16 #ifndef BT_MULTIBODY_CONSTRAINT_H 17 #define BT_MULTIBODY_CONSTRAINT_H 80 bool angConstraint =
false,
92 void updateJacobianSizes();
93 void allocateJacobiansMultiDof();
99 virtual void finalizeMultiDof()=0;
101 virtual int getIslandIdA()
const =0;
102 virtual int getIslandIdB()
const =0;
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;
194 #endif //BT_MULTIBODY_CONSTRAINT_H const btScalar * jacobianA(int row) const
btScalar * jacobianB(int row)
btMultiBody * getMultiBodyA()
1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and fr...
btAlignedObjectArray< btScalar > scratch_r
btAlignedObjectArray< btScalar > m_deltaVelocities
btAlignedObjectArray< btSolverBody > * m_solverBodyPool
btScalar m_maxAppliedImpulse
btScalar getAppliedImpulse(int dof)
virtual void setPivotInB(const btVector3 &pivotInB)
virtual void setGearRatio(btScalar ratio)
void internalSetAppliedImpulse(int dof, btScalar appliedImpulse)
btScalar * jacobianA(int row)
btScalar getPosition(int row) const
virtual void setErp(btScalar erp)
btAlignedObjectArray< btMatrix3x3 > scratch_m
virtual void setRelativePositionTarget(btScalar relPosTarget)
btAlignedObjectArray< btScalar > m_deltaVelocitiesUnitImpulse
const btScalar * jacobianB(int row) const
virtual void setFrameInB(const btMatrix3x3 &frameInB)
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
virtual void setGearAuxLink(int gearAuxLink)
btAlignedObjectArray< btScalar > m_data
btAlignedObjectArray< btScalar > m_jacobians
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
btAlignedObjectArray< btVector3 > scratch_v
bool isUnilateral() const
void setPosition(int row, btScalar pos)
#define BT_DECLARE_ALIGNED_ALLOCATOR()
void setMaxAppliedImpulse(btScalar maxImp)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
btMultiBody * getMultiBodyB()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar getMaxAppliedImpulse() const