointMotor.h.
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Definition at line 37 of file btMultiBodyJointMotor.cpp.
References allocateJacobiansMultiDof(), jacobianA(), m_jacSizeBoth, m_linkA, m_numDofsFinalized, and offset.
Referenced by createConstraintRows().
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inlinevirtual |
Definition at line 63 of file btMultiBodyJointMotor.h.
References m_erp.
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Definition at line 70 of file btMultiBodyJointMotor.cpp.
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Definition at line 88 of file btMultiBodyJointMotor.cpp.
Definition at line 59 of file btMultiBodyJointMotor.h.
References m_erp.
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inlinevirtual |
Definition at line 53 of file btMultiBodyJointMotor.h.
References m_desiredPosition, and m_kp.
Definition at line 67 of file btMultiBodyJointMotor.h.
References m_rhsClamp.
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inlinevirtual |
Definition at line 47 of file btMultiBodyJointMotor.h.
References m_desiredVelocity, and m_kd.
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protected |
Definition at line 28 of file btMultiBodyJointMotor.h.
Referenced by createConstraintRows(), and setPositionTarget().
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protected |
Definition at line 27 of file btMultiBodyJointMotor.h.
Referenced by createConstraintRows(), and setVelocityTarget().
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Definition at line 31 of file btMultiBodyJointMotor.h.
Referenced by createConstraintRows(), getErp(), and setErp().
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protected |
Definition at line 29 of file btMultiBodyJointMotor.h.
Referenced by createConstraintRows(), and setVelocityTarget().
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protected |
Definition at line 30 of file btMultiBodyJointMotor.h.
Referenced by createConstraintRows(), and setPositionTarget().
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protected |
Definition at line 32 of file btMultiBodyJointMotor.h.
Referenced by createConstraintRows(), and setRhsClamp().