point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space More...

#include <btPoint2PointConstraint.h>

Inheritance diagram for btPoint2PointConstraint:

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Collaboration diagram for btPoint2PointConstraint:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btPoint2PointConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)

	btPoint2PointConstraint (btRigidBody &rbA, const btVector3 &pivotInA)

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

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

void	getInfo1NonVirtual (btConstraintInfo1 *info)

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

void	getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &body0_trans, const btTransform &body1_trans)

void	updateRHS (btScalar timeStep)

void	setPivotA (const btVector3 &pivotA)

void	setPivotB (const btVector3 &pivotB)

const btVector3 &	getPivotInA () const

const btVector3 &	getPivotInB () 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	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)

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	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

Public Attributes
bool	m_useSolveConstraintObsolete
	for backwards compatibility during the transition to 'getInfo/getInfo2'

btConstraintSetting	m_setting

Public Attributes inherited from btTypedObject
int	m_objectType

Private Attributes
btJacobianEntry	m_jac [3]

btVector3	m_pivotInA

btVector3	m_pivotInB

int	m_flags

btScalar	m_erp

btScalar	m_cfm

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

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

Protected Attributes inherited from btTypedConstraint
btRigidBody &	m_rbA

btRigidBody &	m_rbB

btScalar	m_appliedImpulse

btScalar	m_dbgDrawSize

btJointFeedback *	m_jointFeedback

Detailed Description

point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space

Definition at line 52 of file btPoint2PointConstraint.h.

Constructor & Destructor Documentation

◆ btPoint2PointConstraint() [1/2]

btPoint2PointConstraint::btPoint2PointConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB
	)

Definition at line 20 of file btPoint2PointConstraint.cpp.

◆ btPoint2PointConstraint() [2/2]

btPoint2PointConstraint::btPoint2PointConstraint	(	btRigidBody &	rbA,
		const btVector3 &	pivotInA
	)

Definition at line 25 of file btPoint2PointConstraint.cpp.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btPoint2PointConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ buildJacobian()

void btPoint2PointConstraint::buildJacobian ( )

virtual

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

we need it for both methods

Reimplemented from btTypedConstraint.

Definition at line 30 of file btPoint2PointConstraint.cpp.

◆ calculateSerializeBufferSize()

int btPoint2PointConstraint::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btTypedConstraint.

Definition at line 156 of file btPoint2PointConstraint.h.

◆ getFlags()

virtual int btPoint2PointConstraint::getFlags ( ) const

inlinevirtual

Definition at line 117 of file btPoint2PointConstraint.h.

◆ getInfo1()

void btPoint2PointConstraint::getInfo1 ( btConstraintInfo1 * info )

virtual

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

Implements btTypedConstraint.

Definition at line 56 of file btPoint2PointConstraint.cpp.

◆ getInfo1NonVirtual()

void btPoint2PointConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

Definition at line 61 of file btPoint2PointConstraint.cpp.

◆ getInfo2()

void btPoint2PointConstraint::getInfo2 ( btConstraintInfo2 * info )

virtual

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

Implements btTypedConstraint.

Definition at line 75 of file btPoint2PointConstraint.cpp.

◆ getInfo2NonVirtual()

void btPoint2PointConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	body0_trans,
		const btTransform &	body1_trans
	)

Definition at line 80 of file btPoint2PointConstraint.cpp.

◆ getParam()

btScalar btPoint2PointConstraint::getParam	(	int	num,
		int	axis = `-1`
	)		const

virtual

return the local value of parameter

Implements btTypedConstraint.

Definition at line 179 of file btPoint2PointConstraint.cpp.

◆ getPivotInA()

const btVector3 & btPoint2PointConstraint::getPivotInA ( ) const

inline

Definition at line 101 of file btPoint2PointConstraint.h.

◆ getPivotInB()

const btVector3 & btPoint2PointConstraint::getPivotInB ( ) const

inline

Definition at line 106 of file btPoint2PointConstraint.h.

◆ serialize()

const char * btPoint2PointConstraint::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 162 of file btPoint2PointConstraint.h.

◆ setParam()

void btPoint2PointConstraint::setParam	(	int	num,
		btScalar	value,
		int	axis = `-1`
	)

virtual

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 152 of file btPoint2PointConstraint.cpp.

◆ setPivotA()

void btPoint2PointConstraint::setPivotA ( const btVector3 & pivotA )

inline

Definition at line 91 of file btPoint2PointConstraint.h.

◆ setPivotB()

void btPoint2PointConstraint::setPivotB ( const btVector3 & pivotB )

inline

Definition at line 96 of file btPoint2PointConstraint.h.

◆ updateRHS()

void btPoint2PointConstraint::updateRHS ( btScalar timeStep )

Definition at line 145 of file btPoint2PointConstraint.cpp.

Member Data Documentation

◆ m_cfm

btScalar btPoint2PointConstraint::m_cfm

private

Definition at line 65 of file btPoint2PointConstraint.h.

◆ m_erp

btScalar btPoint2PointConstraint::m_erp

private

Definition at line 64 of file btPoint2PointConstraint.h.

◆ m_flags

int btPoint2PointConstraint::m_flags

private

Definition at line 63 of file btPoint2PointConstraint.h.

◆ m_jac

btJacobianEntry btPoint2PointConstraint::m_jac[3]

private

Definition at line 58 of file btPoint2PointConstraint.h.

◆ m_pivotInA

btVector3 btPoint2PointConstraint::m_pivotInA

private

Definition at line 60 of file btPoint2PointConstraint.h.

◆ m_pivotInB

btVector3 btPoint2PointConstraint::m_pivotInB

private

Definition at line 61 of file btPoint2PointConstraint.h.

◆ m_setting

btConstraintSetting btPoint2PointConstraint::m_setting

Definition at line 73 of file btPoint2PointConstraint.h.

◆ m_useSolveConstraintObsolete

bool btPoint2PointConstraint::m_useSolveConstraintObsolete

for backwards compatibility during the transition to 'getInfo/getInfo2'

Definition at line 71 of file btPoint2PointConstraint.h.

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

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btPoint2PointConstraint() [1/2]

◆ btPoint2PointConstraint() [2/2]

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ buildJacobian()

◆ calculateSerializeBufferSize()

◆ getFlags()

◆ getInfo1()

◆ getInfo1NonVirtual()

◆ getInfo2()

◆ getInfo2NonVirtual()

◆ getParam()

◆ getPivotInA()

◆ getPivotInB()

◆ serialize()

◆ setParam()

◆ setPivotA()

◆ setPivotB()

◆ updateRHS()

Member Data Documentation

◆ m_cfm

◆ m_erp

◆ m_flags

◆ m_jac

◆ m_pivotInA

◆ m_pivotInB

◆ m_setting

◆ m_useSolveConstraintObsolete