#include <btMultiBodyJointMotor.h>

Inheritance diagram for btMultiBodyJointMotor:

Collaboration diagram for btMultiBodyJointMotor:

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)

Public Member Functions inherited from btMultiBodyConstraint
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btMultiBodyConstraint (btMultiBody bodyA, btMultiBody bodyB, int linkA, int linkB, int numRows, bool isUnilateral)

virtual	~btMultiBodyConstraint ()

void	updateJacobianSizes ()

void	allocateJacobiansMultiDof ()

virtual void	setFrameInB (const btMatrix3x3 &frameInB)

virtual void	setPivotInB (const btVector3 &pivotInB)

int	getNumRows () const

btMultiBody *	getMultiBodyA ()

btMultiBody *	getMultiBodyB ()

void	internalSetAppliedImpulse (int dof, btScalar appliedImpulse)

btScalar	getAppliedImpulse (int dof)

btScalar	getPosition (int row) const

void	setPosition (int row, btScalar pos)

bool	isUnilateral () const

btScalar *	jacobianA (int row)

const btScalar *	jacobianA (int row) const

btScalar *	jacobianB (int row)

const btScalar *	jacobianB (int row) const

btScalar	getMaxAppliedImpulse () const

void	setMaxAppliedImpulse (btScalar maxImp)

virtual void	setGearRatio (btScalar ratio)

virtual void	setGearAuxLink (int gearAuxLink)

virtual void	setRelativePositionTarget (btScalar relPosTarget)

Protected Attributes
btScalar	m_desiredVelocity

btScalar	m_desiredPosition

btScalar	m_kd

btScalar	m_kp

btScalar	m_erp

btScalar	m_rhsClamp

Protected Attributes inherited from btMultiBodyConstraint
btMultiBody *	m_bodyA

btMultiBody *	m_bodyB

int	m_linkA

int	m_linkB

int	m_numRows

int	m_jacSizeA

int	m_jacSizeBoth

int	m_posOffset

bool	m_isUnilateral

int	m_numDofsFinalized

btScalar	m_maxAppliedImpulse

btAlignedObjectArray< btScalar >	m_data

Additional Inherited Members
Protected Member Functions inherited from btMultiBodyConstraint
void	applyDeltaVee (btMultiBodyJacobianData &data, btScalar *delta_vee, btScalar impulse, int velocityIndex, int ndof)

btScalar	fillMultiBodyConstraint (btMultiBodySolverConstraint &solverConstraint, btMultiBodyJacobianData &data, btScalar jacOrgA, btScalar jacOrgB, const btVector3 &constraintNormalAng, const btVector3 &constraintNormalLin, const btVector3 &posAworld, const btVector3 &posBworld, btScalar posError, const btContactSolverInfo &infoGlobal, btScalar lowerLimit, btScalar upperLimit, bool angConstraint=false, btScalar relaxation=1.f, bool isFriction=false, btScalar desiredVelocity=0, btScalar cfmSlip=0)

Detailed Description

Definition at line 24 of file btMultiBodyJointMotor.h.

Constructor & Destructor Documentation

◆ btMultiBodyJointMotor() [1/2]

btMultiBodyJointMotor::btMultiBodyJointMotor	(	btMultiBody *	body,
		int	link,
		btScalar	desiredVelocity,
		btScalar	maxMotorImpulse
	)

This file was written by Erwin Coumans.

Definition at line 24 of file btMultiBodyJointMotor.cpp.

◆ btMultiBodyJointMotor() [2/2]

btMultiBodyJointMotor::btMultiBodyJointMotor	(	btMultiBody *	body,
		int	link,
		int	linkDoF,
		btScalar	desiredVelocity,
		btScalar	maxMotorImpulse
	)

Definition at line 56 of file btMultiBodyJointMotor.cpp.

◆ ~btMultiBodyJointMotor()

btMultiBodyJointMotor::~btMultiBodyJointMotor ( )

virtual

Definition at line 71 of file btMultiBodyJointMotor.cpp.

Member Function Documentation

◆ createConstraintRows()

void btMultiBodyJointMotor::createConstraintRows	(	btMultiBodyConstraintArray &	constraintRows,
		btMultiBodyJacobianData &	data,
		const btContactSolverInfo &	infoGlobal
	)

virtual

Implements btMultiBodyConstraint.

Definition at line 104 of file btMultiBodyJointMotor.cpp.

◆ debugDraw()

virtual void btMultiBodyJointMotor::debugDraw ( class btIDebugDraw * drawer )

inlinevirtual

Implements btMultiBodyConstraint.

Definition at line 74 of file btMultiBodyJointMotor.h.

◆ finalizeMultiDof()

void btMultiBodyJointMotor::finalizeMultiDof ( )

virtual

Implements btMultiBodyConstraint.

Definition at line 41 of file btMultiBodyJointMotor.cpp.

◆ getErp()

virtual btScalar btMultiBodyJointMotor::getErp ( ) const

inlinevirtual

Definition at line 66 of file btMultiBodyJointMotor.h.

◆ getIslandIdA()

int btMultiBodyJointMotor::getIslandIdA ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 75 of file btMultiBodyJointMotor.cpp.

◆ getIslandIdB()

int btMultiBodyJointMotor::getIslandIdB ( ) const

virtual

Implements btMultiBodyConstraint.

Definition at line 88 of file btMultiBodyJointMotor.cpp.

◆ setErp()

virtual void btMultiBodyJointMotor::setErp ( btScalar erp )

inlinevirtual

Reimplemented from btMultiBodyConstraint.

Definition at line 62 of file btMultiBodyJointMotor.h.

◆ setPositionTarget()

virtual void btMultiBodyJointMotor::setPositionTarget	(	btScalar	posTarget,
		btScalar	kp = `1.f`
	)

inlinevirtual

Definition at line 56 of file btMultiBodyJointMotor.h.

◆ setRhsClamp()

virtual void btMultiBodyJointMotor::setRhsClamp ( btScalar rhsClamp )

inlinevirtual

Definition at line 70 of file btMultiBodyJointMotor.h.

◆ setVelocityTarget()

virtual void btMultiBodyJointMotor::setVelocityTarget	(	btScalar	velTarget,
		btScalar	kd = `1.f`
	)

inlinevirtual

Definition at line 50 of file btMultiBodyJointMotor.h.

Member Data Documentation

◆ m_desiredPosition

btScalar btMultiBodyJointMotor::m_desiredPosition

protected

Definition at line 29 of file btMultiBodyJointMotor.h.

◆ m_desiredVelocity

btScalar btMultiBodyJointMotor::m_desiredVelocity

protected

Definition at line 28 of file btMultiBodyJointMotor.h.

◆ m_erp

btScalar btMultiBodyJointMotor::m_erp

protected

Definition at line 32 of file btMultiBodyJointMotor.h.

◆ m_kd

btScalar btMultiBodyJointMotor::m_kd

protected

Definition at line 30 of file btMultiBodyJointMotor.h.

◆ m_kp

btScalar btMultiBodyJointMotor::m_kp

protected

Definition at line 31 of file btMultiBodyJointMotor.h.

◆ m_rhsClamp

btScalar btMultiBodyJointMotor::m_rhsClamp

protected

Definition at line 33 of file btMultiBodyJointMotor.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btMultiBodyJointMotor() [1/2]

◆ btMultiBodyJointMotor() [2/2]

◆ ~btMultiBodyJointMotor()

Member Function Documentation

◆ createConstraintRows()

◆ debugDraw()

◆ finalizeMultiDof()

◆ getErp()

◆ getIslandIdA()

◆ getIslandIdB()

◆ setErp()

◆ setPositionTarget()

◆ setRhsClamp()

◆ setVelocityTarget()

Member Data Documentation

◆ m_desiredPosition

◆ m_desiredVelocity

◆ m_erp

◆ m_kd

◆ m_kp

◆ m_rhsClamp