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

Classes
struct	btConeTwistConstraintDoubleData
struct	btConeTwistConstraintData
	this structure is not used, except for loading pre-2.82 .bullet files More...

Macros
#define	btConeTwistConstraintData2 btConeTwistConstraintData
#define	btConeTwistConstraintDataName "btConeTwistConstraintData"

Enumerations
enum	btConeTwistFlags { BT_CONETWIST_FLAGS_LIN_CFM = 1 , BT_CONETWIST_FLAGS_LIN_ERP = 2 , BT_CONETWIST_FLAGS_ANG_CFM = 4 }

Functions
void	init ()
void	computeConeLimitInfo (const btQuaternion &qCone, btScalar &swingAngle, btVector3 &vSwingAxis, btScalar &swingLimit)
void	computeTwistLimitInfo (const btQuaternion &qTwist, btScalar &twistAngle, btVector3 &vTwistAxis)
void	adjustSwingAxisToUseEllipseNormal (btVector3 &vSwingAxis) const
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btConeTwistConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame)
	btConeTwistConstraint (btRigidBody &rbA, const btTransform &rbAFrame)
virtual void	buildJacobian ()
	internal method used by the constraint solver, don't use them directly
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 btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
virtual void	solveConstraintObsolete (btSolverBody &bodyA, btSolverBody &bodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly
void	updateRHS (btScalar timeStep)
const btRigidBody &	getRigidBodyA () const
const btRigidBody &	getRigidBodyB () const
void	setAngularOnly (bool angularOnly)
bool	getAngularOnly () const
void	setLimit (int limitIndex, btScalar limitValue)
btScalar	getLimit (int limitIndex) const
void	setLimit (btScalar _swingSpan1, btScalar _swingSpan2, btScalar _twistSpan, btScalar _softness=1.f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
const btTransform &	getAFrame () const
const btTransform &	getBFrame () const
int	getSolveTwistLimit ()
int	getSolveSwingLimit ()
btScalar	getTwistLimitSign ()
void	calcAngleInfo ()
void	calcAngleInfo2 (const btTransform &transA, const btTransform &transB, const btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
btScalar	getSwingSpan1 () const
btScalar	getSwingSpan2 () const
btScalar	getTwistSpan () const
btScalar	getLimitSoftness () const
btScalar	getBiasFactor () const
btScalar	getRelaxationFactor () const
btScalar	getTwistAngle () const
bool	isPastSwingLimit ()
btScalar	getDamping () const
void	setDamping (btScalar damping)
void	enableMotor (bool b)
bool	isMotorEnabled () const
btScalar	getMaxMotorImpulse () const
bool	isMaxMotorImpulseNormalized () const
void	setMaxMotorImpulse (btScalar maxMotorImpulse)
void	setMaxMotorImpulseNormalized (btScalar maxMotorImpulse)
btScalar	getFixThresh ()
void	setFixThresh (btScalar fixThresh)
void	setMotorTarget (const btQuaternion &q)
const btQuaternion &	getMotorTarget () const
void	setMotorTargetInConstraintSpace (const btQuaternion &q)
btVector3	GetPointForAngle (btScalar fAngleInRadians, btScalar fLength) const
virtual void	setParam (int num, btScalar value, int axis=-1)
virtual void	setFrames (const btTransform &frameA, const btTransform &frameB)
const btTransform &	getFrameOffsetA () const
const btTransform &	getFrameOffsetB () const
virtual btScalar	getParam (int num, int axis=-1) const
	return the local value of parameter
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)

Variables
btConeTwistConstraint	__pad0__
	btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
btTransform	m_rbAFrame
btTransform	m_rbBFrame
btScalar	m_limitSoftness
btScalar	m_biasFactor
btScalar	m_relaxationFactor
btScalar	m_damping
btScalar	m_swingSpan1
btScalar	m_swingSpan2
btScalar	m_twistSpan
btScalar	m_fixThresh
btVector3	m_swingAxis
btVector3	m_twistAxis
btScalar	m_kSwing
btScalar	m_kTwist
btScalar	m_twistLimitSign
btScalar	m_swingCorrection
btScalar	m_twistCorrection
btScalar	m_twistAngle
btScalar	m_accSwingLimitImpulse
btScalar	m_accTwistLimitImpulse
bool	m_angularOnly
bool	m_solveTwistLimit
bool	m_solveSwingLimit
bool	m_useSolveConstraintObsolete
btScalar	m_swingLimitRatio
btScalar	m_twistLimitRatio
btVector3	m_twistAxisA
bool	m_bMotorEnabled
bool	m_bNormalizedMotorStrength
btQuaternion	m_qTarget
btScalar	m_maxMotorImpulse
btVector3	m_accMotorImpulse
int	m_flags
btScalar	m_linCFM
btScalar	m_linERP
btScalar	m_angCFM

Macro Definition Documentation

◆ btConeTwistConstraintData2

#define btConeTwistConstraintData2 btConeTwistConstraintData

Definition at line 43 of file btConeTwistConstraint.h.

◆ btConeTwistConstraintDataName

#define btConeTwistConstraintDataName "btConeTwistConstraintData"

Definition at line 44 of file btConeTwistConstraint.h.

Enumeration Type Documentation

◆ btConeTwistFlags

enum btConeTwistFlags

Enumerator
BT_CONETWIST_FLAGS_LIN_CFM
BT_CONETWIST_FLAGS_LIN_ERP
BT_CONETWIST_FLAGS_ANG_CFM

Definition at line 49 of file btConeTwistConstraint.h.

Function Documentation

◆ adjustSwingAxisToUseEllipseNormal()

void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal ( btVector3 & vSwingAxis ) const

protected

Definition at line 929 of file btConeTwistConstraint.cpp.

References btVector3, fabs(), grad(), m_swingSpan1, m_swingSpan2, SIMD_EPSILON, y, and z().

Referenced by calcAngleInfo2().

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR ( )

References btTransform, and rbB.

◆ btConeTwistConstraint() [1/2]

btConeTwistConstraint::btConeTwistConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	rbAFrame,
		const btTransform &	rbBFrame )

Definition at line 35 of file btConeTwistConstraint.cpp.

References btTransform, btTypedConstraint(), CONETWIST_CONSTRAINT_TYPE, CONETWIST_USE_OBSOLETE_SOLVER, false, init(), m_angularOnly, m_rbAFrame, m_rbBFrame, m_useSolveConstraintObsolete, and rbB.

Referenced by debugDrawConstraint().

◆ btConeTwistConstraint() [2/2]

btConeTwistConstraint::btConeTwistConstraint	(	btRigidBody &	rbA,
		const btTransform &	rbAFrame )

Definition at line 42 of file btConeTwistConstraint.cpp.

References btTransform, btTypedConstraint(), btVector3, CONETWIST_CONSTRAINT_TYPE, CONETWIST_USE_OBSOLETE_SOLVER, false, init(), m_angularOnly, m_rbAFrame, m_rbBFrame, and m_useSolveConstraintObsolete.

◆ buildJacobian()

void btPoint2PointConstraint::buildJacobian ( )

virtual

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

we need it for both methods

Definition at line 246 of file btConeTwistConstraint.cpp.

References btJacobianEntry, btPlaneSpace1(), btVector3, calcAngleInfo2(), i, m_accMotorImpulse, m_accSwingLimitImpulse, m_accTwistLimitImpulse, m_angularOnly, m_appliedImpulse, m_rbA, m_rbAFrame, m_rbB, m_rbBFrame, m_useSolveConstraintObsolete, and SIMD_EPSILON.

Referenced by setFrames().

◆ calcAngleInfo()

void btConeTwistConstraint::calcAngleInfo ( )

Definition at line 515 of file btConeTwistConstraint.cpp.

References btAtan2Fast(), btFabs(), btVector3, btRigidBody::getCenterOfMassTransform(), getRigidBodyA(), getRigidBodyB(), m_rbAFrame, m_rbBFrame, m_solveSwingLimit, m_solveTwistLimit, m_swingAxis, m_swingCorrection, m_swingSpan1, m_swingSpan2, m_twistAngle, m_twistAxis, m_twistCorrection, m_twistLimitSign, m_twistSpan, quatRotate(), and shortestArcQuat().

◆ calcAngleInfo2()

void btConeTwistConstraint::calcAngleInfo2	(	const btTransform &	transA,
		const btTransform &	transB,
		const btMatrix3x3 &	invInertiaWorldA,
		const btMatrix3x3 &	invInertiaWorldB )

Definition at line 604 of file btConeTwistConstraint.cpp.

References adjustSwingAxisToUseEllipseNormal(), btAtan2(), btCos(), btFuzzyZero(), btMatrix3x3, btSin(), btTransform, btVector3, computeAngularImpulseDenominator(), computeConeLimitInfo(), computeTwistLimitInfo(), btQuaternion::getAngle(), btQuaternion::inverse(), m_bMotorEnabled, m_fixThresh, m_kSwing, m_kTwist, m_limitSoftness, m_qTarget, m_rbAFrame, m_rbBFrame, m_solveSwingLimit, m_solveTwistLimit, m_swingAxis, m_swingCorrection, m_swingLimitRatio, m_swingSpan1, m_swingSpan2, m_twistAngle, m_twistAxis, m_twistAxisA, m_twistCorrection, m_twistLimitRatio, m_twistLimitSign, m_twistSpan, m_useSolveConstraintObsolete, btQuaternion::normalize(), quatRotate(), shortestArcQuat(), SIMD_EPSILON, vTwist(), x, y, and z().

Referenced by buildJacobian(), and getInfo2NonVirtual().

◆ calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

◆ computeConeLimitInfo()

void btConeTwistConstraint::computeConeLimitInfo	(	const btQuaternion &	qCone,
		btScalar &	swingAngle,
		btVector3 &	vSwingAxis,
		btScalar &	swingLimit )

protected

Definition at line 807 of file btConeTwistConstraint.cpp.

References btAssert, btVector3, fabs(), btQuaternion::getAngle(), m_swingSpan1, m_swingSpan2, norm(), and SIMD_EPSILON.

Referenced by calcAngleInfo2(), and setMotorTargetInConstraintSpace().

◆ computeTwistLimitInfo()

void btConeTwistConstraint::computeTwistLimitInfo	(	const btQuaternion &	qTwist,
		btScalar &	twistAngle,
		btVector3 &	vTwistAxis )

protected

Definition at line 904 of file btConeTwistConstraint.cpp.

References btAssert, btVector3, btQuaternion::getAngle(), SIMD_EPSILON, and SIMD_PI.

Referenced by calcAngleInfo2(), and setMotorTargetInConstraintSpace().

◆ enableMotor()

void enableMotor ( bool b )

Definition at line 298 of file btConeTwistConstraint.h.

References b, and m_bMotorEnabled.

Referenced by enableAngularMotor(), and enableMotor().

◆ getAFrame()

btTransform & getAFrame ( ) const

Definition at line 244 of file btConeTwistConstraint.h.

References btTransform, and m_rbAFrame.

◆ getAngularOnly()

bool getAngularOnly ( ) const

Definition at line 165 of file btConeTwistConstraint.h.

References m_angularOnly.

◆ getBFrame()

btTransform & getBFrame ( ) const

Definition at line 245 of file btConeTwistConstraint.h.

References btTransform, and m_rbBFrame.

◆ getBiasFactor()

btScalar getBiasFactor ( ) const

inline

Definition at line 281 of file btConeTwistConstraint.h.

References m_biasFactor.

◆ getDamping()

btScalar getDamping ( ) const

Definition at line 295 of file btConeTwistConstraint.h.

References m_damping.

◆ getFixThresh()

btScalar getFixThresh ( )

Definition at line 313 of file btConeTwistConstraint.h.

References m_fixThresh.

◆ getFlags()

int getFlags ( ) const

Definition at line 347 of file btConeTwistConstraint.h.

References m_flags.

◆ getFrameOffsetA()

btTransform & getFrameOffsetA ( ) const

Definition at line 334 of file btConeTwistConstraint.h.

References btTransform, and m_rbAFrame.

◆ getFrameOffsetB()

btTransform & getFrameOffsetB ( ) const

Definition at line 339 of file btConeTwistConstraint.h.

References btTransform, and m_rbBFrame.

◆ getInfo1()

void getInfo1 ( btConstraintInfo1 * info )

virtual

◆ getInfo1NonVirtual()

void btSliderConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

Definition at line 97 of file btConeTwistConstraint.cpp.

References btConstraintInfo1::m_numConstraintRows, and btConstraintInfo1::nub.

◆ getInfo2()

virtual void getInfo2 ( btConstraintInfo2 * info )

virtual

References btMatrix3x3, btSolverBody, and btTransform.

◆ getInfo2NonVirtual()

void btConeTwistConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btMatrix3x3 &	invInertiaWorldA,
		const btMatrix3x3 &	invInertiaWorldB )

Definition at line 109 of file btConeTwistConstraint.cpp.

References BT_CONETWIST_FLAGS_ANG_CFM, BT_CONETWIST_FLAGS_LIN_CFM, BT_CONETWIST_FLAGS_LIN_ERP, btAssert, btMatrix3x3, btTransform, btVector3, calcAngleInfo2(), btConstraintInfo2::cfm, btConstraintInfo2::erp, btConstraintInfo2::fps, m_angCFM, m_biasFactor, m_bMotorEnabled, btConstraintInfo2::m_constraintError, m_fixThresh, m_flags, btConstraintInfo2::m_J1angularAxis, btConstraintInfo2::m_J1linearAxis, btConstraintInfo2::m_J2angularAxis, btConstraintInfo2::m_J2linearAxis, m_linCFM, m_linERP, btConstraintInfo2::m_lowerLimit, m_maxMotorImpulse, m_rbAFrame, m_rbBFrame, m_relaxationFactor, m_solveSwingLimit, m_solveTwistLimit, m_swingAxis, m_swingCorrection, m_swingSpan1, m_swingSpan2, m_twistAxis, m_twistCorrection, m_twistSpan, btConstraintInfo2::m_upperLimit, m_useSolveConstraintObsolete, btConstraintInfo2::rowskip, and SIMD_INFINITY.

◆ getLimit()

btScalar getLimit ( int limitIndex ) const

Definition at line 195 of file btConeTwistConstraint.h.

References btAssert, m_swingSpan1, m_swingSpan2, and m_twistSpan.

◆ getLimitSoftness()

btScalar getLimitSoftness ( ) const

inline

Definition at line 277 of file btConeTwistConstraint.h.

References m_limitSoftness.

◆ getMaxMotorImpulse()

btScalar getMaxMotorImpulse ( ) const

Definition at line 300 of file btConeTwistConstraint.h.

References m_maxMotorImpulse.

◆ getMotorTarget()

const btQuaternion & getMotorTarget ( ) const

Definition at line 321 of file btConeTwistConstraint.h.

References m_qTarget.

◆ getParam()

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

virtual

return the local value of parameter

References num.

◆ GetPointForAngle()

btVector3 btConeTwistConstraint::GetPointForAngle	(	btScalar	fAngleInRadians,
		btScalar	fLength ) const

Definition at line 871 of file btConeTwistConstraint.cpp.

References btCos(), btSin(), btVector3, fabs(), m_swingSpan1, m_swingSpan2, norm(), quatRotate(), and SIMD_EPSILON.

◆ getRelaxationFactor()

btScalar getRelaxationFactor ( ) const

inline

Definition at line 285 of file btConeTwistConstraint.h.

References m_relaxationFactor.

◆ getRigidBodyA()

btRigidBody & getRigidBodyA ( ) const

Definition at line 151 of file btConeTwistConstraint.h.

References m_rbA.

Referenced by calcAngleInfo(), calculateTransforms(), getInfo2InternalUsingFrameOffset(), solveConstraintObsolete(), and solveSingleIteration().

◆ getRigidBodyB()

btRigidBody & getRigidBodyB ( ) const

Definition at line 155 of file btConeTwistConstraint.h.

References m_rbB.

Referenced by calcAngleInfo(), calculateTransforms(), getInfo2InternalUsingFrameOffset(), solveConstraintObsolete(), and solveSingleIteration().

◆ getSolveSwingLimit()

int getSolveSwingLimit ( )

inline

Definition at line 252 of file btConeTwistConstraint.h.

References m_solveSwingLimit.

◆ getSolveTwistLimit()

int getSolveTwistLimit ( )

inline

Definition at line 247 of file btConeTwistConstraint.h.

References m_solveTwistLimit.

◆ getSwingSpan1()

btScalar getSwingSpan1 ( ) const

inline

Definition at line 265 of file btConeTwistConstraint.h.

References m_swingSpan1.

◆ getSwingSpan2()

btScalar getSwingSpan2 ( ) const

inline

Definition at line 269 of file btConeTwistConstraint.h.

References m_swingSpan2.

◆ getTwistAngle()

btScalar getTwistAngle ( ) const

inline

Definition at line 289 of file btConeTwistConstraint.h.

References m_twistAngle.

◆ getTwistLimitSign()

btScalar getTwistLimitSign ( )

inline

Definition at line 257 of file btConeTwistConstraint.h.

References m_twistLimitSign.

◆ getTwistSpan()

btScalar getTwistSpan ( ) const

inline

Definition at line 273 of file btConeTwistConstraint.h.

References m_twistSpan.

◆ init()

void init ( )

protected

References btVector3.

◆ isMaxMotorImpulseNormalized()

bool isMaxMotorImpulseNormalized ( ) const

Definition at line 301 of file btConeTwistConstraint.h.

References m_bNormalizedMotorStrength.

◆ isMotorEnabled()

bool isMotorEnabled ( ) const

Definition at line 299 of file btConeTwistConstraint.h.

References m_bMotorEnabled.

◆ isPastSwingLimit()

bool isPastSwingLimit ( )

Definition at line 293 of file btConeTwistConstraint.h.

References m_solveSwingLimit.

◆ serialize()

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

virtual

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

◆ setAngularOnly()

void setAngularOnly ( bool angularOnly )

Definition at line 160 of file btConeTwistConstraint.h.

References m_angularOnly.

◆ setDamping()

void setDamping ( btScalar damping )

Definition at line 296 of file btConeTwistConstraint.h.

References m_damping.

Referenced by btHinge2Constraint().

◆ setFixThresh()

void setFixThresh ( btScalar fixThresh )

Definition at line 314 of file btConeTwistConstraint.h.

References m_fixThresh.

◆ setFrames()

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

virtual

Definition at line 1110 of file btConeTwistConstraint.cpp.

References btTransform, buildJacobian(), m_rbAFrame, and m_rbBFrame.

◆ setLimit() [1/2]

void setLimit	(	btScalar	_swingSpan1,
		btScalar	_swingSpan2,
		btScalar	_twistSpan,
		btScalar	_softness = 1.f,
		btScalar	_biasFactor = 0.3f,
		btScalar	_relaxationFactor = 1.0f )

Definition at line 233 of file btConeTwistConstraint.h.

References m_biasFactor, m_limitSoftness, m_relaxationFactor, m_swingSpan1, m_swingSpan2, and m_twistSpan.

◆ setLimit() [2/2]

void setLimit	(	int	limitIndex,
		btScalar	limitValue )

Definition at line 170 of file btConeTwistConstraint.h.

References m_swingSpan1, m_swingSpan2, and m_twistSpan.

◆ setMaxMotorImpulse()

void setMaxMotorImpulse ( btScalar maxMotorImpulse )

Definition at line 302 of file btConeTwistConstraint.h.

References m_bNormalizedMotorStrength, and m_maxMotorImpulse.

◆ setMaxMotorImpulseNormalized()

void setMaxMotorImpulseNormalized ( btScalar maxMotorImpulse )

Definition at line 307 of file btConeTwistConstraint.h.

References m_bNormalizedMotorStrength, and m_maxMotorImpulse.

◆ setMotorTarget()

void btConeTwistConstraint::setMotorTarget ( const btQuaternion & q )

Definition at line 961 of file btConeTwistConstraint.cpp.

References m_rbAFrame, m_rbBFrame, and setMotorTargetInConstraintSpace().

Referenced by setMotorTarget().

◆ setMotorTargetInConstraintSpace()

void btConeTwistConstraint::setMotorTargetInConstraintSpace ( const btQuaternion & q )

Definition at line 974 of file btConeTwistConstraint.cpp.

References btVector3, computeConeLimitInfo(), computeTwistLimitInfo(), fabs(), btQuaternion::inverse(), m_qTarget, m_swingSpan1, m_swingSpan2, m_twistSpan, btQuaternion::normalize(), quatRotate(), shortestArcQuat(), SIMD_EPSILON, and vTwist().

Referenced by setMotorTarget().

◆ 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 btTransform, and num.