btMultiBodySolverConstraint Struct Reference

1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints. More...

#include <btMultiBodySolverConstraint.h>

Collaboration diagram for btMultiBodySolverConstraint:

Public Types
enum	btSolverConstraintType {   BT_SOLVER_CONTACT_1D = 0,   BT_SOLVER_FRICTION_1D }

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btMultiBodySolverConstraint ()

Public Attributes
int	m_deltaVelAindex
int	m_jacAindex
int	m_deltaVelBindex
int	m_jacBindex
btVector3	m_relpos1CrossNormal
btVector3	m_contactNormal1
btVector3	m_relpos2CrossNormal
btVector3	m_contactNormal2
btVector3	m_angularComponentA
btVector3	m_angularComponentB
btSimdScalar	m_appliedPushImpulse
btSimdScalar	m_appliedImpulse
btScalar	m_friction
btScalar	m_jacDiagABInv
btScalar	m_rhs
btScalar	m_cfm
btScalar	m_lowerLimit
btScalar	m_upperLimit
btScalar	m_rhsPenetration
union {
void *   m_originalContactPoint
btScalar   m_unusedPadding4
};
int	m_overrideNumSolverIterations
int	m_frictionIndex
int	m_solverBodyIdA
btMultiBody *	m_multiBodyA
int	m_linkA
int	m_solverBodyIdB
btMultiBody *	m_multiBodyB
int	m_linkB
btMultiBodyConstraint *	m_orgConstraint
int	m_orgDofIndex

Detailed Description

1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.

Definition at line 28 of file btMultiBodySolverConstraint.h.

Member Enumeration Documentation

enum btMultiBodySolverConstraint::btSolverConstraintType

Enumerator
BT_SOLVER_CONTACT_1D
BT_SOLVER_FRICTION_1D

Definition at line 81 of file btMultiBodySolverConstraint.h.

Constructor & Destructor Documentation

btMultiBodySolverConstraint::btMultiBodySolverConstraint ( )

inline

Definition at line 32 of file btMultiBodySolverConstraint.h.

Member Function Documentation

btMultiBodySolverConstraint::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

Member Data Documentation

union { ... }

btVector3 btMultiBodySolverConstraint::m_angularComponentA

Definition at line 46 of file btMultiBodySolverConstraint.h.

btVector3 btMultiBodySolverConstraint::m_angularComponentB

Definition at line 47 of file btMultiBodySolverConstraint.h.

btSimdScalar btMultiBodySolverConstraint::m_appliedImpulse

mutable

Definition at line 50 of file btMultiBodySolverConstraint.h.

btSimdScalar btMultiBodySolverConstraint::m_appliedPushImpulse

mutable

Definition at line 49 of file btMultiBodySolverConstraint.h.

btScalar btMultiBodySolverConstraint::m_cfm

Definition at line 55 of file btMultiBodySolverConstraint.h.

btVector3 btMultiBodySolverConstraint::m_contactNormal1

Definition at line 41 of file btMultiBodySolverConstraint.h.

btVector3 btMultiBodySolverConstraint::m_contactNormal2

Definition at line 43 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_deltaVelAindex

Definition at line 35 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_deltaVelBindex

Definition at line 37 of file btMultiBodySolverConstraint.h.

btScalar btMultiBodySolverConstraint::m_friction

Definition at line 52 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_frictionIndex

Definition at line 67 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_jacAindex

Definition at line 36 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_jacBindex

Definition at line 38 of file btMultiBodySolverConstraint.h.

btScalar btMultiBodySolverConstraint::m_jacDiagABInv

Definition at line 53 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_linkA

Definition at line 71 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_linkB

Definition at line 75 of file btMultiBodySolverConstraint.h.

btScalar btMultiBodySolverConstraint::m_lowerLimit

Definition at line 57 of file btMultiBodySolverConstraint.h.

btMultiBody* btMultiBodySolverConstraint::m_multiBodyA

Definition at line 70 of file btMultiBodySolverConstraint.h.

btMultiBody* btMultiBodySolverConstraint::m_multiBodyB

Definition at line 74 of file btMultiBodySolverConstraint.h.

btMultiBodyConstraint* btMultiBodySolverConstraint::m_orgConstraint

Definition at line 78 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_orgDofIndex

Definition at line 79 of file btMultiBodySolverConstraint.h.

void* btMultiBodySolverConstraint::m_originalContactPoint

Definition at line 62 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_overrideNumSolverIterations

Definition at line 66 of file btMultiBodySolverConstraint.h.

btVector3 btMultiBodySolverConstraint::m_relpos1CrossNormal

Definition at line 40 of file btMultiBodySolverConstraint.h.

btVector3 btMultiBodySolverConstraint::m_relpos2CrossNormal

Definition at line 42 of file btMultiBodySolverConstraint.h.

btScalar btMultiBodySolverConstraint::m_rhs

Definition at line 54 of file btMultiBodySolverConstraint.h.

btScalar btMultiBodySolverConstraint::m_rhsPenetration

Definition at line 59 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_solverBodyIdA

Definition at line 69 of file btMultiBodySolverConstraint.h.

int btMultiBodySolverConstraint::m_solverBodyIdB

Definition at line 73 of file btMultiBodySolverConstraint.h.

btScalar btMultiBodySolverConstraint::m_unusedPadding4

Definition at line 63 of file btMultiBodySolverConstraint.h.

btScalar btMultiBodySolverConstraint::m_upperLimit

Definition at line 58 of file btMultiBodySolverConstraint.h.

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The documentation for this struct was generated from the following file:

• btMultiBodySolverConstraint.h