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  /external/libgdx/extensions/gdx-bullet/jni/src/bullet/BulletDynamics/Featherstone/
btMultiBodyLink.h 96 btSpatialMotionVector m_axes[6]; member in struct:btMultibodyLink
97 void setAxisTop(int dof, const btVector3 &axis) { m_axes[dof].m_topVec = axis; }
98 void setAxisBottom(int dof, const btVector3 &axis) { m_axes[dof].m_bottomVec = axis; }
99 void setAxisTop(int dof, const btScalar &x, const btScalar &y, const btScalar &z) { m_axes[dof].m_topVec.setValue(x, y, z); }
100 void setAxisBottom(int dof, const btScalar &x, const btScalar &y, const btScalar &z) { m_axes[dof].m_bottomVec.setValue(x, y, z); }
101 const btVector3 & getAxisTop(int dof) const { return m_axes[dof].m_topVec; }
102 const btVector3 & getAxisBottom(int dof) const { return m_axes[dof].m_bottomVec; }
btMultiBodyJointLimitConstraint.cpp 137 btVector3 revoluteAxisInWorld = direction*quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
145 btVector3 prismaticAxisInWorld = direction* quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
btMultiBodyJointMotor.cpp 131 btVector3 revoluteAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_topVec);
139 btVector3 prismaticAxisInWorld = quatRotate(m_bodyA->getLink(m_linkA).m_cachedWorldTransform.getRotation(),m_bodyA->getLink(m_linkA).m_axes[0].m_bottomVec);
btMultiBody.cpp 822 spatJointVel += m_links[i].m_axes[dof] * getJointVelMultiDof(i)[dof];
916 hDof = spatInertia[i+1] * m_links[i].m_axes[dof];
919 - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1])
930 D_row[dof2] = m_links[i].m_axes[dof].dot(hDof2);
    [all...]
btMultiBodyDynamicsWorld.cpp 855 btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_topVec);
864 btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec);
873 btVector3 vec = quatRotate(tr.getRotation(),bod->getLink(m).m_axes[0].m_bottomVec);

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