btHingeConstraint.h File Reference

#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"

Go to the source code of this file.

Classes
struct	btHingeConstraintDoubleData
	this structure is not used, except for loading pre-2.82 .bullet files More...
struct	btHingeConstraintFloatData
struct	btHingeConstraintDoubleData2
	do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 More...

Macros
#define	_BT_USE_CENTER_LIMIT_   1
#define	btHingeConstraintData   btHingeConstraintFloatData
#define	btHingeConstraintDataName   "btHingeConstraintFloatData"

Enumerations
enum	btHingeFlags { BT_HINGE_FLAGS_CFM_STOP = 1 , BT_HINGE_FLAGS_ERP_STOP = 2 , BT_HINGE_FLAGS_CFM_NORM = 4 , BT_HINGE_FLAGS_ERP_NORM = 8 }

Functions
	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 ()
	obsolete methods
virtual void	getInfo1 (btConstraintInfo1 *info)
void	getInfo1NonVirtual (btConstraintInfo1 *info)
virtual void	getInfo2 (btConstraintInfo2 *info)
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
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].
btScalar	getHingeAngle (const btTransform &transA, const btTransform &transB)
void	testLimit (const btTransform &transA, const btTransform &transB)
const btTransform &	getAFrame () const
const btTransform &	getBFrame () const
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)
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)
	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)

Variables
btHingeConstraint	__pad0__
btJacobianEntry	m_jacAng [3]
btTransform	m_rbAFrame
btTransform	m_rbBFrame
btScalar	m_motorTargetVelocity
btScalar	m_maxMotorImpulse
btAngularLimit	m_limit
btScalar	m_kHinge
btScalar	m_accLimitImpulse
btScalar	m_hingeAngle
btScalar	m_referenceSign
bool	m_angularOnly
bool	m_enableAngularMotor
bool	m_useSolveConstraintObsolete
bool	m_useOffsetForConstraintFrame
bool	m_useReferenceFrameA
btScalar	m_accMotorImpulse
int	m_flags
btScalar	m_normalCFM
btScalar	m_normalERP
btScalar	m_stopCFM
btScalar	m_stopERP
btHingeAccumulatedAngleConstraint	__pad1__
	The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account.

Macro Definition Documentation

_BT_USE_CENTER_LIMIT_

#define _BT_USE_CENTER_LIMIT_   1

Definition at line 21 of file btHingeConstraint.h.

Referenced by btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), and btHingeConstraint().

btHingeConstraintData

#define btHingeConstraintData   btHingeConstraintFloatData

Definition at line 33 of file btHingeConstraint.h.

btHingeConstraintDataName

#define btHingeConstraintDataName   "btHingeConstraintFloatData"

Definition at line 34 of file btHingeConstraint.h.

Enumeration Type Documentation

btHingeFlags

enum btHingeFlags

Enumerator
BT_HINGE_FLAGS_CFM_STOP
BT_HINGE_FLAGS_ERP_STOP
BT_HINGE_FLAGS_CFM_NORM
BT_HINGE_FLAGS_ERP_NORM

Definition at line 37 of file btHingeConstraint.h.

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

References btTransform, btVector3, and rbB.

btHingeAccumulatedAngleConstraint() [1/4]

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

Definition at line 381 of file btHingeConstraint.h.

References btHingeConstraint(), btTransform, getHingeAngle(), and rbB.

btHingeAccumulatedAngleConstraint() [2/4]

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

Definition at line 369 of file btHingeConstraint.h.

References btHingeConstraint(), btVector3, getHingeAngle(), and rbB.

btHingeAccumulatedAngleConstraint() [3/4]

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

Definition at line 387 of file btHingeConstraint.h.

References btHingeConstraint(), btTransform, and getHingeAngle().

btHingeAccumulatedAngleConstraint() [4/4]

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

Definition at line 375 of file btHingeConstraint.h.

References btHingeConstraint(), btVector3, and getHingeAngle().

btHingeConstraint() [1/4]

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

Definition at line 144 of file btHingeConstraint.cpp.

References _BT_USE_CENTER_LIMIT_, btTransform, btTypedConstraint(), false, HINGE_CONSTRAINT_TYPE, HINGE_USE_FRAME_OFFSET, HINGE_USE_OBSOLETE_SOLVER, m_angularOnly, m_biasFactor, m_enableAngularMotor, m_flags, m_limit, m_limitSoftness, m_lowerLimit, m_normalCFM, m_normalERP, m_rbAFrame, m_rbBFrame, m_referenceSign, m_relaxationFactor, m_stopCFM, m_stopERP, m_upperLimit, m_useOffsetForConstraintFrame, m_useReferenceFrameA, m_useSolveConstraintObsolete, and rbB.

btHingeConstraint() [2/4]

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

Definition at line 30 of file btHingeConstraint.cpp.

References _BT_USE_CENTER_LIMIT_, btTypedConstraint(), btVector3, false, getBasis(), btRigidBody::getCenterOfMassTransform(), getColumn(), HINGE_CONSTRAINT_TYPE, HINGE_USE_FRAME_OFFSET, HINGE_USE_OBSOLETE_SOLVER, m_angularOnly, m_biasFactor, m_enableAngularMotor, m_flags, m_limit, m_limitSoftness, m_lowerLimit, m_normalCFM, m_normalERP, m_rbAFrame, m_rbBFrame, m_referenceSign, m_relaxationFactor, m_stopCFM, m_stopERP, m_upperLimit, m_useOffsetForConstraintFrame, m_useReferenceFrameA, m_useSolveConstraintObsolete, quatRotate(), rbB, setValue(), shortestArcQuat(), and SIMD_EPSILON.

Referenced by btHingeAccumulatedAngleConstraint(), btHingeAccumulatedAngleConstraint(), btHingeAccumulatedAngleConstraint(), btHingeAccumulatedAngleConstraint(), debugDrawConstraint(), RB_constraint_new_hinge(), and RB_constraint_set_limits_hinge().

btHingeConstraint() [3/4]

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

not providing rigidbody B means implicitly using worldspace for body B

Definition at line 173 of file btHingeConstraint.cpp.

References _BT_USE_CENTER_LIMIT_, btTransform, btTypedConstraint(), false, HINGE_CONSTRAINT_TYPE, HINGE_USE_FRAME_OFFSET, HINGE_USE_OBSOLETE_SOLVER, m_angularOnly, m_biasFactor, m_enableAngularMotor, m_flags, m_limit, m_limitSoftness, m_lowerLimit, m_normalCFM, m_normalERP, m_rbA, m_rbAFrame, m_rbBFrame, m_referenceSign, m_relaxationFactor, m_stopCFM, m_stopERP, m_upperLimit, m_useOffsetForConstraintFrame, m_useReferenceFrameA, and m_useSolveConstraintObsolete.

btHingeConstraint() [4/4]

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

Definition at line 95 of file btHingeConstraint.cpp.

References _BT_USE_CENTER_LIMIT_, btPlaneSpace1(), btTypedConstraint(), btVector3, false, btRigidBody::getCenterOfMassTransform(), HINGE_CONSTRAINT_TYPE, HINGE_USE_FRAME_OFFSET, HINGE_USE_OBSOLETE_SOLVER, m_angularOnly, m_biasFactor, m_enableAngularMotor, m_flags, m_limit, m_limitSoftness, m_lowerLimit, m_normalCFM, m_normalERP, m_rbAFrame, m_rbBFrame, m_referenceSign, m_relaxationFactor, m_stopCFM, m_stopERP, m_upperLimit, m_useOffsetForConstraintFrame, m_useReferenceFrameA, m_useSolveConstraintObsolete, quatRotate(), and shortestArcQuat().

buildJacobian()

virtual void buildJacobian ( )

virtual

obsolete methods

performs Jacobian calculation, and also calculates angle differences and axis

performs Jacobian calculation, and also calculates angle differences and axis

obsolete methods

we need it for both methods

Definition at line 322 of file btGeneric6DofSpring2Constraint.h.

calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

enableAngularMotor()

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

Definition at line 159 of file btHingeConstraint.h.

References enableMotor(), m_enableAngularMotor, m_maxMotorImpulse, and m_motorTargetVelocity.

enableMotor()

void enableMotor

(

bool

enableMotor

)

Definition at line 169 of file btHingeConstraint.h.

References enableMotor(), and m_enableAngularMotor.

getAccumulatedHingeAngle()

btScalar btHingeAccumulatedAngleConstraint::getAccumulatedHingeAngle

(

)

Definition at line 315 of file btHingeConstraint.cpp.

References btShortestAngleUpdate(), and getHingeAngle().

getAFrame()

const btTransform & getAFrame

(

)

const

Definition at line 273 of file btHingeConstraint.h.

References btTransform, and m_rbAFrame.

getAngularOnly()

bool getAngularOnly ( )

inline

Definition at line 297 of file btHingeConstraint.h.

References m_angularOnly.

getBFrame()

const btTransform & getBFrame

(

)

const

Definition at line 274 of file btHingeConstraint.h.

References btTransform, and m_rbBFrame.

getEnableAngularMotor()

bool getEnableAngularMotor ( )

inline

Definition at line 301 of file btHingeConstraint.h.

References m_enableAngularMotor.

Referenced by getInfo2Internal(), and getInfo2InternalUsingFrameOffset().

getFlags()

virtual int getFlags ( ) const

virtual

Definition at line 326 of file btHingeConstraint.h.

References m_flags.

getFrameOffsetA()

btTransform & getFrameOffsetA

(

)

Definition at line 142 of file btHingeConstraint.h.

References btTransform, and m_rbAFrame.

getFrameOffsetB()

btTransform & getFrameOffsetB

(

)

Definition at line 147 of file btHingeConstraint.h.

References btTransform, and m_rbBFrame.

getHingeAngle() [1/2]

btScalar btHingeConstraint::getHingeAngle

(

)

The getHingeAngle gives the hinge angle in range [-PI,PI].

Definition at line 642 of file btHingeConstraint.cpp.

References getHingeAngle(), m_rbA, and m_rbB.

Referenced by btHingeAccumulatedAngleConstraint(), btHingeAccumulatedAngleConstraint(), btHingeAccumulatedAngleConstraint(), btHingeAccumulatedAngleConstraint(), getAccumulatedHingeAngle(), getHingeAngle(), setMotorTarget(), and testLimit().

getHingeAngle() [2/2]

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

Definition at line 647 of file btHingeConstraint.cpp.

References angle(), btAtan2(), btTransform, btVector3, m_rbAFrame, m_rbBFrame, and m_referenceSign.

getInfo1()

virtual void getInfo1 ( btConstraintInfo1 * info )

virtual

getInfo1NonVirtual()

void getInfo1NonVirtual

(

btConstraintInfo1 *

info

)

getInfo2()

virtual void getInfo2 ( btConstraintInfo2 * info )

virtual

References btTransform, and btVector3.

getInfo2Internal()

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

Definition at line 392 of file btHingeConstraint.cpp.

References BT_HINGE_FLAGS_CFM_NORM, BT_HINGE_FLAGS_CFM_STOP, BT_HINGE_FLAGS_ERP_NORM, BT_HINGE_FLAGS_ERP_STOP, btAssert, btTransform, btVector3, btConstraintInfo2::cfm, btConstraintInfo2::erp, btConstraintInfo2::fps, getEnableAngularMotor(), getLowerLimit(), getMotorFactor(), getSolveLimit(), getUpperLimit(), i, m_angularOnly, m_biasFactor, btConstraintInfo2::m_constraintError, m_flags, m_hingeAngle, btConstraintInfo2::m_J1angularAxis, btConstraintInfo2::m_J1linearAxis, btConstraintInfo2::m_J2angularAxis, btConstraintInfo2::m_J2linearAxis, m_limit, btConstraintInfo2::m_lowerLimit, m_maxMotorImpulse, m_motorTargetVelocity, m_normalCFM, m_normalERP, m_rbAFrame, m_rbBFrame, m_referenceSign, m_relaxationFactor, m_stopCFM, m_stopERP, btConstraintInfo2::m_upperLimit, m_useSolveConstraintObsolete, btConstraintInfo2::rowskip, and SIMD_INFINITY.

Referenced by getInfo2NonVirtual().

getInfo2InternalUsingFrameOffset()

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

Definition at line 734 of file btHingeConstraint.cpp.

References BT_HINGE_FLAGS_CFM_NORM, BT_HINGE_FLAGS_CFM_STOP, BT_HINGE_FLAGS_ERP_NORM, BT_HINGE_FLAGS_ERP_STOP, btAssert, btSqrt(), btTransform, btVector3, btConstraintInfo2::cfm, btConstraintInfo2::erp, btConstraintInfo2::fps, getEnableAngularMotor(), btRigidBody::getInvMass(), getLowerLimit(), getMotorFactor(), getRigidBodyA(), getRigidBodyB(), getSolveLimit(), getUpperLimit(), i, m_angularOnly, m_biasFactor, btConstraintInfo2::m_constraintError, m_flags, m_hingeAngle, btConstraintInfo2::m_J1angularAxis, btConstraintInfo2::m_J1linearAxis, btConstraintInfo2::m_J2angularAxis, btConstraintInfo2::m_J2linearAxis, m_limit, btConstraintInfo2::m_lowerLimit, m_maxMotorImpulse, m_motorTargetVelocity, m_normalCFM, m_normalERP, m_rbAFrame, m_rbBFrame, m_referenceSign, m_relaxationFactor, m_stopCFM, m_stopERP, btConstraintInfo2::m_upperLimit, m_useSolveConstraintObsolete, rhs, btConstraintInfo2::rowskip, SIMD_EPSILON, and SIMD_INFINITY.

getInfo2NonVirtual()

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

the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now

Definition at line 384 of file btHingeConstraint.cpp.

References btTransform, btVector3, getInfo2Internal(), and testLimit().

getLimitBiasFactor()

btScalar getLimitBiasFactor

(

)

const

Definition at line 197 of file btHingeConstraint.h.

References m_biasFactor, and m_limit.

getLimitRelaxationFactor()

btScalar getLimitRelaxationFactor

(

)

const

Definition at line 206 of file btHingeConstraint.h.

References m_limit, and m_relaxationFactor.

getLimitSign()

btScalar getLimitSign ( )

inline

Definition at line 288 of file btHingeConstraint.h.

References m_limit.

getLimitSoftness()

btScalar getLimitSoftness

(

)

const

Definition at line 188 of file btHingeConstraint.h.

References m_limit, and m_limitSoftness.

getLowerLimit()

btScalar getLowerLimit

(

)

const

Definition at line 248 of file btHingeConstraint.h.

References m_limit, and m_lowerLimit.

Referenced by getInfo2Internal(), and getInfo2InternalUsingFrameOffset().

getMaxMotorImpulse()

btScalar getMaxMotorImpulse ( )

inline

Definition at line 309 of file btHingeConstraint.h.

References m_maxMotorImpulse.

getMotorTargetVelocity()

btScalar getMotorTargetVelocity ( )

inline

Definition at line 305 of file btHingeConstraint.h.

References m_motorTargetVelocity.

getParam()

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

virtual

return the local value of parameter

References num.

getRigidBodyA()

const btRigidBody & getRigidBodyA

(

)

const

Definition at line 123 of file btHingeConstraint.h.

References m_rbA.

getRigidBodyB()

const btRigidBody & getRigidBodyB

(

)

const

Definition at line 127 of file btHingeConstraint.h.

References m_rbB.

getSolveLimit()

int getSolveLimit ( )

inline

Definition at line 279 of file btHingeConstraint.h.

References m_limit.

Referenced by getInfo2Internal(), and getInfo2InternalUsingFrameOffset().

getUpperLimit()

btScalar getUpperLimit

(

)

const

Definition at line 257 of file btHingeConstraint.h.

References m_limit, and m_upperLimit.

Referenced by getInfo2Internal(), and getInfo2InternalUsingFrameOffset().

getUseFrameOffset()

bool getUseFrameOffset

(

)

Definition at line 314 of file btHingeConstraint.h.

References m_useOffsetForConstraintFrame.

getUseReferenceFrameA()

bool getUseReferenceFrameA

(

)

const

Definition at line 317 of file btHingeConstraint.h.

References m_useReferenceFrameA.

hasLimit()

bool hasLimit

(

)

const

Definition at line 239 of file btHingeConstraint.h.

References m_limit, m_lowerLimit, and m_upperLimit.

serialize()

virtual const char * serialize ( void * dataBuffer, btSerializer * serializer ) const

virtual

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

setAccumulatedHingeAngle()

void btHingeAccumulatedAngleConstraint::setAccumulatedHingeAngle

(

btScalar

accAngle

)

Definition at line 321 of file btHingeConstraint.cpp.

setAngularOnly()

void setAngularOnly

(

bool

angularOnly

)

Definition at line 154 of file btHingeConstraint.h.

References m_angularOnly.

setAxis()

void setAxis

(

btVector3 &

axisInA

)

Definition at line 215 of file btHingeConstraint.h.

References btPlaneSpace1(), btVector3, m_rbA, m_rbAFrame, m_rbB, m_rbBFrame, quatRotate(), and shortestArcQuat().

setFrames()

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

Definition at line 264 of file btSliderConstraint.h.

setLimit()

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

Definition at line 175 of file btHingeConstraint.h.

References btNormalizeAngle(), m_biasFactor, m_limit, m_limitSoftness, m_lowerLimit, m_relaxationFactor, and m_upperLimit.

setMaxMotorImpulse()

void setMaxMotorImpulse

(

btScalar

maxMotorImpulse

)

Definition at line 170 of file btHingeConstraint.h.

References m_maxMotorImpulse.

setMotorTarget() [1/2]

void btHingeConstraint::setMotorTarget	(	btScalar	targetAngle,
		btScalar	dt )

Definition at line 715 of file btHingeConstraint.cpp.

References getHingeAngle(), m_limit, m_lowerLimit, m_motorTargetVelocity, m_rbA, m_rbB, and m_upperLimit.

setMotorTarget() [2/2]

void btHingeConstraint::setMotorTarget	(	const btQuaternion &	qAinB,
		btScalar	dt )

Definition at line 689 of file btHingeConstraint.cpp.

References btVector3, btQuaternion::getAngle(), btQuaternion::inverse(), m_rbAFrame, m_rbBFrame, btQuaternion::normalize(), quatRotate(), setMotorTarget(), shortestArcQuat(), SIMD_PI, and vHinge().

setMotorTargetVelocity()

void setMotorTargetVelocity

(

btScalar

motorTargetVelocity

)

Definition at line 171 of file btHingeConstraint.h.

References m_motorTargetVelocity.

setParam()

virtual void 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.

References num.

setUseFrameOffset()

void setUseFrameOffset

(

bool

frameOffsetOnOff

)

Definition at line 315 of file btHingeConstraint.h.

References m_useOffsetForConstraintFrame.

setUseReferenceFrameA()

void setUseReferenceFrameA

(

bool

useReferenceFrameA

)

Definition at line 318 of file btHingeConstraint.h.

References m_useReferenceFrameA.

testLimit()

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

Definition at line 657 of file btHingeConstraint.cpp.

References btAdjustAngleToLimits(), btTransform, getHingeAngle(), m_hingeAngle, m_limit, m_lowerLimit, and m_upperLimit.

Referenced by getInfo2NonVirtual().

updateRHS()

void updateRHS

(

btScalar

timeStep

)

Variable Documentation

__pad0__

btHingeConstraint __pad0__

hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space axis defines the orientation of the hinge axis

Definition at line 48 of file btHingeConstraint.h.

__pad1__

btHingeAccumulatedAngleConstraint __pad1__

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

Definition at line 361 of file btHingeConstraint.h.

m_accLimitImpulse

btScalar m_accLimitImpulse

Definition at line 79 of file btHingeConstraint.h.

m_accMotorImpulse

btScalar m_accMotorImpulse

Definition at line 89 of file btHingeConstraint.h.

m_angularOnly

bool m_angularOnly

Definition at line 83 of file btHingeConstraint.h.

m_enableAngularMotor

bool m_enableAngularMotor

Definition at line 84 of file btHingeConstraint.h.

Referenced by btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), enableAngularMotor(), enableMotor(), and getEnableAngularMotor().

m_flags

int m_flags

Definition at line 91 of file btHingeConstraint.h.

m_hingeAngle

btScalar m_hingeAngle

Definition at line 80 of file btHingeConstraint.h.

Referenced by getInfo2Internal(), getInfo2InternalUsingFrameOffset(), and testLimit().

m_jacAng

btJacobianEntry m_jacAng[3]

Definition at line 54 of file btHingeConstraint.h.

m_kHinge

btScalar m_kHinge

Definition at line 77 of file btHingeConstraint.h.

m_limit

btAngularLimit m_limit

Definition at line 63 of file btHingeConstraint.h.

Referenced by btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), getInfo2Internal(), getInfo2InternalUsingFrameOffset(), getLimitBiasFactor(), getLimitRelaxationFactor(), getLimitSign(), getLimitSoftness(), getLowerLimit(), getSolveLimit(), getUpperLimit(), hasLimit(), setLimit(), setMotorTarget(), and testLimit().

m_maxMotorImpulse

btScalar m_maxMotorImpulse

Definition at line 60 of file btHingeConstraint.h.

m_motorTargetVelocity

btScalar m_motorTargetVelocity

Definition at line 59 of file btHingeConstraint.h.

Referenced by enableAngularMotor(), getInfo2Internal(), getInfo2InternalUsingFrameOffset(), getMotorTargetVelocity(), setMotorTarget(), and setMotorTargetVelocity().

m_normalCFM

btScalar m_normalCFM

Definition at line 92 of file btHingeConstraint.h.

Referenced by btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), getInfo2Internal(), and getInfo2InternalUsingFrameOffset().

m_normalERP

btScalar m_normalERP

Definition at line 93 of file btHingeConstraint.h.

Referenced by btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), getInfo2Internal(), and getInfo2InternalUsingFrameOffset().

m_rbAFrame

btTransform m_rbAFrame

Definition at line 56 of file btHingeConstraint.h.

m_rbBFrame

btTransform m_rbBFrame

Definition at line 57 of file btHingeConstraint.h.

m_referenceSign

btScalar m_referenceSign

Definition at line 81 of file btHingeConstraint.h.

Referenced by btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), getHingeAngle(), getInfo2Internal(), and getInfo2InternalUsingFrameOffset().

m_stopCFM

btScalar m_stopCFM

Definition at line 94 of file btHingeConstraint.h.

Referenced by btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), getInfo2Internal(), and getInfo2InternalUsingFrameOffset().

m_stopERP

btScalar m_stopERP

Definition at line 95 of file btHingeConstraint.h.

Referenced by btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), getInfo2Internal(), and getInfo2InternalUsingFrameOffset().

m_useOffsetForConstraintFrame

bool m_useOffsetForConstraintFrame

Definition at line 86 of file btHingeConstraint.h.

m_useReferenceFrameA

bool m_useReferenceFrameA

Definition at line 87 of file btHingeConstraint.h.

Referenced by btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), getUseReferenceFrameA(), and setUseReferenceFrameA().

m_useSolveConstraintObsolete

bool m_useSolveConstraintObsolete

Definition at line 85 of file btHingeConstraint.h.