btAngularLimit Class Reference

#include <btTypedConstraint.h>

Public Member Functions
	btAngularLimit ()
	Default constructor initializes limit as inactive, allowing free constraint movement. More...
void	set (btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
	Sets all limit's parameters. More...
void	test (const btScalar angle)
	Checks conastaint angle against limit. More...
btScalar	getSoftness () const
	Returns limit's softness. More...
btScalar	getBiasFactor () const
	Returns limit's bias factor. More...
btScalar	getRelaxationFactor () const
	Returns limit's relaxation factor. More...
btScalar	getCorrection () const
	Returns correction value evaluated when test() was invoked. More...
btScalar	getSign () const
	Returns sign value evaluated when test() was invoked. More...
btScalar	getHalfRange () const
	Gives half of the distance between min and max limit angle. More...
bool	isLimit () const
	Returns true when the last test() invocation recognized limit violation. More...
void	fit (btScalar &angle) const
	Checks given angle against limit. More...
btScalar	getError () const
	Returns correction value multiplied by sign value. More...
btScalar	getLow () const
btScalar	getHigh () const

Private Attributes
btScalar	m_center
btScalar	m_halfRange
btScalar	m_softness
btScalar	m_biasFactor
btScalar	m_relaxationFactor
btScalar	m_correction
btScalar	m_sign
bool	m_solveLimit

Detailed Description

Definition at line 440 of file btTypedConstraint.h.

Constructor & Destructor Documentation

btAngularLimit()

btAngularLimit::btAngularLimit ( )

inline

Default constructor initializes limit as inactive, allowing free constraint movement.

Definition at line 457 of file btTypedConstraint.h.

Member Function Documentation

fit()

void btAngularLimit::fit

(

btScalar &

angle

)

const

Checks given angle against limit.

If limit is active and angle doesn't fit it, the angle returned is modified so it equals to the limit closest to given angle.

Definition at line 187 of file btTypedConstraint.cpp.

getBiasFactor()

btScalar btAngularLimit::getBiasFactor ( ) const

inline

Returns limit's bias factor.

Definition at line 485 of file btTypedConstraint.h.

getCorrection()

btScalar btAngularLimit::getCorrection ( ) const

inline

Returns correction value evaluated when test() was invoked.

Definition at line 497 of file btTypedConstraint.h.

getError()

btScalar btAngularLimit::getError

(

)

const

Returns correction value multiplied by sign value.

Definition at line 182 of file btTypedConstraint.cpp.

getHalfRange()

btScalar btAngularLimit::getHalfRange ( ) const

inline

Gives half of the distance between min and max limit angle.

Definition at line 509 of file btTypedConstraint.h.

getHigh()

btScalar btAngularLimit::getHigh

(

)

const

Definition at line 211 of file btTypedConstraint.cpp.

getLow()

btScalar btAngularLimit::getLow

(

)

const

Definition at line 206 of file btTypedConstraint.cpp.

getRelaxationFactor()

btScalar btAngularLimit::getRelaxationFactor ( ) const

inline

Returns limit's relaxation factor.

Definition at line 491 of file btTypedConstraint.h.

getSign()

btScalar btAngularLimit::getSign ( ) const

inline

Returns sign value evaluated when test() was invoked.

Definition at line 503 of file btTypedConstraint.h.

getSoftness()

btScalar btAngularLimit::getSoftness ( ) const

inline

Returns limit's softness.

Definition at line 479 of file btTypedConstraint.h.

isLimit()

bool btAngularLimit::isLimit ( ) const

inline

Returns true when the last test() invocation recognized limit violation.

Definition at line 515 of file btTypedConstraint.h.

set()

void btAngularLimit::set	(	btScalar	low,
		btScalar	high,
		btScalar	_softness = 0.9f,
		btScalar	_biasFactor = 0.3f,
		btScalar	_relaxationFactor = 1.0f
	)

Sets all limit's parameters.

When low > high limit becomes inactive. When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit

Definition at line 149 of file btTypedConstraint.cpp.

test()

void btAngularLimit::test

(

const btScalar

angle

)

Checks conastaint angle against limit.

If limit is active and the angle violates the limit correction is calculated.

Definition at line 158 of file btTypedConstraint.cpp.

Member Data Documentation

m_biasFactor

btScalar btAngularLimit::m_biasFactor

private

Definition at line 447 of file btTypedConstraint.h.

m_center

btScalar btAngularLimit::m_center

private

Definition at line 444 of file btTypedConstraint.h.

m_correction

btScalar btAngularLimit::m_correction

private

Definition at line 449 of file btTypedConstraint.h.

m_halfRange

btScalar btAngularLimit::m_halfRange

private

Definition at line 445 of file btTypedConstraint.h.

m_relaxationFactor

btScalar btAngularLimit::m_relaxationFactor

private

Definition at line 448 of file btTypedConstraint.h.

m_sign

btScalar btAngularLimit::m_sign

private

Definition at line 450 of file btTypedConstraint.h.

m_softness

btScalar btAngularLimit::m_softness

private

Definition at line 446 of file btTypedConstraint.h.

m_solveLimit

bool btAngularLimit::m_solveLimit

private

Definition at line 453 of file btTypedConstraint.h.

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The documentation for this class was generated from the following files:

• btTypedConstraint.h
• btTypedConstraint.cpp