Blender  V3.3
Public Member Functions | Protected Attributes | List of all members
btMultiBodySphericalJointMotor Class Reference

#include <btMultiBodySphericalJointMotor.h>

Inheritance diagram for btMultiBodySphericalJointMotor:

Public Member Functions

 btMultiBodySphericalJointMotor (btMultiBody *body, int link, btScalar maxMotorImpulse)
 This file was written by Erwin Coumans. More...
 
virtual ~btMultiBodySphericalJointMotor ()
 
virtual void finalizeMultiDof ()
 
virtual int getIslandIdA () const
 
virtual int getIslandIdB () const
 
virtual void createConstraintRows (btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
 
virtual void setVelocityTarget (const btVector3 &velTarget, btScalar kd=1.f)
 
virtual void setPositionTarget (const btQuaternion &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

btVector3 m_desiredVelocity
 
btQuaternion m_desiredPosition
 
btScalar m_kd
 
btScalar m_kp
 
btScalar m_erp
 
btScalar m_rhsClamp
 

Detailed Description

Definition at line 24 of file btMultiBodySphericalJointMotor.h.

Constructor & Destructor Documentation

◆ btMultiBodySphericalJointMotor()

btMultiBodySphericalJointMotor::btMultiBodySphericalJointMotor ( btMultiBody body,
int  link,
btScalar  maxMotorImpulse 
)

This file was written by Erwin Coumans.

Definition at line 25 of file btMultiBodySphericalJointMotor.cpp.

References m_maxAppliedImpulse.

◆ ~btMultiBodySphericalJointMotor()

btMultiBodySphericalJointMotor::~btMultiBodySphericalJointMotor ( )
virtual

Definition at line 55 of file btMultiBodySphericalJointMotor.cpp.

Member Function Documentation

◆ createConstraintRows()

void btMultiBodySphericalJointMotor::createConstraintRows ( btMultiBodyConstraintArray constraintRows,
btMultiBodyJacobianData data,
const btContactSolverInfo infoGlobal 
)
virtual

◆ debugDraw()

virtual void btMultiBodySphericalJointMotor::debugDraw ( class btIDebugDraw drawer)
inlinevirtual

Definition at line 71 of file btMultiBodySphericalJointMotor.h.

◆ finalizeMultiDof()

void btMultiBodySphericalJointMotor::finalizeMultiDof ( )
virtual

◆ getErp()

virtual btScalar btMultiBodySphericalJointMotor::getErp ( ) const
inlinevirtual

Definition at line 63 of file btMultiBodySphericalJointMotor.h.

References m_erp.

◆ getIslandIdA()

int btMultiBodySphericalJointMotor::getIslandIdA ( ) const
virtual

Definition at line 59 of file btMultiBodySphericalJointMotor.cpp.

References col, and m_linkA.

◆ getIslandIdB()

int btMultiBodySphericalJointMotor::getIslandIdB ( ) const
virtual

Definition at line 77 of file btMultiBodySphericalJointMotor.cpp.

References col, m_bodyB, and m_linkB.

◆ setErp()

virtual void btMultiBodySphericalJointMotor::setErp ( btScalar  erp)
inlinevirtual

Definition at line 59 of file btMultiBodySphericalJointMotor.h.

References m_erp.

◆ setPositionTarget()

virtual void btMultiBodySphericalJointMotor::setPositionTarget ( const btQuaternion posTarget,
btScalar  kp = 1.f 
)
inlinevirtual

Definition at line 53 of file btMultiBodySphericalJointMotor.h.

References m_desiredPosition, and m_kp.

◆ setRhsClamp()

virtual void btMultiBodySphericalJointMotor::setRhsClamp ( btScalar  rhsClamp)
inlinevirtual

Definition at line 67 of file btMultiBodySphericalJointMotor.h.

References m_rhsClamp.

◆ setVelocityTarget()

virtual void btMultiBodySphericalJointMotor::setVelocityTarget ( const btVector3 velTarget,
btScalar  kd = 1.f 
)
inlinevirtual

Definition at line 47 of file btMultiBodySphericalJointMotor.h.

References m_desiredVelocity, and m_kd.

Member Data Documentation

◆ m_desiredPosition

btQuaternion btMultiBodySphericalJointMotor::m_desiredPosition
protected

Definition at line 28 of file btMultiBodySphericalJointMotor.h.

Referenced by createConstraintRows(), and setPositionTarget().

◆ m_desiredVelocity

btVector3 btMultiBodySphericalJointMotor::m_desiredVelocity
protected

Definition at line 27 of file btMultiBodySphericalJointMotor.h.

Referenced by createConstraintRows(), and setVelocityTarget().

◆ m_erp

btScalar btMultiBodySphericalJointMotor::m_erp
protected

Definition at line 31 of file btMultiBodySphericalJointMotor.h.

Referenced by getErp(), and setErp().

◆ m_kd

btScalar btMultiBodySphericalJointMotor::m_kd
protected

Definition at line 29 of file btMultiBodySphericalJointMotor.h.

Referenced by setVelocityTarget().

◆ m_kp

btScalar btMultiBodySphericalJointMotor::m_kp
protected

Definition at line 30 of file btMultiBodySphericalJointMotor.h.

Referenced by createConstraintRows(), and setPositionTarget().

◆ m_rhsClamp

btScalar btMultiBodySphericalJointMotor::m_rhsClamp
protected

Definition at line 32 of file btMultiBodySphericalJointMotor.h.

Referenced by setRhsClamp().


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