Blender  V3.3
Public Member Functions | Protected Attributes | List of all members
btMultiBodyJointMotor Class Reference

#include <btMultiBodyJointMotor.h>

Inheritance 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)
 

Protected Attributes

btScalar m_desiredVelocity
 
btScalar m_desiredPosition
 
btScalar m_kd
 
btScalar m_kp
 
btScalar m_erp
 
btScalar m_rhsClamp
 

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 23 of file btMultiBodyJointMotor.cpp.

References m_maxAppliedImpulse.

◆ btMultiBodyJointMotor() [2/2]

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

Definition at line 52 of file btMultiBodyJointMotor.cpp.

References btAssert, and getLink().

◆ ~btMultiBodyJointMotor()

btMultiBodyJointMotor::~btMultiBodyJointMotor ( )
virtual

Definition at line 66 of file btMultiBodyJointMotor.cpp.

Member Function Documentation

◆ createConstraintRows()

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

◆ debugDraw()

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

Definition at line 71 of file btMultiBodyJointMotor.h.

◆ finalizeMultiDof()

void btMultiBodyJointMotor::finalizeMultiDof ( )
virtual

◆ getErp()

virtual btScalar btMultiBodyJointMotor::getErp ( ) const
inlinevirtual

Definition at line 63 of file btMultiBodyJointMotor.h.

References m_erp.

◆ getIslandIdA()

int btMultiBodyJointMotor::getIslandIdA ( ) const
virtual

Definition at line 70 of file btMultiBodyJointMotor.cpp.

References col, and m_linkA.

◆ getIslandIdB()

int btMultiBodyJointMotor::getIslandIdB ( ) const
virtual

Definition at line 88 of file btMultiBodyJointMotor.cpp.

References col, m_bodyB, and m_linkB.

◆ setErp()

virtual void btMultiBodyJointMotor::setErp ( btScalar  erp)
inlinevirtual

Definition at line 59 of file btMultiBodyJointMotor.h.

References m_erp.

◆ setPositionTarget()

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

Definition at line 53 of file btMultiBodyJointMotor.h.

References m_desiredPosition, and m_kp.

◆ setRhsClamp()

virtual void btMultiBodyJointMotor::setRhsClamp ( btScalar  rhsClamp)
inlinevirtual

Definition at line 67 of file btMultiBodyJointMotor.h.

References m_rhsClamp.

◆ setVelocityTarget()

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

Definition at line 47 of file btMultiBodyJointMotor.h.

References m_desiredVelocity, and m_kd.

Member Data Documentation

◆ m_desiredPosition

btScalar btMultiBodyJointMotor::m_desiredPosition
protected

Definition at line 28 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), and setPositionTarget().

◆ m_desiredVelocity

btScalar btMultiBodyJointMotor::m_desiredVelocity
protected

Definition at line 27 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), and setVelocityTarget().

◆ m_erp

btScalar btMultiBodyJointMotor::m_erp
protected

Definition at line 31 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), getErp(), and setErp().

◆ m_kd

btScalar btMultiBodyJointMotor::m_kd
protected

Definition at line 29 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), and setVelocityTarget().

◆ m_kp

btScalar btMultiBodyJointMotor::m_kp
protected

Definition at line 30 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), and setPositionTarget().

◆ m_rhsClamp

btScalar btMultiBodyJointMotor::m_rhsClamp
protected

Definition at line 32 of file btMultiBodyJointMotor.h.

Referenced by createConstraintRows(), and setRhsClamp().


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