Blender
V3.3
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#include <btMultiBodySphericalJointMotor.h>
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 |
Definition at line 24 of file btMultiBodySphericalJointMotor.h.
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.
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Definition at line 55 of file btMultiBodySphericalJointMotor.cpp.
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Definition at line 95 of file btMultiBodySphericalJointMotor.cpp.
References btAssert, btMatrix3x3, btMultiBodySolverConstraint, btVector3, data, btMultibodyLink::eSpherical, btAlignedObjectArray< T >::expandNonInitializing(), fillMultiBodyConstraint(), finalizeMultiDof(), getNumRows(), infoGlobal, btQuaternion::inverse(), m_desiredPosition, m_desiredVelocity, m_jacSizeBoth, m_kp, m_linkA, m_maxAppliedImpulse, m_numDofsFinalized, and matrixToEulerXYZ().
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inlinevirtual |
Definition at line 71 of file btMultiBodySphericalJointMotor.h.
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Definition at line 39 of file btMultiBodySphericalJointMotor.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 btMultiBodySphericalJointMotor.h.
References m_erp.
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Definition at line 59 of file btMultiBodySphericalJointMotor.cpp.
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Definition at line 77 of file btMultiBodySphericalJointMotor.cpp.
Definition at line 59 of file btMultiBodySphericalJointMotor.h.
References m_erp.
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inlinevirtual |
Definition at line 53 of file btMultiBodySphericalJointMotor.h.
References m_desiredPosition, and m_kp.
Definition at line 67 of file btMultiBodySphericalJointMotor.h.
References m_rhsClamp.
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inlinevirtual |
Definition at line 47 of file btMultiBodySphericalJointMotor.h.
References m_desiredVelocity, and m_kd.
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protected |
Definition at line 28 of file btMultiBodySphericalJointMotor.h.
Referenced by createConstraintRows(), and setPositionTarget().
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Definition at line 27 of file btMultiBodySphericalJointMotor.h.
Referenced by createConstraintRows(), and setVelocityTarget().
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Definition at line 31 of file btMultiBodySphericalJointMotor.h.
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Definition at line 29 of file btMultiBodySphericalJointMotor.h.
Referenced by setVelocityTarget().
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Definition at line 30 of file btMultiBodySphericalJointMotor.h.
Referenced by createConstraintRows(), and setPositionTarget().
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Definition at line 32 of file btMultiBodySphericalJointMotor.h.
Referenced by setRhsClamp().