#include <btMultiBody.h>

Collaboration diagram for btMultiBody:

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 btMultibodyLink &	getLink (int index) const

btMultibodyLink &	getLink (int index)

void	setBaseCollider (btMultiBodyLinkCollider *collider)

const btMultiBodyLinkCollider *	getBaseCollider () const

btMultiBodyLinkCollider *	getBaseCollider ()

int	getParent (int link_num) const

int	getNumLinks () const

int	getNumDofs () const

int	getNumPosVars () const

btScalar	getBaseMass () const

const btVector3 &	getBaseInertia () const

btScalar	getLinkMass (int i) const

const btVector3 &	getLinkInertia (int i) const

void	setBaseMass (btScalar mass)

void	setBaseInertia (const btVector3 &inertia)

const btVector3 &	getBasePos () const

const btVector3	getBaseVel () const

const btQuaternion &	getWorldToBaseRot () 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

btScalar *	getJointVelMultiDof (int i)

btScalar *	getJointPosMultiDof (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 btScalar *	getVelocityVector () const

const btVector3 &	getRVector (int i) const

const btQuaternion &	getParentToLocalRot (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 btVector3 &	getBaseForce () const

const btVector3 &	getBaseTorque () const

const btVector3 &	getLinkForce (int i) const

const btVector3 &	getLinkTorque (int i) const

btScalar	getJointTorque (int i) const

btScalar *	getJointTorqueMultiDof (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
btMultiBodyLinkCollider *	m_baseCollider

btVector3	m_basePos

btQuaternion	m_baseQuat

btScalar	m_baseMass

btVector3	m_baseInertia

btVector3	m_baseForce

btVector3	m_baseTorque

btAlignedObjectArray< btMultibodyLink >	m_links

btAlignedObjectArray< btMultiBodyLinkCollider * >	m_colliders

btAlignedObjectArray< btScalar >	m_realBuf

btAlignedObjectArray< btVector3 >	m_vectorBuf

btAlignedObjectArray< btMatrix3x3 >	m_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::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 ( )

Definition at line 131 of file btMultiBody.cpp.

btMultiBody::btMultiBody ( const btMultiBody & )

private

Member Function Documentation

void btMultiBody::addBaseForce ( const btVector3 & f )

inline

Definition at line 268 of file btMultiBody.h.

void btMultiBody::addBaseTorque ( const btVector3 & t )

inline

Definition at line 272 of file btMultiBody.h.

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

Definition at line 572 of file btMultiBody.cpp.

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

Definition at line 577 of file btMultiBody.cpp.

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

Definition at line 582 of file btMultiBody.cpp.

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

Definition at line 562 of file btMultiBody.cpp.

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

Definition at line 567 of file btMultiBody.cpp.

void btMultiBody::applyDeltaVee ( const btScalar * delta_vee )

inline

Definition at line 328 of file btMultiBody.h.

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

inline

Definition at line 337 of file btMultiBody.h.

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

inline

Definition at line 367 of file btMultiBody.h.

btMultiBody::BT_DECLARE_ALIGNED_ALLOCATOR ( )

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.

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.

void btMultiBody::checkMotionAndSleepIfRequired ( btScalar timestep )

Definition at line 2861 of file btMultiBody.cpp.

void btMultiBody::clearForcesAndTorques ( )

Definition at line 542 of file btMultiBody.cpp.

void btMultiBody::clearVelocities ( )

Definition at line 555 of file btMultiBody.cpp.

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

private

Definition at line 480 of file btMultiBody.cpp.

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.

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.

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.

void btMultiBody::finalizeMultiDof ( )

Definition at line 352 of file btMultiBody.cpp.

btScalar btMultiBody::getAngularDamping ( ) const

inline

Definition at line 479 of file btMultiBody.h.

btVector3 btMultiBody::getAngularMomentum ( ) const

Definition at line 521 of file btMultiBody.cpp.

const btMultiBodyLinkCollider* btMultiBody::getBaseCollider ( ) const

inline

Definition at line 124 of file btMultiBody.h.

btMultiBodyLinkCollider* btMultiBody::getBaseCollider ( )

inline

Definition at line 128 of file btMultiBody.h.

const btVector3& btMultiBody::getBaseForce ( ) const

inline

Definition at line 279 of file btMultiBody.h.

const btVector3& btMultiBody::getBaseInertia ( ) const

inline

Definition at line 149 of file btMultiBody.h.

btScalar btMultiBody::getBaseMass ( ) const

inline

Definition at line 148 of file btMultiBody.h.

btVector3 btMultiBody::getBaseOmega ( ) const

inline

Definition at line 175 of file btMultiBody.h.

const btVector3& btMultiBody::getBasePos ( ) const

inline

Definition at line 166 of file btMultiBody.h.

const btVector3& btMultiBody::getBaseTorque ( ) const

inline

Definition at line 280 of file btMultiBody.h.

const btVector3 btMultiBody::getBaseVel ( ) const

inline

Definition at line 167 of file btMultiBody.h.

bool btMultiBody::getCanSleep ( ) const

inline

Definition at line 441 of file btMultiBody.h.

int btMultiBody::getCompanionId ( ) const

inline

Definition at line 456 of file btMultiBody.h.

btScalar btMultiBody::getJointPos ( int i ) const

Definition at line 377 of file btMultiBody.cpp.

btScalar * btMultiBody::getJointPosMultiDof ( int i )

Definition at line 387 of file btMultiBody.cpp.

btScalar btMultiBody::getJointTorque ( int i ) const

Definition at line 598 of file btMultiBody.cpp.

btScalar * btMultiBody::getJointTorqueMultiDof ( int i )

Definition at line 603 of file btMultiBody.cpp.

btScalar btMultiBody::getJointVel ( int i ) const

Definition at line 382 of file btMultiBody.cpp.

btScalar * btMultiBody::getJointVelMultiDof ( int i )

Definition at line 392 of file btMultiBody.cpp.

btScalar btMultiBody::getKineticEnergy ( ) const

Definition at line 501 of file btMultiBody.cpp.

btScalar btMultiBody::getLinearDamping ( ) const

inline

Definition at line 471 of file btMultiBody.h.

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

inline

Definition at line 109 of file btMultiBody.h.

btMultibodyLink& btMultiBody::getLink ( int index )

inline

Definition at line 114 of file btMultiBody.h.

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

Definition at line 588 of file btMultiBody.cpp.

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

Definition at line 372 of file btMultiBody.cpp.

btScalar btMultiBody::getLinkMass ( int i ) const

Definition at line 367 of file btMultiBody.cpp.

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

Definition at line 593 of file btMultiBody.cpp.

btScalar btMultiBody::getMaxAppliedImpulse ( ) const

inline

Definition at line 505 of file btMultiBody.h.

btScalar btMultiBody::getMaxCoordinateVelocity ( ) const

inline

Definition at line 496 of file btMultiBody.h.

int btMultiBody::getNumDofs ( ) const

inline

Definition at line 146 of file btMultiBody.h.

int btMultiBody::getNumLinks ( ) const

inline

Definition at line 145 of file btMultiBody.h.

int btMultiBody::getNumPosVars ( ) const

inline

Definition at line 147 of file btMultiBody.h.

int btMultiBody::getParent ( int link_num ) const

Definition at line 362 of file btMultiBody.cpp.

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

Definition at line 427 of file btMultiBody.cpp.

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

Definition at line 422 of file btMultiBody.cpp.

bool btMultiBody::getUseGyroTerm ( ) const

inline

Definition at line 488 of file btMultiBody.h.

const btScalar* btMultiBody::getVelocityVector ( ) const

inline

Definition at line 224 of file btMultiBody.h.

const btQuaternion& btMultiBody::getWorldToBaseRot ( ) const

inline

Definition at line 171 of file btMultiBody.h.

void btMultiBody::goToSleep ( )

Definition at line 2856 of file btMultiBody.cpp.

bool btMultiBody::hasFixedBase ( ) const

inline

Definition at line 451 of file btMultiBody.h.

bool btMultiBody::hasSelfCollision ( ) const

inline

Definition at line 517 of file btMultiBody.h.

bool btMultiBody::isAwake ( ) const

inline

Definition at line 446 of file btMultiBody.h.

bool btMultiBody::isMultiDof ( )

inline

Definition at line 522 of file btMultiBody.h.

bool btMultiBody::isPosUpdated ( ) const

inline

Definition at line 530 of file btMultiBody.h.

bool btMultiBody::isUsingGlobalVelocities ( ) const

inline

Definition at line 528 of file btMultiBody.h.

bool btMultiBody::isUsingRK4Integration ( ) const

inline

Definition at line 526 of file btMultiBody.h.

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

Definition at line 460 of file btMultiBody.cpp.

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

Definition at line 432 of file btMultiBody.cpp.

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.

void btMultiBody::operator= ( const btMultiBody & )

private

void btMultiBody::setAngularDamping ( btScalar damp )

inline

Definition at line 483 of file btMultiBody.h.

void btMultiBody::setBaseCollider ( btMultiBodyLinkCollider * collider )

inline

Definition at line 120 of file btMultiBody.h.

void btMultiBody::setBaseInertia ( const btVector3 & inertia )

inline

Definition at line 159 of file btMultiBody.h.

void btMultiBody::setBaseMass ( btScalar mass )

inline

Definition at line 158 of file btMultiBody.h.

void btMultiBody::setBaseOmega ( const btVector3 & omega )

inline

Definition at line 197 of file btMultiBody.h.

void btMultiBody::setBasePos ( const btVector3 & pos )

inline

Definition at line 177 of file btMultiBody.h.

void btMultiBody::setBaseVel ( const btVector3 & vel )

inline

Definition at line 188 of file btMultiBody.h.

void btMultiBody::setBaseWorldTransform ( const btTransform & tr )

inline

Definition at line 182 of file btMultiBody.h.

void btMultiBody::setCanSleep ( bool canSleep )

inline

Definition at line 436 of file btMultiBody.h.

void btMultiBody::setCompanionId ( int id )

inline

Definition at line 460 of file btMultiBody.h.

void btMultiBody::setHasSelfCollision ( bool hasSelfCollision )

inline

Definition at line 513 of file btMultiBody.h.

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

Definition at line 397 of file btMultiBody.cpp.

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

Definition at line 403 of file btMultiBody.cpp.

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

Definition at line 411 of file btMultiBody.cpp.

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

Definition at line 416 of file btMultiBody.cpp.

void btMultiBody::setLinearDamping ( btScalar damp )

inline

Definition at line 475 of file btMultiBody.h.

void btMultiBody::setMaxAppliedImpulse ( btScalar maxImp )

inline

Definition at line 509 of file btMultiBody.h.

void btMultiBody::setMaxCoordinateVelocity ( btScalar maxVel )

inline

Definition at line 500 of file btMultiBody.h.

void btMultiBody::setNumLinks ( int numLinks )

inline

Definition at line 466 of file btMultiBody.h.

void btMultiBody::setPosUpdated ( bool updated )

inline

Definition at line 534 of file btMultiBody.h.

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.

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.

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.

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.

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.

void btMultiBody::setUseGyroTerm ( bool useGyro )

inline

Definition at line 492 of file btMultiBody.h.

void btMultiBody::setWorldToBaseRot ( const btQuaternion & rot )

inline

Definition at line 193 of file btMultiBody.h.

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.

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.

void btMultiBody::stepPositions ( btScalar dt )

Definition at line 2455 of file btMultiBody.cpp.

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.

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.

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.

void btMultiBody::updateLinksDofOffsets ( )

inlineprivate

Definition at line 550 of file btMultiBody.h.

void btMultiBody::useGlobalVelocities ( bool use )

inline

Definition at line 527 of file btMultiBody.h.

void btMultiBody::useRK4Integration ( bool use )

inline

Definition at line 525 of file btMultiBody.h.

void btMultiBody::wakeUp ( )

Definition at line 2851 of file btMultiBody.cpp.

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

Definition at line 471 of file btMultiBody.cpp.

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

Definition at line 449 of file btMultiBody.cpp.

Member Data Documentation

bool btMultiBody::__posUpdated

private

Definition at line 622 of file btMultiBody.h.

btScalar btMultiBody::m_angularDamping

private

Definition at line 616 of file btMultiBody.h.

bool btMultiBody::m_awake

private

Definition at line 610 of file btMultiBody.h.

btMultiBodyLinkCollider* btMultiBody::m_baseCollider

private

Definition at line 565 of file btMultiBody.h.

btVector3 btMultiBody::m_baseForce

private

Definition at line 573 of file btMultiBody.h.

btVector3 btMultiBody::m_baseInertia

private

Definition at line 571 of file btMultiBody.h.

btScalar btMultiBody::m_baseMass

private

Definition at line 570 of file btMultiBody.h.

btVector3 btMultiBody::m_basePos

private

Definition at line 567 of file btMultiBody.h.

btQuaternion btMultiBody::m_baseQuat

private

Definition at line 568 of file btMultiBody.h.

btVector3 btMultiBody::m_baseTorque

private

Definition at line 574 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaLowerLeft

private

Definition at line 604 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaLowerRight

private

Definition at line 605 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaTopLeft

private

Definition at line 602 of file btMultiBody.h.

btMatrix3x3 btMultiBody::m_cachedInertiaTopRight

private

Definition at line 603 of file btMultiBody.h.

bool btMultiBody::m_canSleep

private

Definition at line 611 of file btMultiBody.h.

btAlignedObjectArray<btMultiBodyLinkCollider*> btMultiBody::m_colliders

private

Definition at line 577 of file btMultiBody.h.

int btMultiBody::m_companionId

private

Definition at line 614 of file btMultiBody.h.

int btMultiBody::m_dofCount

private

Definition at line 623 of file btMultiBody.h.

bool btMultiBody::m_fixedBase

private

Definition at line 607 of file btMultiBody.h.

bool btMultiBody::m_hasSelfCollision

private

Definition at line 620 of file btMultiBody.h.

bool btMultiBody::m_isMultiDof

private

Definition at line 621 of file btMultiBody.h.

btScalar btMultiBody::m_linearDamping

private

Definition at line 615 of file btMultiBody.h.

btAlignedObjectArray<btMultibodyLink> btMultiBody::m_links

private

Definition at line 576 of file btMultiBody.h.

btAlignedObjectArray<btMatrix3x3> btMultiBody::m_matrixBuf

private

Definition at line 598 of file btMultiBody.h.

btScalar btMultiBody::m_maxAppliedImpulse

private

Definition at line 618 of file btMultiBody.h.

btScalar btMultiBody::m_maxCoordinateVelocity

private

Definition at line 619 of file btMultiBody.h.

int btMultiBody::m_posVarCnt

private

Definition at line 623 of file btMultiBody.h.

btAlignedObjectArray<btScalar> btMultiBody::m_realBuf

private

Definition at line 596 of file btMultiBody.h.

btScalar btMultiBody::m_sleepTimer

private

Definition at line 612 of file btMultiBody.h.

bool btMultiBody::m_useGlobalVelocities

private

Definition at line 624 of file btMultiBody.h.

bool btMultiBody::m_useGyroTerm

private

Definition at line 617 of file btMultiBody.h.

bool btMultiBody::m_useRK4

private

Definition at line 624 of file btMultiBody.h.

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:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation