16#ifndef BT_MULTIBODY_CONSTRAINT_H
17#define BT_MULTIBODY_CONSTRAINT_H
80 bool angConstraint =
false,
92 void updateJacobianSizes();
93 void allocateJacobiansMultiDof();
126 m_data[dof] = appliedImpulse;
141 return m_data[m_posOffset + row];
146 m_data[m_posOffset + row] = pos;
152 return m_isUnilateral;
160 return &m_data[m_numRows + row * m_jacSizeBoth];
164 return &m_data[m_numRows + (row * m_jacSizeBoth)];
168 return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
172 return &m_data[m_numRows + (row * m_jacSizeBoth) + m_jacSizeA];
177 return m_maxAppliedImpulse;
181 m_maxAppliedImpulse = maxImp;
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
virtual void setGearRatio(btScalar ratio)
virtual void setRelativePositionTarget(btScalar relPosTarget)
btScalar getPosition(int row) const
const btScalar * jacobianA(int row) const
virtual int getIslandIdA() const =0
btAlignedObjectArray< btScalar > m_data
btMultiBody * getMultiBodyB()
btScalar * jacobianA(int row)
void setPosition(int row, btScalar pos)
virtual void debugDraw(class btIDebugDraw *drawer)=0
btScalar m_maxAppliedImpulse
btMultiBody * getMultiBodyA()
btScalar * jacobianB(int row)
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)=0
virtual void setPivotInB(const btVector3 &pivotInB)
void setMaxAppliedImpulse(btScalar maxImp)
btScalar getAppliedImpulse(int dof)
virtual int getIslandIdB() const =0
bool isUnilateral() const
virtual void setErp(btScalar erp)
btScalar getMaxAppliedImpulse() const
BT_DECLARE_ALIGNED_ALLOCATOR()
const btScalar * jacobianB(int row) const
void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
virtual void setGearAuxLink(int gearAuxLink)
virtual void setFrameInB(const btMatrix3x3 &frameInB)
virtual void finalizeMultiDof()=0
btVector3 can be used to represent 3D points and vectors.
btAlignedObjectArray< btScalar > m_deltaVelocitiesUnitImpulse
btAlignedObjectArray< btScalar > m_deltaVelocities
btAlignedObjectArray< btScalar > m_jacobians
btAlignedObjectArray< btSolverBody > * m_solverBodyPool
btAlignedObjectArray< btScalar > scratch_r
btAlignedObjectArray< btMatrix3x3 > scratch_m
btAlignedObjectArray< btVector3 > scratch_v
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...