Bullet Collision Detection & Physics Library
Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
btContactConstraint Class Reference

btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface More...

#include <btContactConstraint.h>

Inheritance diagram for btContactConstraint:
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Collaboration diagram for btContactConstraint:
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Public Member Functions

void setContactManifold (btPersistentManifold *contactManifold)
 
btPersistentManifoldgetContactManifold ()
 
const btPersistentManifoldgetContactManifold () const
 
virtual ~btContactConstraint ()
 
virtual void getInfo1 (btConstraintInfo1 *info)
 internal method used by the constraint solver, don't use them directly More...
 
virtual void getInfo2 (btConstraintInfo2 *info)
 internal method used by the constraint solver, don't use them directly More...
 
virtual void buildJacobian ()
 obsolete methods More...
 
- Public Member Functions inherited from btTypedConstraint
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
virtual ~btTypedConstraint ()
 
 btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA)
 
 btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA, btRigidBody &rbB)
 
int getOverrideNumSolverIterations () const
 
void setOverrideNumSolverIterations (int overideNumIterations)
 override the number of constraint solver iterations used to solve this constraint -1 will use the default number of iterations, as specified in SolverInfo.m_numIterations More...
 
virtual void buildJacobian ()
 internal method used by the constraint solver, don't use them directly More...
 
virtual void setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
 internal method used by the constraint solver, don't use them directly More...
 
virtual void getInfo1 (btConstraintInfo1 *info)=0
 internal method used by the constraint solver, don't use them directly More...
 
virtual void getInfo2 (btConstraintInfo2 *info)=0
 internal method used by the constraint solver, don't use them directly More...
 
void internalSetAppliedImpulse (btScalar appliedImpulse)
 internal method used by the constraint solver, don't use them directly More...
 
btScalar internalGetAppliedImpulse ()
 internal method used by the constraint solver, don't use them directly More...
 
btScalar getBreakingImpulseThreshold () const
 
void setBreakingImpulseThreshold (btScalar threshold)
 
bool isEnabled () const
 
void setEnabled (bool enabled)
 
virtual void solveConstraintObsolete (btSolverBody &, btSolverBody &, btScalar)
 internal method used by the constraint solver, don't use them directly More...
 
const btRigidBodygetRigidBodyA () const
 
const btRigidBodygetRigidBodyB () const
 
btRigidBodygetRigidBodyA ()
 
btRigidBodygetRigidBodyB ()
 
int getUserConstraintType () const
 
void setUserConstraintType (int userConstraintType)
 
void setUserConstraintId (int uid)
 
int getUserConstraintId () const
 
void setUserConstraintPtr (void *ptr)
 
void * getUserConstraintPtr ()
 
void setJointFeedback (btJointFeedback *jointFeedback)
 
const btJointFeedbackgetJointFeedback () const
 
btJointFeedbackgetJointFeedback ()
 
int getUid () const
 
bool needsFeedback () const
 
void enableFeedback (bool needsFeedback)
 enableFeedback will allow to read the applied linear and angular impulse use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information More...
 
btScalar getAppliedImpulse () const
 getAppliedImpulse is an estimated total applied impulse. More...
 
btTypedConstraintType getConstraintType () const
 
void setDbgDrawSize (btScalar dbgDrawSize)
 
btScalar getDbgDrawSize ()
 
virtual void setParam (int num, btScalar value, int axis=-1)=0
 override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). More...
 
virtual btScalar getParam (int num, int axis=-1) const =0
 return the local value of parameter More...
 
virtual int calculateSerializeBufferSize () const
 
virtual const char * serialize (void *dataBuffer, btSerializer *serializer) const
 fills the dataBuffer and returns the struct name (and 0 on failure) More...
 
- Public Member Functions inherited from btTypedObject
 btTypedObject (int objectType)
 
int getObjectType () const
 

Protected Member Functions

 btContactConstraint (btPersistentManifold *contactManifold, btRigidBody &rbA, btRigidBody &rbB)
 
- Protected Member Functions inherited from btTypedConstraint
btScalar getMotorFactor (btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
 internal method used by the constraint solver, don't use them directly More...
 

Protected Attributes

btPersistentManifold m_contactManifold
 
- Protected Attributes inherited from btTypedConstraint
btRigidBodym_rbA
 
btRigidBodym_rbB
 
btScalar m_appliedImpulse
 
btScalar m_dbgDrawSize
 
btJointFeedbackm_jointFeedback
 

Additional Inherited Members

- Static Public Member Functions inherited from btTypedConstraint
static btRigidBodygetFixedBody ()
 
- Public Attributes inherited from btTypedObject
int m_objectType
 

Detailed Description

btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface

Definition at line 25 of file btContactConstraint.h.

Constructor & Destructor Documentation

◆ btContactConstraint()

btContactConstraint::btContactConstraint ( btPersistentManifold contactManifold,
btRigidBody rbA,
btRigidBody rbB 
)
protected

Definition at line 24 of file btContactConstraint.cpp.

◆ ~btContactConstraint()

btContactConstraint::~btContactConstraint ( )
virtual

Definition at line 30 of file btContactConstraint.cpp.

Member Function Documentation

◆ buildJacobian()

void btContactConstraint::buildJacobian ( )
virtual

obsolete methods

Reimplemented from btTypedConstraint.

Definition at line 47 of file btContactConstraint.cpp.

◆ getContactManifold() [1/2]

btPersistentManifold * btContactConstraint::getContactManifold ( )
inline

Definition at line 37 of file btContactConstraint.h.

◆ getContactManifold() [2/2]

const btPersistentManifold * btContactConstraint::getContactManifold ( ) const
inline

Definition at line 42 of file btContactConstraint.h.

◆ getInfo1()

void btContactConstraint::getInfo1 ( btConstraintInfo1 info)
virtual

internal method used by the constraint solver, don't use them directly

Implements btTypedConstraint.

Definition at line 39 of file btContactConstraint.cpp.

◆ getInfo2()

void btContactConstraint::getInfo2 ( btConstraintInfo2 info)
virtual

internal method used by the constraint solver, don't use them directly

Implements btTypedConstraint.

Definition at line 43 of file btContactConstraint.cpp.

◆ setContactManifold()

void btContactConstraint::setContactManifold ( btPersistentManifold contactManifold)

Definition at line 34 of file btContactConstraint.cpp.

Member Data Documentation

◆ m_contactManifold

btPersistentManifold btContactConstraint::m_contactManifold
protected

Definition at line 29 of file btContactConstraint.h.


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