Public Attributes | |
BodyPtr | body |
Vector3 | dpf |
Vector3 | dptau |
ForwardDynamicsMMPtr | forwardDynamicsMM |
bool | hasConstrainedLinks |
bool | isStatic |
bool | isTestForceBeingApplied |
LinkDataArray | linksData |
Vector3 * | rootLinkPosRef |
only used by the ForwardDynamicsMM mode |
Definition at line 176 of file ConstraintForceSolver.cpp.
Definition at line 178 of file ConstraintForceSolver.cpp.
Definition at line 184 of file ConstraintForceSolver.cpp.
Definition at line 185 of file ConstraintForceSolver.cpp.
If the body includes high-gain mode joints, the ForwardDynamisMM object of the body is set to this pointer. The pointer is null when all the joints are torque mode and the forward dynamics is calculated by ABM.
Definition at line 196 of file ConstraintForceSolver.cpp.
Definition at line 180 of file ConstraintForceSolver.cpp.
Definition at line 179 of file ConstraintForceSolver.cpp.
Definition at line 181 of file ConstraintForceSolver.cpp.
Definition at line 182 of file ConstraintForceSolver.cpp.
only used by the ForwardDynamicsMM mode
Definition at line 188 of file ConstraintForceSolver.cpp.