The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account. More...

#include <btHingeConstraint.h>

Inheritance diagram for btHingeAccumulatedAngleConstraint:

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Collaboration diagram for btHingeAccumulatedAngleConstraint:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btHingeAccumulatedAngleConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btVector3 &axisInA, const btVector3 &axisInB, bool useReferenceFrameA=false)

	btHingeAccumulatedAngleConstraint (btRigidBody &rbA, const btVector3 &pivotInA, const btVector3 &axisInA, bool useReferenceFrameA=false)

	btHingeAccumulatedAngleConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)

	btHingeAccumulatedAngleConstraint (btRigidBody &rbA, const btTransform &rbAFrame, bool useReferenceFrameA=false)

btScalar	getAccumulatedHingeAngle ()

void	setAccumulatedHingeAngle (btScalar accAngle)

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

Public Member Functions inherited from btHingeConstraint
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btVector3 &axisInA, const btVector3 &axisInB, bool useReferenceFrameA=false)

	btHingeConstraint (btRigidBody &rbA, const btVector3 &pivotInA, const btVector3 &axisInA, bool useReferenceFrameA=false)

	btHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)

	btHingeConstraint (btRigidBody &rbA, const btTransform &rbAFrame, bool useReferenceFrameA=false)

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

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

void	getInfo1NonVirtual (btConstraintInfo1 *info)

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

void	getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)

void	getInfo2Internal (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)

void	getInfo2InternalUsingFrameOffset (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)

void	updateRHS (btScalar timeStep)

const btRigidBody &	getRigidBodyA () const

const btRigidBody &	getRigidBodyB () const

btRigidBody &	getRigidBodyA ()

btRigidBody &	getRigidBodyB ()

btTransform &	getFrameOffsetA ()

btTransform &	getFrameOffsetB ()

void	setFrames (const btTransform &frameA, const btTransform &frameB)

void	setAngularOnly (bool angularOnly)

void	enableAngularMotor (bool enableMotor, btScalar targetVelocity, btScalar maxMotorImpulse)

void	enableMotor (bool enableMotor)

void	setMaxMotorImpulse (btScalar maxMotorImpulse)

void	setMotorTargetVelocity (btScalar motorTargetVelocity)

void	setMotorTarget (const btQuaternion &qAinB, btScalar dt)

void	setMotorTarget (btScalar targetAngle, btScalar dt)

void	setLimit (btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)

btScalar	getLimitSoftness () const

btScalar	getLimitBiasFactor () const

btScalar	getLimitRelaxationFactor () const

void	setAxis (btVector3 &axisInA)

bool	hasLimit () const

btScalar	getLowerLimit () const

btScalar	getUpperLimit () const

btScalar	getHingeAngle ()
	The getHingeAngle gives the hinge angle in range [-PI,PI]. More...

btScalar	getHingeAngle (const btTransform &transA, const btTransform &transB)

void	testLimit (const btTransform &transA, const btTransform &transB)

const btTransform &	getAFrame () const

const btTransform &	getBFrame () const

btTransform &	getAFrame ()

btTransform &	getBFrame ()

int	getSolveLimit ()

btScalar	getLimitSign ()

bool	getAngularOnly ()

bool	getEnableAngularMotor ()

btScalar	getMotorTargetVelocity ()

btScalar	getMaxMotorImpulse ()

bool	getUseFrameOffset ()

void	setUseFrameOffset (bool frameOffsetOnOff)

bool	getUseReferenceFrameA () const

void	setUseReferenceFrameA (bool useReferenceFrameA)

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). More...

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

virtual int	getFlags () const

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 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 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 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 Attributes
btScalar	m_accumulatedAngle

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 More...

Detailed Description

The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account.

Definition at line 360 of file btHingeConstraint.h.

Constructor & Destructor Documentation

◆ btHingeAccumulatedAngleConstraint() [1/4]

btHingeAccumulatedAngleConstraint::btHingeAccumulatedAngleConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB,
		const btVector3 &	axisInA,
		const btVector3 &	axisInB,
		bool	useReferenceFrameA = `false`
	)

inline

Definition at line 369 of file btHingeConstraint.h.

◆ btHingeAccumulatedAngleConstraint() [2/4]

btHingeAccumulatedAngleConstraint::btHingeAccumulatedAngleConstraint	(	btRigidBody &	rbA,
		const btVector3 &	pivotInA,
		const btVector3 &	axisInA,
		bool	useReferenceFrameA = `false`
	)

inline

Definition at line 375 of file btHingeConstraint.h.

◆ btHingeAccumulatedAngleConstraint() [3/4]

btHingeAccumulatedAngleConstraint::btHingeAccumulatedAngleConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	rbAFrame,
		const btTransform &	rbBFrame,
		bool	useReferenceFrameA = `false`
	)

inline

Definition at line 381 of file btHingeConstraint.h.

◆ btHingeAccumulatedAngleConstraint() [4/4]

btHingeAccumulatedAngleConstraint::btHingeAccumulatedAngleConstraint	(	btRigidBody &	rbA,
		const btTransform &	rbAFrame,
		bool	useReferenceFrameA = `false`
	)

inline

Definition at line 387 of file btHingeConstraint.h.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btHingeAccumulatedAngleConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ getAccumulatedHingeAngle()

btScalar btHingeAccumulatedAngleConstraint::getAccumulatedHingeAngle ( )

Definition at line 315 of file btHingeConstraint.cpp.

◆ getInfo1()

void btHingeAccumulatedAngleConstraint::getInfo1 ( btConstraintInfo1 * info )

virtual

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

Reimplemented from btHingeConstraint.

Definition at line 326 of file btHingeConstraint.cpp.

◆ setAccumulatedHingeAngle()

void btHingeAccumulatedAngleConstraint::setAccumulatedHingeAngle ( btScalar accAngle )

Definition at line 321 of file btHingeConstraint.cpp.

Member Data Documentation

◆ m_accumulatedAngle

btScalar btHingeAccumulatedAngleConstraint::m_accumulatedAngle

protected

Definition at line 364 of file btHingeConstraint.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

◆ btHingeAccumulatedAngleConstraint() [1/4]

◆ btHingeAccumulatedAngleConstraint() [2/4]

◆ btHingeAccumulatedAngleConstraint() [3/4]

◆ btHingeAccumulatedAngleConstraint() [4/4]

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ getAccumulatedHingeAngle()

◆ getInfo1()

◆ setAccumulatedHingeAngle()

Member Data Documentation

◆ m_accumulatedAngle