btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space More...

#include <btGeneric6DofConstraint.h>

Inheritance diagram for btGeneric6DofConstraint:

[legend]

Collaboration diagram for btGeneric6DofConstraint:

[legend]

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btGeneric6DofConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)

	btGeneric6DofConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB)

void	calculateTransforms (const btTransform &transA, const btTransform &transB)
	Calcs global transform of the offsets. More...

void	calculateTransforms ()

const btTransform &	getCalculatedTransformA () const
	Gets the global transform of the offset for body A. More...

const btTransform &	getCalculatedTransformB () const
	Gets the global transform of the offset for body B. More...

const btTransform &	getFrameOffsetA () const

const btTransform &	getFrameOffsetB () const

btTransform &	getFrameOffsetA ()

btTransform &	getFrameOffsetB ()

virtual void	buildJacobian ()
	performs Jacobian calculation, and also calculates angle differences and axis 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 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)

void	updateRHS (btScalar timeStep)

btVector3	getAxis (int axis_index) const
	Get the rotation axis in global coordinates. More...

btScalar	getAngle (int axis_index) const
	Get the relative Euler angle. More...

btScalar	getRelativePivotPosition (int axis_index) const
	Get the relative position of the constraint pivot. More...

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

bool	testAngularLimitMotor (int axis_index)
	Test angular limit. More...

void	setLinearLowerLimit (const btVector3 &linearLower)

void	getLinearLowerLimit (btVector3 &linearLower) const

void	setLinearUpperLimit (const btVector3 &linearUpper)

void	getLinearUpperLimit (btVector3 &linearUpper) const

void	setAngularLowerLimit (const btVector3 &angularLower)

void	getAngularLowerLimit (btVector3 &angularLower) const

void	setAngularUpperLimit (const btVector3 &angularUpper)

void	getAngularUpperLimit (btVector3 &angularUpper) const

btRotationalLimitMotor *	getRotationalLimitMotor (int index)
	Retrieves the angular limit informacion. More...

btTranslationalLimitMotor *	getTranslationalLimitMotor ()
	Retrieves the limit informacion. More...

void	setLimit (int axis, btScalar lo, btScalar hi)

bool	isLimited (int limitIndex) const
	Test limit. More...

virtual void	calcAnchorPos (void)

int	get_limit_motor_info2 (btRotationalLimitMotor limot, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB, btConstraintInfo2 info, int row, btVector3 &ax1, int rotational, int rotAllowed=false)

bool	getUseFrameOffset () const

void	setUseFrameOffset (bool frameOffsetOnOff)

bool	getUseLinearReferenceFrameA () const

void	setUseLinearReferenceFrameA (bool linearReferenceFrameA)

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...

void	setAxis (const btVector3 &axis1, const btVector3 &axis2)

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

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

Public Attributes inherited from btTypedObject
int	m_objectType

Protected Member Functions
btGeneric6DofConstraint &	operator= (btGeneric6DofConstraint &other)

int	setAngularLimits (btConstraintInfo2 *info, int row_offset, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)

int	setLinearLimits (btConstraintInfo2 *info, int row, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)

void	buildLinearJacobian (btJacobianEntry &jacLinear, const btVector3 &normalWorld, const btVector3 &pivotAInW, const btVector3 &pivotBInW)

void	buildAngularJacobian (btJacobianEntry &jacAngular, const btVector3 &jointAxisW)

void	calculateLinearInfo ()

void	calculateAngleInfo ()
	calcs the euler angles between the two bodies. More...

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

btTransform	m_frameInA
	relative_frames More...

btTransform	m_frameInB
	the constraint space w.r.t body B More...


btJacobianEntry	m_jacLinear [3]
	Jacobians. More...

btJacobianEntry	m_jacAng [3]
	3 orthogonal angular constraints More...


btTranslationalLimitMotor	m_linearLimits
	Linear_Limit_parameters. More...


btRotationalLimitMotor	m_angularLimits [3]
	hinge_parameters More...


btScalar	m_timeStep
	temporal variables More...

btTransform	m_calculatedTransformA

btTransform	m_calculatedTransformB

btVector3	m_calculatedAxisAngleDiff

btVector3	m_calculatedAxis [3]

btVector3	m_calculatedLinearDiff

btScalar	m_factA

btScalar	m_factB

bool	m_hasStaticBody

btVector3	m_AnchorPos

bool	m_useLinearReferenceFrameA

bool	m_useOffsetForConstraintFrame

int	m_flags

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 ()

Detailed Description

btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space

btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'. currently this limit supports rotational motors

For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method. At this moment translational motors are not supported. May be in the future.
For Angular limits, use the btRotationalLimitMotor structure for configuring the limit. This is accessible through btGeneric6DofConstraint.getLimitMotor method, This brings support for limit parameters and motors.
Angulars limits have these possible ranges:

AXIS MIN ANGLE MAX ANGLE

X -PI PI

Y -PI/2 PI/2

Z -PI PI

Definition at line 266 of file btGeneric6DofConstraint.h.

Constructor & Destructor Documentation

◆ btGeneric6DofConstraint() [1/2]

btGeneric6DofConstraint::btGeneric6DofConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	frameInA,
		const btTransform &	frameInB,
		bool	useLinearReferenceFrameA
	)

Definition at line 31 of file btGeneric6DofConstraint.cpp.

◆ btGeneric6DofConstraint() [2/2]

btGeneric6DofConstraint::btGeneric6DofConstraint	(	btRigidBody &	rbB,
		const btTransform &	frameInB,
		bool	useLinearReferenceFrameB
	)

not providing rigidbody A means implicitly using worldspace for body A

Definition at line 37 of file btGeneric6DofConstraint.cpp.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btGeneric6DofConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ buildAngularJacobian()

void btGeneric6DofConstraint::buildAngularJacobian	(	btJacobianEntry &	jacAngular,
		const btVector3 &	jointAxisW
	)

protected

Definition at line 381 of file btGeneric6DofConstraint.cpp.

◆ buildJacobian()

void btGeneric6DofConstraint::buildJacobian ( )

virtual

performs Jacobian calculation, and also calculates angle differences and axis

Reimplemented from btTypedConstraint.

Definition at line 401 of file btGeneric6DofConstraint.cpp.

◆ buildLinearJacobian()

void btGeneric6DofConstraint::buildLinearJacobian	(	btJacobianEntry &	jacLinear,
		const btVector3 &	normalWorld,
		const btVector3 &	pivotAInW,
		const btVector3 &	pivotBInW
	)

protected

Definition at line 365 of file btGeneric6DofConstraint.cpp.

◆ calcAnchorPos()

void btGeneric6DofConstraint::calcAnchorPos ( void )

virtual

Definition at line 660 of file btGeneric6DofConstraint.cpp.

◆ calculateAngleInfo()

void btGeneric6DofConstraint::calculateAngleInfo ( )

protected

calcs the euler angles between the two bodies.

Definition at line 306 of file btGeneric6DofConstraint.cpp.

◆ calculateLinearInfo()

void btGeneric6DofConstraint::calculateLinearInfo ( )

protected

Definition at line 679 of file btGeneric6DofConstraint.cpp.

◆ calculateSerializeBufferSize()

int btGeneric6DofConstraint::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btTypedConstraint.

Reimplemented in btGeneric6DofSpringConstraint.

Definition at line 586 of file btGeneric6DofConstraint.h.

◆ calculateTransforms() [1/2]

void btGeneric6DofConstraint::calculateTransforms ( )

Definition at line 336 of file btGeneric6DofConstraint.cpp.

◆ calculateTransforms() [2/2]

void btGeneric6DofConstraint::calculateTransforms	(	const btTransform &	transA,
		const btTransform &	transB
	)

Calcs global transform of the offsets.

Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.

See also: btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo

Definition at line 341 of file btGeneric6DofConstraint.cpp.

◆ get_limit_motor_info2()

int btGeneric6DofConstraint::get_limit_motor_info2	(	btRotationalLimitMotor *	limot,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	linVelA,
		const btVector3 &	linVelB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB,
		btConstraintInfo2 *	info,
		int	row,
		btVector3 &	ax1,
		int	rotational,
		int	rotAllowed = `false`
	)

Definition at line 690 of file btGeneric6DofConstraint.cpp.

◆ getAngle()

btScalar btGeneric6DofConstraint::getAngle ( int axis_index ) const

Get the relative Euler angle.

Precondition: btGeneric6DofConstraint::calculateTransforms() must be called previously.

Definition at line 655 of file btGeneric6DofConstraint.cpp.

◆ getAngularLowerLimit()

void btGeneric6DofConstraint::getAngularLowerLimit ( btVector3 & angularLower ) const

inline

Definition at line 459 of file btGeneric6DofConstraint.h.

◆ getAngularUpperLimit()

void btGeneric6DofConstraint::getAngularUpperLimit ( btVector3 & angularUpper ) const

inline

Definition at line 471 of file btGeneric6DofConstraint.h.

◆ getAxis()

btVector3 btGeneric6DofConstraint::getAxis ( int axis_index ) const

Get the rotation axis in global coordinates.

Precondition: btGeneric6DofConstraint.buildJacobian must be called previously.

Definition at line 645 of file btGeneric6DofConstraint.cpp.

◆ getCalculatedTransformA()

const btTransform & btGeneric6DofConstraint::getCalculatedTransformA ( ) const

inline

Gets the global transform of the offset for body A.

See also: btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.

Definition at line 359 of file btGeneric6DofConstraint.h.

◆ getCalculatedTransformB()

const btTransform & btGeneric6DofConstraint::getCalculatedTransformB ( ) const

inline

Gets the global transform of the offset for body B.

See also: btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.

Definition at line 368 of file btGeneric6DofConstraint.h.

◆ getFlags()

virtual int btGeneric6DofConstraint::getFlags ( ) const

inlinevirtual

Definition at line 543 of file btGeneric6DofConstraint.h.

◆ getFrameOffsetA() [1/2]

btTransform & btGeneric6DofConstraint::getFrameOffsetA ( )

inline

Definition at line 383 of file btGeneric6DofConstraint.h.

◆ getFrameOffsetA() [2/2]

const btTransform & btGeneric6DofConstraint::getFrameOffsetA ( ) const

inline

Definition at line 373 of file btGeneric6DofConstraint.h.

◆ getFrameOffsetB() [1/2]

btTransform & btGeneric6DofConstraint::getFrameOffsetB ( )

inline

Definition at line 388 of file btGeneric6DofConstraint.h.

◆ getFrameOffsetB() [2/2]

const btTransform & btGeneric6DofConstraint::getFrameOffsetB ( ) const

inline

Definition at line 378 of file btGeneric6DofConstraint.h.

◆ getInfo1()

void btGeneric6DofConstraint::getInfo1 ( btConstraintInfo1 * info )

virtual

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

Implements btTypedConstraint.

Definition at line 458 of file btGeneric6DofConstraint.cpp.

◆ getInfo1NonVirtual()

void btGeneric6DofConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

Definition at line 493 of file btGeneric6DofConstraint.cpp.

◆ getInfo2()

void btGeneric6DofConstraint::getInfo2 ( btConstraintInfo2 * info )

virtual

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

Implements btTypedConstraint.

Reimplemented in btGeneric6DofSpringConstraint.

Definition at line 508 of file btGeneric6DofConstraint.cpp.

◆ getInfo2NonVirtual()

void btGeneric6DofConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	linVelA,
		const btVector3 &	linVelB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)

Definition at line 531 of file btGeneric6DofConstraint.cpp.

◆ getLinearLowerLimit()

void btGeneric6DofConstraint::getLinearLowerLimit ( btVector3 & linearLower ) const

inline

Definition at line 438 of file btGeneric6DofConstraint.h.

◆ getLinearUpperLimit()

void btGeneric6DofConstraint::getLinearUpperLimit ( btVector3 & linearUpper ) const

inline

Definition at line 448 of file btGeneric6DofConstraint.h.

◆ getParam()

btScalar btGeneric6DofConstraint::getParam	(	int	num,
		int	axis = `-1`
	)		const

virtual

return the local value of parameter

Implements btTypedConstraint.

Definition at line 908 of file btGeneric6DofConstraint.cpp.

◆ getRelativePivotPosition()

btScalar btGeneric6DofConstraint::getRelativePivotPosition ( int axis_index ) const

Get the relative position of the constraint pivot.

Precondition: btGeneric6DofConstraint::calculateTransforms() must be called previously.

Definition at line 650 of file btGeneric6DofConstraint.cpp.

◆ getRotationalLimitMotor()

btRotationalLimitMotor * btGeneric6DofConstraint::getRotationalLimitMotor ( int index )

inline

Retrieves the angular limit informacion.

Definition at line 478 of file btGeneric6DofConstraint.h.

◆ getTranslationalLimitMotor()

btTranslationalLimitMotor * btGeneric6DofConstraint::getTranslationalLimitMotor ( )

inline

Retrieves the limit informacion.

Definition at line 484 of file btGeneric6DofConstraint.h.

◆ getUseFrameOffset()

bool btGeneric6DofConstraint::getUseFrameOffset ( ) const

inline

Definition at line 529 of file btGeneric6DofConstraint.h.

◆ getUseLinearReferenceFrameA()

bool btGeneric6DofConstraint::getUseLinearReferenceFrameA ( ) const

inline

Definition at line 532 of file btGeneric6DofConstraint.h.

◆ isLimited()

bool btGeneric6DofConstraint::isLimited ( int limitIndex ) const

inline

Test limit.

free means upper < lower,
locked means upper == lower
limited means upper > lower
limitIndex: first 3 are linear, next 3 are angular

Definition at line 513 of file btGeneric6DofConstraint.h.

◆ operator=()

btGeneric6DofConstraint & btGeneric6DofConstraint::operator= ( btGeneric6DofConstraint & other )

inlineprotected

Definition at line 314 of file btGeneric6DofConstraint.h.

◆ serialize()

const char * btGeneric6DofConstraint::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)		const

inlinevirtual

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

Reimplemented from btTypedConstraint.

Reimplemented in btGeneric6DofSpringConstraint.

Definition at line 592 of file btGeneric6DofConstraint.h.

◆ setAngularLimits()

int btGeneric6DofConstraint::setAngularLimits	(	btConstraintInfo2 *	info,
		int	row_offset,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	linVelA,
		const btVector3 &	linVelB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)

protected

Definition at line 601 of file btGeneric6DofConstraint.cpp.

◆ setAngularLowerLimit()

void btGeneric6DofConstraint::setAngularLowerLimit ( const btVector3 & angularLower )

inline

Definition at line 453 of file btGeneric6DofConstraint.h.

◆ setAngularUpperLimit()

void btGeneric6DofConstraint::setAngularUpperLimit ( const btVector3 & angularUpper )

inline

Definition at line 465 of file btGeneric6DofConstraint.h.

◆ setAxis()

void btGeneric6DofConstraint::setAxis	(	const btVector3 &	axis1,
		const btVector3 &	axis2
	)

Definition at line 958 of file btGeneric6DofConstraint.cpp.

◆ setFrames()

void btGeneric6DofConstraint::setFrames	(	const btTransform &	frameA,
		const btTransform &	frameB
	)

Definition at line 637 of file btGeneric6DofConstraint.cpp.

◆ setLimit()

void btGeneric6DofConstraint::setLimit	(	int	axis,
		btScalar	lo,
		btScalar	hi
	)

inline

Definition at line 490 of file btGeneric6DofConstraint.h.

◆ setLinearLimits()

int btGeneric6DofConstraint::setLinearLimits	(	btConstraintInfo2 *	info,
		int	row,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	linVelA,
		const btVector3 &	linVelB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)

protected

Definition at line 555 of file btGeneric6DofConstraint.cpp.

◆ setLinearLowerLimit()

void btGeneric6DofConstraint::setLinearLowerLimit ( const btVector3 & linearLower )

inline

Definition at line 433 of file btGeneric6DofConstraint.h.

◆ setLinearUpperLimit()

void btGeneric6DofConstraint::setLinearUpperLimit ( const btVector3 & linearUpper )

inline

Definition at line 443 of file btGeneric6DofConstraint.h.

◆ setParam()

void btGeneric6DofConstraint::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 859 of file btGeneric6DofConstraint.cpp.

◆ setUseFrameOffset()

void btGeneric6DofConstraint::setUseFrameOffset ( bool frameOffsetOnOff )

inline

Definition at line 530 of file btGeneric6DofConstraint.h.

◆ setUseLinearReferenceFrameA()

void btGeneric6DofConstraint::setUseLinearReferenceFrameA ( bool linearReferenceFrameA )

inline

Definition at line 533 of file btGeneric6DofConstraint.h.

◆ testAngularLimitMotor()

bool btGeneric6DofConstraint::testAngularLimitMotor ( int axis_index )

Test angular limit.

Calculates angular correction and returns true if limit needs to be corrected.

Precondition: btGeneric6DofConstraint::calculateTransforms() must be called previously.

Definition at line 391 of file btGeneric6DofConstraint.cpp.

◆ updateRHS()

void btGeneric6DofConstraint::updateRHS ( btScalar timeStep )

Definition at line 632 of file btGeneric6DofConstraint.cpp.

Member Data Documentation

◆ m_AnchorPos

btVector3 btGeneric6DofConstraint::m_AnchorPos

protected

Definition at line 305 of file btGeneric6DofConstraint.h.

◆ m_angularLimits

btRotationalLimitMotor btGeneric6DofConstraint::m_angularLimits[3]

protected

hinge_parameters

Definition at line 289 of file btGeneric6DofConstraint.h.

◆ m_calculatedAxis

btVector3 btGeneric6DofConstraint::m_calculatedAxis[3]

protected

Definition at line 299 of file btGeneric6DofConstraint.h.

◆ m_calculatedAxisAngleDiff

btVector3 btGeneric6DofConstraint::m_calculatedAxisAngleDiff

protected

Definition at line 298 of file btGeneric6DofConstraint.h.

◆ m_calculatedLinearDiff

btVector3 btGeneric6DofConstraint::m_calculatedLinearDiff

protected

Definition at line 300 of file btGeneric6DofConstraint.h.

◆ m_calculatedTransformA

btTransform btGeneric6DofConstraint::m_calculatedTransformA

protected

Definition at line 296 of file btGeneric6DofConstraint.h.

◆ m_calculatedTransformB

btTransform btGeneric6DofConstraint::m_calculatedTransformB

protected

Definition at line 297 of file btGeneric6DofConstraint.h.

◆ m_factA

btScalar btGeneric6DofConstraint::m_factA

protected

Definition at line 301 of file btGeneric6DofConstraint.h.

◆ m_factB

btScalar btGeneric6DofConstraint::m_factB

protected

Definition at line 302 of file btGeneric6DofConstraint.h.

◆ m_flags

int btGeneric6DofConstraint::m_flags

protected

Definition at line 310 of file btGeneric6DofConstraint.h.

◆ m_frameInA

btTransform btGeneric6DofConstraint::m_frameInA

protected

relative_frames

the constraint space w.r.t body A

Definition at line 272 of file btGeneric6DofConstraint.h.

◆ m_frameInB

btTransform btGeneric6DofConstraint::m_frameInB

protected

the constraint space w.r.t body B

Definition at line 273 of file btGeneric6DofConstraint.h.

◆ m_hasStaticBody

bool btGeneric6DofConstraint::m_hasStaticBody

protected

Definition at line 303 of file btGeneric6DofConstraint.h.

◆ m_jacAng

btJacobianEntry btGeneric6DofConstraint::m_jacAng[3]

protected

3 orthogonal angular constraints

Definition at line 279 of file btGeneric6DofConstraint.h.

◆ m_jacLinear

btJacobianEntry btGeneric6DofConstraint::m_jacLinear[3]

protected

Jacobians.

3 orthogonal linear constraints

Definition at line 278 of file btGeneric6DofConstraint.h.

◆ m_linearLimits

btTranslationalLimitMotor btGeneric6DofConstraint::m_linearLimits

protected

Linear_Limit_parameters.

Definition at line 284 of file btGeneric6DofConstraint.h.

◆ m_timeStep

btScalar btGeneric6DofConstraint::m_timeStep

protected

temporal variables

Definition at line 295 of file btGeneric6DofConstraint.h.

◆ m_useLinearReferenceFrameA

bool btGeneric6DofConstraint::m_useLinearReferenceFrameA

protected

Definition at line 307 of file btGeneric6DofConstraint.h.

◆ m_useOffsetForConstraintFrame

bool btGeneric6DofConstraint::m_useOffsetForConstraintFrame

protected

Definition at line 308 of file btGeneric6DofConstraint.h.

◆ m_useSolveConstraintObsolete

bool btGeneric6DofConstraint::m_useSolveConstraintObsolete

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

Definition at line 341 of file btGeneric6DofConstraint.h.

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

AXIS	MIN ANGLE	MAX ANGLE
X	-PI	PI
Y	-PI/2	PI/2
Z	-PI	PI

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btGeneric6DofConstraint() [1/2]

◆ btGeneric6DofConstraint() [2/2]

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ buildAngularJacobian()

◆ buildJacobian()

◆ buildLinearJacobian()

◆ calcAnchorPos()

◆ calculateAngleInfo()

◆ calculateLinearInfo()

◆ calculateSerializeBufferSize()

◆ calculateTransforms() [1/2]

◆ calculateTransforms() [2/2]

◆ get_limit_motor_info2()

◆ getAngle()

◆ getAngularLowerLimit()

◆ getAngularUpperLimit()

◆ getAxis()

◆ getCalculatedTransformA()

◆ getCalculatedTransformB()

◆ getFlags()

◆ getFrameOffsetA() [1/2]

◆ getFrameOffsetA() [2/2]

◆ getFrameOffsetB() [1/2]

◆ getFrameOffsetB() [2/2]

◆ getInfo1()

◆ getInfo1NonVirtual()

◆ getInfo2()

◆ getInfo2NonVirtual()

◆ getLinearLowerLimit()

◆ getLinearUpperLimit()

◆ getParam()

◆ getRelativePivotPosition()

◆ getRotationalLimitMotor()

◆ getTranslationalLimitMotor()

◆ getUseFrameOffset()

◆ getUseLinearReferenceFrameA()

◆ isLimited()

◆ operator=()

◆ serialize()

◆ setAngularLimits()

◆ setAngularLowerLimit()

◆ setAngularUpperLimit()

◆ setAxis()

◆ setFrames()

◆ setLimit()

◆ setLinearLimits()

◆ setLinearLowerLimit()

◆ setLinearUpperLimit()

◆ setParam()

◆ setUseFrameOffset()

◆ setUseLinearReferenceFrameA()

◆ testAngularLimitMotor()

◆ updateRHS()

Member Data Documentation

◆ m_AnchorPos

◆ m_angularLimits

◆ m_calculatedAxis

◆ m_calculatedAxisAngleDiff

◆ m_calculatedLinearDiff

◆ m_calculatedTransformA

◆ m_calculatedTransformB

◆ m_factA

◆ m_factB

◆ m_flags

◆ m_frameInA

◆ m_frameInB

◆ m_hasStaticBody

◆ m_jacAng

◆ m_jacLinear

◆ m_linearLimits

◆ m_timeStep

◆ m_useLinearReferenceFrameA