Bullet Collision Detection & Physics Library
Public Member Functions | Public Attributes | List of all members
btSolverBody Struct Reference

The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance. More...

#include <btSolverBody.h>

Collaboration diagram for btSolverBody:
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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
void setWorldTransform (const btTransform &worldTransform)
 
const btTransform & getWorldTransform () const
 
void getVelocityInLocalPointNoDelta (const btVector3 &rel_pos, btVector3 &velocity) const
 
void getVelocityInLocalPointObsolete (const btVector3 &rel_pos, btVector3 &velocity) const
 
void getAngularVelocity (btVector3 &angVel) const
 
void applyImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
 
void internalApplyPushImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, btScalar impulseMagnitude)
 
const btVector3 & getDeltaLinearVelocity () const
 
const btVector3 & getDeltaAngularVelocity () const
 
const btVector3 & getPushVelocity () const
 
const btVector3 & getTurnVelocity () const
 
btVector3 & internalGetDeltaLinearVelocity ()
 some internal methods, don't use them
 
btVector3 & internalGetDeltaAngularVelocity ()
 
const btVector3 & internalGetAngularFactor () const
 
const btVector3 & internalGetInvMass () const
 
void internalSetInvMass (const btVector3 &invMass)
 
btVector3 & internalGetPushVelocity ()
 
btVector3 & internalGetTurnVelocity ()
 
void internalGetVelocityInLocalPointObsolete (const btVector3 &rel_pos, btVector3 &velocity) const
 
void internalGetAngularVelocity (btVector3 &angVel) const
 
void internalApplyImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
 
void writebackVelocity ()
 
void writebackVelocityAndTransform (btScalar timeStep, btScalar splitImpulseTurnErp)
 

Public Attributes

btTransform m_worldTransform
 
btVector3 m_deltaLinearVelocity
 
btVector3 m_deltaAngularVelocity
 
btVector3 m_angularFactor
 
btVector3 m_linearFactor
 
btVector3 m_invMass
 
btVector3 m_pushVelocity
 
btVector3 m_turnVelocity
 
btVector3 m_linearVelocity
 
btVector3 m_angularVelocity
 
btVector3 m_externalForceImpulse
 
btVector3 m_externalTorqueImpulse
 
btRigidBody * m_originalBody
 

Detailed Description

The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.

Definition at line 108 of file btSolverBody.h.

Member Function Documentation

◆ applyImpulse()

void btSolverBody::applyImpulse ( const btVector3 & linearComponent,
const btVector3 & angularComponent,
const btScalar impulseMagnitude )
inline

Definition at line 164 of file btSolverBody.h.

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btSolverBody::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ getAngularVelocity()

void btSolverBody::getAngularVelocity ( btVector3 & angVel) const
inline

Definition at line 154 of file btSolverBody.h.

◆ getDeltaAngularVelocity()

const btVector3 & btSolverBody::getDeltaAngularVelocity ( ) const
inline

Definition at line 189 of file btSolverBody.h.

◆ getDeltaLinearVelocity()

const btVector3 & btSolverBody::getDeltaLinearVelocity ( ) const
inline

Definition at line 184 of file btSolverBody.h.

◆ getPushVelocity()

const btVector3 & btSolverBody::getPushVelocity ( ) const
inline

Definition at line 194 of file btSolverBody.h.

◆ getTurnVelocity()

const btVector3 & btSolverBody::getTurnVelocity ( ) const
inline

Definition at line 199 of file btSolverBody.h.

◆ getVelocityInLocalPointNoDelta()

void btSolverBody::getVelocityInLocalPointNoDelta ( const btVector3 & rel_pos,
btVector3 & velocity ) const
inline

Definition at line 137 of file btSolverBody.h.

◆ getVelocityInLocalPointObsolete()

void btSolverBody::getVelocityInLocalPointObsolete ( const btVector3 & rel_pos,
btVector3 & velocity ) const
inline

Definition at line 146 of file btSolverBody.h.

◆ getWorldTransform()

const btTransform & btSolverBody::getWorldTransform ( ) const
inline

Definition at line 130 of file btSolverBody.h.

◆ internalApplyImpulse()

void btSolverBody::internalApplyImpulse ( const btVector3 & linearComponent,
const btVector3 & angularComponent,
const btScalar impulseMagnitude )
inline

Definition at line 255 of file btSolverBody.h.

◆ internalApplyPushImpulse()

void btSolverBody::internalApplyPushImpulse ( const btVector3 & linearComponent,
const btVector3 & angularComponent,
btScalar impulseMagnitude )
inline

Definition at line 173 of file btSolverBody.h.

◆ internalGetAngularFactor()

const btVector3 & btSolverBody::internalGetAngularFactor ( ) const
inline

Definition at line 218 of file btSolverBody.h.

◆ internalGetAngularVelocity()

void btSolverBody::internalGetAngularVelocity ( btVector3 & angVel) const
inline

Definition at line 248 of file btSolverBody.h.

◆ internalGetDeltaAngularVelocity()

btVector3 & btSolverBody::internalGetDeltaAngularVelocity ( )
inline

Definition at line 213 of file btSolverBody.h.

◆ internalGetDeltaLinearVelocity()

btVector3 & btSolverBody::internalGetDeltaLinearVelocity ( )
inline

some internal methods, don't use them

Definition at line 208 of file btSolverBody.h.

◆ internalGetInvMass()

const btVector3 & btSolverBody::internalGetInvMass ( ) const
inline

Definition at line 223 of file btSolverBody.h.

◆ internalGetPushVelocity()

btVector3 & btSolverBody::internalGetPushVelocity ( )
inline

Definition at line 233 of file btSolverBody.h.

◆ internalGetTurnVelocity()

btVector3 & btSolverBody::internalGetTurnVelocity ( )
inline

Definition at line 238 of file btSolverBody.h.

◆ internalGetVelocityInLocalPointObsolete()

void btSolverBody::internalGetVelocityInLocalPointObsolete ( const btVector3 & rel_pos,
btVector3 & velocity ) const
inline

Definition at line 243 of file btSolverBody.h.

◆ internalSetInvMass()

void btSolverBody::internalSetInvMass ( const btVector3 & invMass)
inline

Definition at line 228 of file btSolverBody.h.

◆ setWorldTransform()

void btSolverBody::setWorldTransform ( const btTransform & worldTransform)
inline

Definition at line 125 of file btSolverBody.h.

◆ writebackVelocity()

void btSolverBody::writebackVelocity ( )
inline

Definition at line 267 of file btSolverBody.h.

◆ writebackVelocityAndTransform()

void btSolverBody::writebackVelocityAndTransform ( btScalar timeStep,
btScalar splitImpulseTurnErp )
inline

Definition at line 279 of file btSolverBody.h.

Member Data Documentation

◆ m_angularFactor

btVector3 btSolverBody::m_angularFactor

Definition at line 114 of file btSolverBody.h.

◆ m_angularVelocity

btVector3 btSolverBody::m_angularVelocity

Definition at line 120 of file btSolverBody.h.

◆ m_deltaAngularVelocity

btVector3 btSolverBody::m_deltaAngularVelocity

Definition at line 113 of file btSolverBody.h.

◆ m_deltaLinearVelocity

btVector3 btSolverBody::m_deltaLinearVelocity

Definition at line 112 of file btSolverBody.h.

◆ m_externalForceImpulse

btVector3 btSolverBody::m_externalForceImpulse

Definition at line 121 of file btSolverBody.h.

◆ m_externalTorqueImpulse

btVector3 btSolverBody::m_externalTorqueImpulse

Definition at line 122 of file btSolverBody.h.

◆ m_invMass

btVector3 btSolverBody::m_invMass

Definition at line 116 of file btSolverBody.h.

◆ m_linearFactor

btVector3 btSolverBody::m_linearFactor

Definition at line 115 of file btSolverBody.h.

◆ m_linearVelocity

btVector3 btSolverBody::m_linearVelocity

Definition at line 119 of file btSolverBody.h.

◆ m_originalBody

btRigidBody* btSolverBody::m_originalBody

Definition at line 124 of file btSolverBody.h.

◆ m_pushVelocity

btVector3 btSolverBody::m_pushVelocity

Definition at line 117 of file btSolverBody.h.

◆ m_turnVelocity

btVector3 btSolverBody::m_turnVelocity

Definition at line 118 of file btSolverBody.h.

◆ m_worldTransform

btTransform btSolverBody::m_worldTransform

Definition at line 111 of file btSolverBody.h.

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