btSolverConstraint Struct Reference

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

#include <btSolverConstraint.h>

Collaboration diagram for btSolverConstraint:

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List of all members.

Public Types
enum	btSolverConstraintType {   BT_SOLVER_CONTACT_1D = 0,   BT_SOLVER_FRICTION_1D }
Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
Public Attributes
btVector3	m_relpos1CrossNormal
btVector3	m_contactNormal
btVector3	m_relpos2CrossNormal
btVector3	m_angularComponentA
btVector3	m_angularComponentB
btScalar	m_appliedPushImpulse
btScalar	m_appliedImpulse
btScalar	m_friction
btScalar	m_jacDiagABInv
union {
int   m_numConsecutiveRowsPerKernel
btScalar   m_unusedPadding0
};
union {
int   m_frictionIndex
btScalar   m_unusedPadding1
};
union {
btRigidBody *   m_solverBodyA
btScalar   m_unusedPadding2
};
union {
btRigidBody *   m_solverBodyB
btScalar   m_unusedPadding3
};
union {
void *   m_originalContactPoint
btScalar   m_unusedPadding4
};
btScalar	m_rhs
btScalar	m_cfm
btScalar	m_lowerLimit
btScalar	m_upperLimit
btScalar	m_rhsPenetration

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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 29 of file btSolverConstraint.h.

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Member Enumeration Documentation

enum btSolverConstraint::btSolverConstraintType

Enumerator:

BT_SOLVER_CONTACT_1D
BT_SOLVER_FRICTION_1D

Definition at line 83 of file btSolverConstraint.h.

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Member Function Documentation

btSolverConstraint::BT_DECLARE_ALIGNED_ALLOCATOR

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Member Data Documentation

union { ... }

union { ... }

union { ... }

union { ... }

union { ... }

btVector3 btSolverConstraint::m_angularComponentA

Definition at line 39 of file btSolverConstraint.h.

btVector3 btSolverConstraint::m_angularComponentB

Definition at line 40 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_appliedImpulse [mutable]

Definition at line 43 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_appliedPushImpulse [mutable]

Definition at line 42 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_cfm

Definition at line 77 of file btSolverConstraint.h.

btVector3 btSolverConstraint::m_contactNormal

Definition at line 34 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_friction

Definition at line 46 of file btSolverConstraint.h.

int btSolverConstraint::m_frictionIndex

Definition at line 56 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_jacDiagABInv

Definition at line 47 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_lowerLimit

Definition at line 78 of file btSolverConstraint.h.

int btSolverConstraint::m_numConsecutiveRowsPerKernel

Definition at line 50 of file btSolverConstraint.h.

void* btSolverConstraint::m_originalContactPoint

Definition at line 72 of file btSolverConstraint.h.

btVector3 btSolverConstraint::m_relpos1CrossNormal

Definition at line 33 of file btSolverConstraint.h.

btVector3 btSolverConstraint::m_relpos2CrossNormal

Definition at line 36 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_rhs

Definition at line 76 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_rhsPenetration

Definition at line 81 of file btSolverConstraint.h.

btRigidBody* btSolverConstraint::m_solverBodyA

Definition at line 61 of file btSolverConstraint.h.

btRigidBody* btSolverConstraint::m_solverBodyB

Definition at line 66 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_unusedPadding0

Definition at line 51 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_unusedPadding1

Definition at line 57 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_unusedPadding2

Definition at line 62 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_unusedPadding3

Definition at line 67 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_unusedPadding4

Definition at line 73 of file btSolverConstraint.h.

btScalar btSolverConstraint::m_upperLimit

Definition at line 79 of file btSolverConstraint.h.

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

• btSolverConstraint.h