16 #ifndef BT_MULTIBODY_LINK_H 17 #define BT_MULTIBODY_LINK_H 30 #define BT_MULTIBODYLINK_INCLUDE_PLANAR_JOINTS 31 #define TEST_SPATIAL_ALGEBRA_LAYER 244 #endif //BT_MULTIBODY_LINK_H btScalar m_jointLowerLimit
btQuaternion m_zeroRotParentToThis
btVector3 m_appliedConstraintForce
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
const btVector3 & getAxisTop(int dof) const
btVector3 m_cachedRVector
eFeatherstoneJointType m_jointType
class btMultiBodyLinkCollider * m_collider
void updateCacheMultiDof(btScalar *pq=0)
void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
btSpatialMotionVector m_absFrameLocVelocity
const btVector3 & getAxisBottom(int dof) const
btVector3 quatRotate(const btQuaternion &rotation, const btVector3 &v)
btScalar m_jointTorque[6]
btScalar m_jointUpperLimit
btQuaternion m_cachedRotParentToThis
btSpatialMotionVector m_axes[6]
void setAxisBottom(int dof, const btVector3 &axis)
btVector3 can be used to represent 3D points and vectors.
btVector3 m_appliedTorque
btSpatialMotionVector m_absFrameTotVelocity
btVector3 m_appliedConstraintTorque
BT_DECLARE_ALIGNED_ALLOCATOR()
btTransform m_cachedWorldTransform
void setAxisTop(int dof, const btVector3 &axis)
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
struct btMultiBodyJointFeedback * m_jointFeedback
void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar m_jointMaxVelocity