#include <btGeneric6DofConstraint.h>
Public Member Functions | |
| btTranslationalLimitMotor () | |
| btTranslationalLimitMotor (const btTranslationalLimitMotor &other) | |
| bool | isLimited (int limitIndex) const |
| Test limit. More... | |
| bool | needApplyForce (int limitIndex) const |
| int | testLimitValue (int limitIndex, btScalar test_value) |
| btScalar | solveLinearAxis (btScalar timeStep, btScalar jacDiagABInv, btRigidBody &body1, const btVector3 &pointInA, btRigidBody &body2, const btVector3 &pointInB, int limit_index, const btVector3 &axis_normal_on_a, const btVector3 &anchorPos) |
Public Attributes | |
| btVector3 | m_lowerLimit |
| the constraint lower limits More... | |
| btVector3 | m_upperLimit |
| the constraint upper limits More... | |
| btVector3 | m_accumulatedImpulse |
| bool | m_enableMotor [3] |
| btVector3 | m_targetVelocity |
| target motor velocity More... | |
| btVector3 | m_maxMotorForce |
| max force on motor More... | |
| btVector3 | m_currentLimitError |
| btVector3 | m_currentLinearDiff |
| How much is violated this limit. More... | |
| int | m_currentLimit [3] |
| Current relative offset of constraint frames. More... | |
| btScalar | m_limitSoftness |
| Linear_Limit_parameters. More... | |
| btScalar | m_damping |
| Damping for linear limit. More... | |
| btScalar | m_restitution |
| btVector3 | m_normalCFM |
| Bounce parameter for linear limit. More... | |
| btVector3 | m_stopERP |
| Error tolerance factor when joint is at limit. More... | |
| btVector3 | m_stopCFM |
| Constraint force mixing factor when joint is at limit. More... | |
Detailed Description
Definition at line 131 of file btGeneric6DofConstraint.h.
Constructor & Destructor Documentation
◆ btTranslationalLimitMotor() [1/2]
|
inline |
Definition at line 153 of file btGeneric6DofConstraint.h.
◆ btTranslationalLimitMotor() [2/2]
|
inline |
Definition at line 173 of file btGeneric6DofConstraint.h.
Member Function Documentation
◆ isLimited()
|
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 201 of file btGeneric6DofConstraint.h.
◆ needApplyForce()
|
inline |
Definition at line 205 of file btGeneric6DofConstraint.h.
◆ solveLinearAxis()
| btScalar btTranslationalLimitMotor::solveLinearAxis | ( | btScalar | timeStep, |
| btScalar | jacDiagABInv, | ||
| btRigidBody & | body1, | ||
| const btVector3 & | pointInA, | ||
| btRigidBody & | body2, | ||
| const btVector3 & | pointInB, | ||
| int | limit_index, | ||
| const btVector3 & | axis_normal_on_a, | ||
| const btVector3 & | anchorPos | ||
| ) |
find relative velocity
apply displacement correction
Definition at line 235 of file btGeneric6DofConstraint.cpp.
◆ testLimitValue()
| int btTranslationalLimitMotor::testLimitValue | ( | int | limitIndex, |
| btScalar | test_value | ||
| ) |
Definition at line 206 of file btGeneric6DofConstraint.cpp.
Member Data Documentation
◆ m_accumulatedImpulse
| btVector3 btTranslationalLimitMotor::m_accumulatedImpulse |
Definition at line 136 of file btGeneric6DofConstraint.h.
◆ m_currentLimit
| int btTranslationalLimitMotor::m_currentLimit[3] |
Current relative offset of constraint frames.
0=free, 1=at lower limit, 2=at upper limit
Definition at line 151 of file btGeneric6DofConstraint.h.
◆ m_currentLimitError
| btVector3 btTranslationalLimitMotor::m_currentLimitError |
Definition at line 149 of file btGeneric6DofConstraint.h.
◆ m_currentLinearDiff
| btVector3 btTranslationalLimitMotor::m_currentLinearDiff |
How much is violated this limit.
Definition at line 150 of file btGeneric6DofConstraint.h.
◆ m_damping
| btScalar btTranslationalLimitMotor::m_damping |
Damping for linear limit.
Definition at line 140 of file btGeneric6DofConstraint.h.
◆ m_enableMotor
| bool btTranslationalLimitMotor::m_enableMotor[3] |
Definition at line 146 of file btGeneric6DofConstraint.h.
◆ m_limitSoftness
| btScalar btTranslationalLimitMotor::m_limitSoftness |
Linear_Limit_parameters.
Softness for linear limit
Definition at line 139 of file btGeneric6DofConstraint.h.
◆ m_lowerLimit
| btVector3 btTranslationalLimitMotor::m_lowerLimit |
the constraint lower limits
Definition at line 134 of file btGeneric6DofConstraint.h.
◆ m_maxMotorForce
| btVector3 btTranslationalLimitMotor::m_maxMotorForce |
max force on motor
Definition at line 148 of file btGeneric6DofConstraint.h.
◆ m_normalCFM
| btVector3 btTranslationalLimitMotor::m_normalCFM |
Bounce parameter for linear limit.
Constraint force mixing factor
Definition at line 142 of file btGeneric6DofConstraint.h.
◆ m_restitution
| btScalar btTranslationalLimitMotor::m_restitution |
Definition at line 141 of file btGeneric6DofConstraint.h.
◆ m_stopCFM
| btVector3 btTranslationalLimitMotor::m_stopCFM |
Constraint force mixing factor when joint is at limit.
Definition at line 144 of file btGeneric6DofConstraint.h.
◆ m_stopERP
| btVector3 btTranslationalLimitMotor::m_stopERP |
Error tolerance factor when joint is at limit.
Definition at line 143 of file btGeneric6DofConstraint.h.
◆ m_targetVelocity
| btVector3 btTranslationalLimitMotor::m_targetVelocity |
target motor velocity
Definition at line 147 of file btGeneric6DofConstraint.h.
◆ m_upperLimit
| btVector3 btTranslationalLimitMotor::m_upperLimit |
the constraint upper limits
Definition at line 135 of file btGeneric6DofConstraint.h.
The documentation for this class was generated from the following files:
