BulletInverseDynamics/details/MultiBodyTreeImpl.hpp

164 	int getBodyDotJacobianTransU(const int body_index, vec3* world_dot_jac_trans_u) const;
166 	int getBodyDotJacobianRotU(const int body_index, vec3* world_dot_jac_rot_u) const;
168 	int getBodyJacobianTrans(const int body_index, mat3x* world_jac_trans) const;
170 	int getBodyJacobianRot(const int body_index, mat3x* world_jac_rot) const;
191 	int getParentIndex(const int body_index, int* m_parent_index);
193 	int getJointType(const int body_index, JointType* joint_type) const;
195 	int getJointTypeStr(const int body_index, const char** joint_type) const;
197 	int getParentRParentBodyRef(const int body_index, vec3* r) const;
199 	int getBodyTParentRef(const int body_index, mat33* T) const;
201 	int getBodyAxisOfMotion(const int body_index, vec3* axis) const;
203 	int getDoFOffset(const int body_index, int* q_index) const;
205 	int getBodyOrigin(const int body_index, vec3* world_origin) const;
207 	int getBodyCoM(const int body_index, vec3* world_com) const;
209 	int getBodyTransform(const int body_index, mat33* world_T_body) const;
211 	int getBodyAngularVelocity(const int body_index, vec3* world_omega) const;
213 	int getBodyLinearVelocity(const int body_index, vec3* world_velocity) const;
215 	int getBodyLinearVelocityCoM(const int body_index, vec3* world_velocity) const;
217 	int getBodyAngularAcceleration(const int body_index, vec3* world_dot_omega) const;
219 	int getBodyLinearAcceleration(const int body_index, vec3* world_acceleration) const;
221 	int getUserInt(const int body_index, int* user_int) const;
223 	int getUserPtr(const int body_index, void** user_ptr) const;
225 	int setUserInt(const int body_index, const int user_int);
227 	int setUserPtr(const int body_index, void* const user_ptr);
229 	int setBodyMass(const int body_index, const idScalar mass);
231 	int setBodyFirstMassMoment(const int body_index, const vec3& first_mass_moment);
233 	int setBodySecondMassMoment(const int body_index, const mat33& second_mass_moment);
235 	int getBodyMass(const int body_index, idScalar* mass) const;
237 	int getBodyFirstMassMoment(const int body_index, vec3* first_mass_moment) const;
239 	int getBodySecondMassMoment(const int body_index, mat33* second_mass_moment) const;
243 	int addUserForce(const int body_index, const vec3& body_force);
245 	int addUserMoment(const int body_index, const vec3& body_moment);