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Bullet Collision Detection & Physics Library
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#include <btMultiBody.h>

Public Member Functions | |
| BT_DECLARE_ALIGNED_ALLOCATOR () | |
| btMultiBody (int n_links, btScalar mass, const btVector3 &inertia, bool fixedBase, bool canSleep, bool deprecatedMultiDof=true) | |
| virtual | ~btMultiBody () |
| void | setupFixed (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool deprecatedDisableParentCollision=true) |
| void | setupPrismatic (int i, btScalar mass, const btVector3 &inertia, int parent, const btQuaternion &rotParentToThis, const btVector3 &jointAxis, const btVector3 &parentComToThisPivotOffset, const btVector3 &thisPivotToThisComOffset, bool disableParentCollision) |
| void | setupRevolute (int i, 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 i, 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 () |
| const btMultiBodyLinkCollider * | getLinkCollider (int index) const |
| btMultiBodyLinkCollider * | getLinkCollider (int index) |
| 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 |
| const btVector3 & | getInterpolateBasePos () const |
| const btQuaternion & | getInterpolateWorldToBaseRot () const |
| btVector3 | getBaseOmega () const |
| void | setBasePos (const btVector3 &pos) |
| void | setInterpolateBasePos (const btVector3 &pos) |
| void | setBaseWorldTransform (const btTransform &tr) |
| btTransform | getBaseWorldTransform () const |
| void | setInterpolateBaseWorldTransform (const btTransform &tr) |
| btTransform | getInterpolateBaseWorldTransform () const |
| void | setBaseVel (const btVector3 &vel) |
| void | setWorldToBaseRot (const btQuaternion &rot) |
| void | setInterpolateWorldToBaseRot (const btQuaternion &rot) |
| void | setBaseOmega (const btVector3 &omega) |
| void | saveKinematicState (btScalar timeStep) |
| btScalar | getJointPos (int i) const |
| btScalar | getJointVel (int i) const |
| btScalar * | getJointVelMultiDof (int i) |
| btScalar * | getJointPosMultiDof (int i) |
| const btScalar * | getJointVelMultiDof (int i) const |
| const btScalar * | getJointPosMultiDof (int i) const |
| void | setJointPos (int i, btScalar q) |
| void | setJointVel (int i, btScalar qdot) |
| void | setJointPosMultiDof (int i, const double *q) |
| void | setJointVelMultiDof (int i, const double *qdot) |
| void | setJointPosMultiDof (int i, const float *q) |
| void | setJointVelMultiDof (int i, const float *qdot) |
| const btScalar * | getVelocityVector () const |
| const btScalar * | getDeltaVelocityVector () const |
| const btScalar * | getSplitVelocityVector () const |
| const btVector3 & | getRVector (int i) const |
| const btQuaternion & | getParentToLocalRot (int i) const |
| const btVector3 & | getInterpolateRVector (int i) const |
| const btQuaternion & | getInterpolateParentToLocalRot (int i) const |
| btVector3 | localPosToWorld (int i, const btVector3 &local_pos) const |
| btVector3 | localDirToWorld (int i, const btVector3 &local_dir) const |
| btVector3 | worldPosToLocal (int i, const btVector3 &world_pos) const |
| btVector3 | worldDirToLocal (int i, const btVector3 &world_dir) const |
| btMatrix3x3 | localFrameToWorld (int i, const btMatrix3x3 &local_frame) const |
| void | clearForcesAndTorques () |
| void | clearConstraintForces () |
| 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 | addBaseConstraintForce (const btVector3 &f) |
| void | addBaseConstraintTorque (const btVector3 &t) |
| void | addLinkConstraintForce (int i, const btVector3 &f) |
| void | addLinkConstraintTorque (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 | computeAccelerationsArticulatedBodyAlgorithmMultiDof (btScalar dt, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v, btAlignedObjectArray< btMatrix3x3 > &scratch_m, bool isConstraintPass, bool jointFeedbackInWorldSpace, bool jointFeedbackInJointFrame) |
| void | calcAccelerationDeltasMultiDof (const btScalar *force, btScalar *output, btAlignedObjectArray< btScalar > &scratch_r, btAlignedObjectArray< btVector3 > &scratch_v) const |
| stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead | |
| void | applyDeltaVeeMultiDof2 (const btScalar *delta_vee, btScalar multiplier) |
| void | applyDeltaSplitVeeMultiDof (const btScalar *delta_vee, btScalar multiplier) |
| void | addSplitV () |
| void | substractSplitV () |
| void | processDeltaVeeMultiDof2 () |
| void | applyDeltaVeeMultiDof (const btScalar *delta_vee, btScalar multiplier) |
| void | stepPositionsMultiDof (btScalar dt, btScalar *pq=0, btScalar *pqd=0) |
| void | predictPositionsMultiDof (btScalar dt) |
| 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 | fillConstraintJacobianMultiDof (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 | getCanWakeup () const |
| void | setCanWakeup (bool canWakeup) |
| bool | isAwake () const |
| void | wakeUp () |
| void | goToSleep () |
| void | checkMotionAndSleepIfRequired (btScalar timestep) |
| bool | hasFixedBase () const |
| bool | isBaseKinematic () const |
| bool | isBaseStaticOrKinematic () const |
| void | setBaseDynamicType (int dynamicType) |
| void | setFixedBase (bool fixedBase) |
| 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 |
| void | finalizeMultiDof () |
| void | useRK4Integration (bool use) |
| bool | isUsingRK4Integration () const |
| void | useGlobalVelocities (bool use) |
| bool | isUsingGlobalVelocities () const |
| bool | isPosUpdated () const |
| void | setPosUpdated (bool updated) |
| bool | internalNeedsJointFeedback () const |
| void | forwardKinematics (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin) |
| void | compTreeLinkVelocities (btVector3 *omega, btVector3 *vel) const |
| void | updateCollisionObjectWorldTransforms (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin) |
| void | updateCollisionObjectInterpolationWorldTransforms (btAlignedObjectArray< btQuaternion > &world_to_local, btAlignedObjectArray< btVector3 > &local_origin) |
| virtual int | calculateSerializeBufferSize () const |
| virtual const char * | serialize (void *dataBuffer, class btSerializer *serializer) const |
| fills the dataBuffer and returns the struct name (and 0 on failure) | |
| const char * | getBaseName () const |
| void | setBaseName (const char *name) |
| memory of setBaseName needs to be manager by user | |
| void * | getUserPointer () const |
| users can point to their objects, userPointer is not used by Bullet | |
| int | getUserIndex () const |
| int | getUserIndex2 () const |
| void | setUserPointer (void *userPointer) |
| users can point to their objects, userPointer is not used by Bullet | |
| void | setUserIndex (int index) |
| users can point to their objects, userPointer is not used by Bullet | |
| void | setUserIndex2 (int index) |
| void | setLinkDynamicType (const int i, int type) |
| bool | isLinkStaticOrKinematic (const int i) const |
| bool | isLinkKinematic (const int i) const |
| bool | isLinkAndAllAncestorsStaticOrKinematic (const int i) const |
| bool | isLinkAndAllAncestorsKinematic (const int i) const |
| void | setSleepThreshold (btScalar sleepThreshold) |
| void | setSleepTimeout (btScalar sleepTimeout) |
Static Public Member Functions | |
| static void | spatialTransform (const btMatrix3x3 &rotation_matrix, const btVector3 &displacement, const btVector3 &top_in, const btVector3 &bottom_in, btVector3 &top_out, btVector3 &bottom_out) |
Private Member Functions | |
| btMultiBody (const btMultiBody &) | |
| void | operator= (const btMultiBody &) |
| void | solveImatrix (const btVector3 &rhs_top, const btVector3 &rhs_bot, btScalar result[6]) const |
| void | solveImatrix (const btSpatialForceVector &rhs, btSpatialMotionVector &result) const |
| void | updateLinksDofOffsets () |
| void | mulMatrix (const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const |
Definition at line 49 of file btMultiBody.h.
| btMultiBody::btMultiBody | ( | int | n_links, |
| btScalar | mass, | ||
| const btVector3 & | inertia, | ||
| bool | fixedBase, | ||
| bool | canSleep, | ||
| bool | deprecatedMultiDof = true ) |
Definition at line 93 of file btMultiBody.cpp.
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Definition at line 150 of file btMultiBody.cpp.
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Definition at line 363 of file btMultiBody.h.
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Definition at line 367 of file btMultiBody.h.
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Definition at line 355 of file btMultiBody.h.
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Definition at line 359 of file btMultiBody.h.
| void btMultiBody::addJointTorque | ( | int | i, |
| btScalar | Q ) |
Definition at line 644 of file btMultiBody.cpp.
| void btMultiBody::addJointTorqueMultiDof | ( | int | i, |
| const btScalar * | Q ) |
Definition at line 654 of file btMultiBody.cpp.
| void btMultiBody::addJointTorqueMultiDof | ( | int | i, |
| int | dof, | ||
| btScalar | Q ) |
Definition at line 649 of file btMultiBody.cpp.
| void btMultiBody::addLinkConstraintForce | ( | int | i, |
| const btVector3 & | f ) |
Definition at line 634 of file btMultiBody.cpp.
| void btMultiBody::addLinkConstraintTorque | ( | int | i, |
| const btVector3 & | t ) |
Definition at line 639 of file btMultiBody.cpp.
| void btMultiBody::addLinkForce | ( | int | i, |
| const btVector3 & | f ) |
Definition at line 624 of file btMultiBody.cpp.
| void btMultiBody::addLinkTorque | ( | int | i, |
| const btVector3 & | t ) |
Definition at line 629 of file btMultiBody.cpp.
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Definition at line 442 of file btMultiBody.h.
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Definition at line 435 of file btMultiBody.h.
Definition at line 465 of file btMultiBody.h.
Definition at line 428 of file btMultiBody.h.
| btMultiBody::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
| void btMultiBody::calcAccelerationDeltasMultiDof | ( | const btScalar * | force, |
| btScalar * | output, | ||
| btAlignedObjectArray< btScalar > & | scratch_r, | ||
| btAlignedObjectArray< btVector3 > & | scratch_v ) const |
stepVelocitiesMultiDof is deprecated, use computeAccelerationsArticulatedBodyAlgorithmMultiDof instead
Definition at line 1432 of file btMultiBody.cpp.
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Definition at line 2283 of file btMultiBody.cpp.
| void btMultiBody::checkMotionAndSleepIfRequired | ( | btScalar | timestep | ) |
Definition at line 2091 of file btMultiBody.cpp.
| void btMultiBody::clearConstraintForces | ( | ) |
Definition at line 593 of file btMultiBody.cpp.
| void btMultiBody::clearForcesAndTorques | ( | ) |
Definition at line 604 of file btMultiBody.cpp.
| void btMultiBody::clearVelocities | ( | ) |
Definition at line 617 of file btMultiBody.cpp.
Definition at line 564 of file btMultiBody.cpp.
| void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof | ( | btScalar | dt, |
| btAlignedObjectArray< btScalar > & | scratch_r, | ||
| btAlignedObjectArray< btVector3 > & | scratch_v, | ||
| btAlignedObjectArray< btMatrix3x3 > & | scratch_m, | ||
| bool | isConstraintPass, | ||
| bool | jointFeedbackInWorldSpace, | ||
| bool | jointFeedbackInJointFrame ) |
Definition at line 728 of file btMultiBody.cpp.
| void btMultiBody::fillConstraintJacobianMultiDof | ( | 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 1937 of file btMultiBody.cpp.
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Definition at line 504 of file btMultiBody.h.
| void btMultiBody::finalizeMultiDof | ( | ) |
Definition at line 347 of file btMultiBody.cpp.
| void btMultiBody::forwardKinematics | ( | btAlignedObjectArray< btQuaternion > & | world_to_local, |
| btAlignedObjectArray< btVector3 > & | local_origin ) |
base + num m_links
Definition at line 2129 of file btMultiBody.cpp.
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Definition at line 597 of file btMultiBody.h.
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Definition at line 132 of file btMultiBody.h.
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Definition at line 242 of file btMultiBody.h.
| const btQuaternion & btMultiBody::getInterpolateParentToLocalRot | ( | int | i | ) | const |
Definition at line 465 of file btMultiBody.cpp.
| const btVector3 & btMultiBody::getInterpolateRVector | ( | int | i | ) | const |
Definition at line 460 of file btMultiBody.cpp.
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Definition at line 202 of file btMultiBody.h.
| btScalar btMultiBody::getJointPos | ( | int | i | ) | const |
Definition at line 378 of file btMultiBody.cpp.
| btScalar * btMultiBody::getJointPosMultiDof | ( | int | i | ) |
Definition at line 388 of file btMultiBody.cpp.
| const btScalar * btMultiBody::getJointPosMultiDof | ( | int | i | ) | const |
Definition at line 398 of file btMultiBody.cpp.
| btScalar btMultiBody::getJointTorque | ( | int | i | ) | const |
Definition at line 670 of file btMultiBody.cpp.
| btScalar * btMultiBody::getJointTorqueMultiDof | ( | int | i | ) |
Definition at line 675 of file btMultiBody.cpp.
| btScalar btMultiBody::getJointVel | ( | int | i | ) | const |
Definition at line 383 of file btMultiBody.cpp.
| btScalar * btMultiBody::getJointVelMultiDof | ( | int | i | ) |
Definition at line 393 of file btMultiBody.cpp.
| const btScalar * btMultiBody::getJointVelMultiDof | ( | int | i | ) | const |
Definition at line 403 of file btMultiBody.cpp.
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Definition at line 589 of file btMultiBody.h.
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Definition at line 146 of file btMultiBody.h.
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Definition at line 137 of file btMultiBody.h.
| const btVector3 & btMultiBody::getLinkForce | ( | int | i | ) | const |
Definition at line 660 of file btMultiBody.cpp.
| const btVector3 & btMultiBody::getLinkInertia | ( | int | i | ) | const |
Definition at line 373 of file btMultiBody.cpp.
| btScalar btMultiBody::getLinkMass | ( | int | i | ) | const |
Definition at line 368 of file btMultiBody.cpp.
| const btVector3 & btMultiBody::getLinkTorque | ( | int | i | ) | const |
Definition at line 665 of file btMultiBody.cpp.
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Definition at line 623 of file btMultiBody.h.
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Definition at line 167 of file btMultiBody.h.
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Definition at line 166 of file btMultiBody.h.
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Definition at line 168 of file btMultiBody.h.
| int btMultiBody::getParent | ( | int | link_num | ) | const |
Definition at line 363 of file btMultiBody.cpp.
| const btQuaternion & btMultiBody::getParentToLocalRot | ( | int | i | ) | const |
Definition at line 455 of file btMultiBody.cpp.
| const btVector3 & btMultiBody::getRVector | ( | int | i | ) | const |
Definition at line 450 of file btMultiBody.cpp.
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Definition at line 312 of file btMultiBody.h.
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Definition at line 606 of file btMultiBody.h.
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Definition at line 689 of file btMultiBody.h.
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Definition at line 694 of file btMultiBody.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 684 of file btMultiBody.h.
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Definition at line 302 of file btMultiBody.h.
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Definition at line 193 of file btMultiBody.h.
| void btMultiBody::goToSleep | ( | ) |
Definition at line 2086 of file btMultiBody.cpp.
| bool btMultiBody::hasFixedBase | ( | ) | const |
Definition at line 680 of file btMultiBody.cpp.
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Definition at line 635 of file btMultiBody.h.
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Definition at line 657 of file btMultiBody.h.
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Definition at line 548 of file btMultiBody.h.
| bool btMultiBody::isBaseKinematic | ( | ) | const |
Definition at line 690 of file btMultiBody.cpp.
| bool btMultiBody::isBaseStaticOrKinematic | ( | ) | const |
Definition at line 685 of file btMultiBody.cpp.
| bool btMultiBody::isLinkAndAllAncestorsKinematic | ( | const int | i | ) | const |
Definition at line 2452 of file btMultiBody.cpp.
| bool btMultiBody::isLinkAndAllAncestorsStaticOrKinematic | ( | const int | i | ) | const |
Definition at line 2441 of file btMultiBody.cpp.
| bool btMultiBody::isLinkKinematic | ( | const int | i | ) | const |
Definition at line 2427 of file btMultiBody.cpp.
| bool btMultiBody::isLinkStaticOrKinematic | ( | const int | i | ) | const |
Definition at line 2413 of file btMultiBody.cpp.
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Definition at line 647 of file btMultiBody.h.
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Definition at line 645 of file btMultiBody.h.
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Definition at line 643 of file btMultiBody.h.
Definition at line 516 of file btMultiBody.cpp.
| btMatrix3x3 btMultiBody::localFrameToWorld | ( | int | i, |
| const btMatrix3x3 & | local_frame ) const |
Definition at line 554 of file btMultiBody.cpp.
Definition at line 470 of file btMultiBody.cpp.
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Definition at line 1417 of file btMultiBody.cpp.
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| void btMultiBody::predictPositionsMultiDof | ( | btScalar | dt | ) |
baseBody => quat is alibi and omega is local coor
Definition at line 1594 of file btMultiBody.cpp.
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Definition at line 455 of file btMultiBody.h.
| void btMultiBody::saveKinematicState | ( | btScalar | timeStep | ) |
Definition at line 2385 of file btMultiBody.cpp.
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fills the dataBuffer and returns the struct name (and 0 on failure)
Definition at line 2290 of file btMultiBody.cpp.
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Definition at line 601 of file btMultiBody.h.
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Definition at line 124 of file btMultiBody.h.
| void btMultiBody::setBaseDynamicType | ( | int | dynamicType | ) |
Definition at line 695 of file btMultiBody.cpp.
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Definition at line 178 of file btMultiBody.h.
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memory of setBaseName needs to be manager by user
Definition at line 678 of file btMultiBody.h.
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Definition at line 217 of file btMultiBody.h.
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Definition at line 236 of file btMultiBody.h.
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Definition at line 264 of file btMultiBody.h.
| void btMultiBody::setJointPos | ( | int | i, |
| btScalar | q ) |
Definition at line 408 of file btMultiBody.cpp.
| void btMultiBody::setJointPosMultiDof | ( | int | i, |
| const double * | q ) |
Definition at line 415 of file btMultiBody.cpp.
| void btMultiBody::setJointPosMultiDof | ( | int | i, |
| const float * | q ) |
Definition at line 423 of file btMultiBody.cpp.
| void btMultiBody::setJointVel | ( | int | i, |
| btScalar | qdot ) |
Definition at line 433 of file btMultiBody.cpp.
| void btMultiBody::setJointVelMultiDof | ( | int | i, |
| const double * | qdot ) |
Definition at line 438 of file btMultiBody.cpp.
| void btMultiBody::setJointVelMultiDof | ( | int | i, |
| const float * | qdot ) |
Definition at line 444 of file btMultiBody.cpp.
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Definition at line 593 of file btMultiBody.h.
| void btMultiBody::setLinkDynamicType | ( | const int | i, |
| int | type ) |
Definition at line 2398 of file btMultiBody.cpp.
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Definition at line 627 of file btMultiBody.h.
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Definition at line 732 of file btMultiBody.h.
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Definition at line 737 of file btMultiBody.h.
| void btMultiBody::setupFixed | ( | int | i, |
| btScalar | mass, | ||
| const btVector3 & | inertia, | ||
| int | parent, | ||
| const btQuaternion & | rotParentToThis, | ||
| const btVector3 & | parentComToThisPivotOffset, | ||
| const btVector3 & | thisPivotToThisComOffset, | ||
| bool | deprecatedDisableParentCollision = true ) |
Definition at line 154 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 296 of file btMultiBody.cpp.
| void btMultiBody::setupPrismatic | ( | int | i, |
| btScalar | mass, | ||
| const btVector3 & | inertia, | ||
| int | parent, | ||
| const btQuaternion & | rotParentToThis, | ||
| const btVector3 & | jointAxis, | ||
| const btVector3 & | parentComToThisPivotOffset, | ||
| const btVector3 & | thisPivotToThisComOffset, | ||
| bool | disableParentCollision ) |
Definition at line 182 of file btMultiBody.cpp.
| void btMultiBody::setupRevolute | ( | int | i, |
| 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 220 of file btMultiBody.cpp.
| void btMultiBody::setupSpherical | ( | int | i, |
| btScalar | mass, | ||
| const btVector3 & | inertia, | ||
| int | parent, | ||
| const btQuaternion & | rotParentToThis, | ||
| const btVector3 & | parentComToThisPivotOffset, | ||
| const btVector3 & | thisPivotToThisComOffset, | ||
| bool | disableParentCollision = false ) |
Definition at line 256 of file btMultiBody.cpp.
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Definition at line 610 of file btMultiBody.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 705 of file btMultiBody.h.
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Definition at line 710 of file btMultiBody.h.
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users can point to their objects, userPointer is not used by Bullet
Definition at line 699 of file btMultiBody.h.
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Definition at line 257 of file btMultiBody.h.
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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 1356 of file btMultiBody.cpp.
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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 1281 of file btMultiBody.cpp.
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Definition at line 40 of file btMultiBody.cpp.
baseBody => quat is alibi and omega is local coor
Definition at line 1786 of file btMultiBody.cpp.
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Definition at line 446 of file btMultiBody.h.
| void btMultiBody::updateCollisionObjectInterpolationWorldTransforms | ( | btAlignedObjectArray< btQuaternion > & | world_to_local, |
| btAlignedObjectArray< btVector3 > & | local_origin ) |
Definition at line 2225 of file btMultiBody.cpp.
| void btMultiBody::updateCollisionObjectWorldTransforms | ( | btAlignedObjectArray< btQuaternion > & | world_to_local, |
| btAlignedObjectArray< btVector3 > & | local_origin ) |
Definition at line 2172 of file btMultiBody.cpp.
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Definition at line 750 of file btMultiBody.h.
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Definition at line 644 of file btMultiBody.h.
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Definition at line 642 of file btMultiBody.h.
| void btMultiBody::wakeUp | ( | ) |
Definition at line 2080 of file btMultiBody.cpp.
Definition at line 535 of file btMultiBody.cpp.
Definition at line 495 of file btMultiBody.cpp.
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Definition at line 833 of file btMultiBody.h.
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Definition at line 827 of file btMultiBody.h.
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Definition at line 814 of file btMultiBody.h.
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Definition at line 765 of file btMultiBody.h.
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Definition at line 779 of file btMultiBody.h.
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Definition at line 780 of file btMultiBody.h.
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Definition at line 776 of file btMultiBody.h.
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Definition at line 774 of file btMultiBody.h.
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Definition at line 773 of file btMultiBody.h.
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Definition at line 766 of file btMultiBody.h.
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Definition at line 768 of file btMultiBody.h.
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Definition at line 769 of file btMultiBody.h.
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Definition at line 770 of file btMultiBody.h.
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Definition at line 771 of file btMultiBody.h.
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Definition at line 777 of file btMultiBody.h.
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Definition at line 807 of file btMultiBody.h.
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Definition at line 808 of file btMultiBody.h.
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Definition at line 805 of file btMultiBody.h.
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Definition at line 806 of file btMultiBody.h.
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Definition at line 809 of file btMultiBody.h.
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Definition at line 815 of file btMultiBody.h.
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Definition at line 816 of file btMultiBody.h.
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Definition at line 825 of file btMultiBody.h.
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Definition at line 800 of file btMultiBody.h.
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Definition at line 834 of file btMultiBody.h.
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Definition at line 811 of file btMultiBody.h.
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Definition at line 831 of file btMultiBody.h.
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the m_needsJointFeedback gets updated/computed during the stepVelocitiesMultiDof and it for internal usage only
Definition at line 841 of file btMultiBody.h.
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Definition at line 844 of file btMultiBody.h.
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Definition at line 826 of file btMultiBody.h.
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Definition at line 782 of file btMultiBody.h.
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Definition at line 803 of file btMultiBody.h.
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Definition at line 829 of file btMultiBody.h.
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Definition at line 830 of file btMultiBody.h.
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Definition at line 834 of file btMultiBody.h.
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Definition at line 801 of file btMultiBody.h.
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Definition at line 818 of file btMultiBody.h.
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Definition at line 819 of file btMultiBody.h.
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Definition at line 817 of file btMultiBody.h.
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Definition at line 799 of file btMultiBody.h.
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Definition at line 836 of file btMultiBody.h.
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Definition at line 828 of file btMultiBody.h.
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Definition at line 823 of file btMultiBody.h.
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Definition at line 822 of file btMultiBody.h.
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Definition at line 836 of file btMultiBody.h.
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Definition at line 821 of file btMultiBody.h.
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Definition at line 802 of file btMultiBody.h.