virtual int getIslandIdA() const
btVector3 m_desiredVelocity
virtual void setVelocityTarget(const btVector3 &velTarget, btScalar kd=1.f)
btMultiBodySphericalJointMotor(btMultiBody *body, int link, btScalar maxMotorImpulse)
This file was written by Erwin Coumans.
virtual void debugDraw(class btIDebugDraw *drawer)
virtual void finalizeMultiDof()
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
virtual int getIslandIdB() const
btQuaternion m_desiredPosition
virtual void setErp(btScalar erp)
virtual btScalar getErp() const
virtual void setRhsClamp(btScalar rhsClamp)
virtual ~btMultiBodySphericalJointMotor()
virtual void setPositionTarget(const btQuaternion &posTarget, btScalar kp=1.f)