The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio. More...

#include <btGearConstraint.h>

Inheritance diagram for btGearConstraint:

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Collaboration diagram for btGearConstraint:

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Public Member Functions
	btGearConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &axisInA, const btVector3 &axisInB, btScalar ratio=1.f)
	Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.

virtual	~btGearConstraint ()

virtual void	getInfo1 (btConstraintInfo1 *info)
	internal method used by the constraint solver, don't use them directly

virtual void	getInfo2 (btConstraintInfo2 *info)
	internal method used by the constraint solver, don't use them directly

void	setAxisA (btVector3 &axisA)

void	setAxisB (btVector3 &axisB)

void	setRatio (btScalar ratio)

const btVector3 &	getAxisA () const

const btVector3 &	getAxisB () const

btScalar	getRatio () const

virtual void	setParam (int num, btScalar value, int axis=-1)
	override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).

virtual btScalar	getParam (int num, int axis=-1) const
	return the local value of parameter

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)

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

virtual void	buildJacobian ()
	internal method used by the constraint solver, don't use them directly

virtual void	setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly

void	internalSetAppliedImpulse (btScalar appliedImpulse)
	internal method used by the constraint solver, don't use them directly

btScalar	internalGetAppliedImpulse ()
	internal method used by the constraint solver, don't use them directly

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

const btRigidBody &	getRigidBodyA () const

const btRigidBody &	getRigidBodyB () const

btRigidBody &	getRigidBodyA ()

btRigidBody &	getRigidBodyB ()

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 btJointFeedback *	getJointFeedback () const

btJointFeedback *	getJointFeedback ()

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

btScalar	getAppliedImpulse () const
	getAppliedImpulse is an estimated total applied impulse.

btTypedConstraintType	getConstraintType () const

void	setDbgDrawSize (btScalar dbgDrawSize)

btScalar	getDbgDrawSize ()

Public Member Functions inherited from btTypedObject
	btTypedObject (int objectType)

int	getObjectType () const

Protected Attributes
btVector3	m_axisInA

btVector3	m_axisInB

bool	m_useFrameA

btScalar	m_ratio

Protected Attributes inherited from btTypedConstraint
btRigidBody &	m_rbA

btRigidBody &	m_rbB

btScalar	m_appliedImpulse

btScalar	m_dbgDrawSize

btJointFeedback *	m_jointFeedback

Additional Inherited Members
Static Public Member Functions inherited from btTypedConstraint
static btRigidBody &	getFixedBody ()

Public Attributes inherited from btTypedObject
int	m_objectType

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

Detailed Description

The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.

See Bullet/Demos/ConstraintDemo for an example use.

Definition at line 31 of file btGearConstraint.h.

Constructor & Destructor Documentation

◆ btGearConstraint()

btGearConstraint::btGearConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btVector3 &	axisInA,
		const btVector3 &	axisInB,
		btScalar	ratio = `1.f`
	)

Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.

Definition at line 20 of file btGearConstraint.cpp.

◆ ~btGearConstraint()

btGearConstraint::~btGearConstraint ( )

virtual

Definition at line 28 of file btGearConstraint.cpp.

Member Function Documentation

◆ calculateSerializeBufferSize()

int btGearConstraint::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btTypedConstraint.

Definition at line 119 of file btGearConstraint.h.

◆ getAxisA()

const btVector3 & btGearConstraint::getAxisA ( ) const

inline

Definition at line 61 of file btGearConstraint.h.

◆ getAxisB()

const btVector3 & btGearConstraint::getAxisB ( ) const

inline

Definition at line 65 of file btGearConstraint.h.

◆ getInfo1()

void btGearConstraint::getInfo1 ( btConstraintInfo1 * info )

virtual

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

Implements btTypedConstraint.

Definition at line 32 of file btGearConstraint.cpp.

◆ getInfo2()

void btGearConstraint::getInfo2 ( btConstraintInfo2 * info )

virtual

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

Implements btTypedConstraint.

Definition at line 38 of file btGearConstraint.cpp.

◆ getParam()

virtual btScalar btGearConstraint::getParam	(	int	num,
		int	axis = `-1`
	)		const

inlinevirtual

return the local value of parameter

Implements btTypedConstraint.

Definition at line 83 of file btGearConstraint.h.

◆ getRatio()

btScalar btGearConstraint::getRatio ( ) const

inline

Definition at line 69 of file btGearConstraint.h.

◆ serialize()

const char * btGearConstraint::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)		const

inlinevirtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented from btTypedConstraint.

Definition at line 125 of file btGearConstraint.h.

◆ setAxisA()

void btGearConstraint::setAxisA ( btVector3 & axisA )

inline

Definition at line 49 of file btGearConstraint.h.

◆ setAxisB()

void btGearConstraint::setAxisB ( btVector3 & axisB )

inline

Definition at line 53 of file btGearConstraint.h.

◆ setParam()

virtual void btGearConstraint::setParam	(	int	num,
		btScalar	value,
		int	axis = `-1`
	)

inlinevirtual

override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).

If no axis is provided, it uses the default axis for this constraint.

Implements btTypedConstraint.

Definition at line 74 of file btGearConstraint.h.

◆ setRatio()

void btGearConstraint::setRatio ( btScalar ratio )

inline

Definition at line 57 of file btGearConstraint.h.

Member Data Documentation

◆ m_axisInA

btVector3 btGearConstraint::m_axisInA

protected

Definition at line 34 of file btGearConstraint.h.

◆ m_axisInB

btVector3 btGearConstraint::m_axisInB

protected

Definition at line 35 of file btGearConstraint.h.

◆ m_ratio

btScalar btGearConstraint::m_ratio

protected

Definition at line 37 of file btGearConstraint.h.

◆ m_useFrameA

bool btGearConstraint::m_useFrameA

protected

Definition at line 36 of file btGearConstraint.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btGearConstraint()

◆ ~btGearConstraint()

Member Function Documentation

◆ calculateSerializeBufferSize()

◆ getAxisA()

◆ getAxisB()

◆ getInfo1()

◆ getInfo2()

◆ getParam()

◆ getRatio()

◆ serialize()

◆ setAxisA()

◆ setAxisB()

◆ setParam()

◆ setRatio()

Member Data Documentation

◆ m_axisInA

◆ m_axisInB

◆ m_ratio

◆ m_useFrameA