btGeneric6DofConstraint.h File Reference

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

Go to the source code of this file.

Classes
class	btRotationalLimitMotor
	Rotation Limit structure for generic joints. More...
class	btTranslationalLimitMotor
struct	btGeneric6DofConstraintData
struct	btGeneric6DofConstraintDoubleData2

Macros
#define	btGeneric6DofConstraintData2   btGeneric6DofConstraintData
#define	btGeneric6DofConstraintDataName   "btGeneric6DofConstraintData"
#define	BT_6DOF_FLAGS_AXIS_SHIFT   3

Enumerations
enum	bt6DofFlags { BT_6DOF_FLAGS_CFM_NORM = 1 , BT_6DOF_FLAGS_CFM_STOP = 2 , BT_6DOF_FLAGS_ERP_STOP = 4 }

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.
	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.
void	calculateTransforms ()
const btTransform &	getCalculatedTransformA () const
	Gets the global transform of the offset for body A.
const btTransform &	getCalculatedTransformB () const
	Gets the global transform of the offset for body B.
const btTransform &	getFrameOffsetA () const
const btTransform &	getFrameOffsetB () const
virtual void	buildJacobian ()
	performs Jacobian calculation, and also calculates angle differences and axis
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 &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.
btScalar	getAngle (int axis_index) const
	Get the relative Euler angle.
btScalar	getRelativePivotPosition (int axis_index) const
	Get the relative position of the constraint pivot.
void	setFrames (const btTransform &frameA, const btTransform &frameB)
bool	testAngularLimitMotor (int axis_index)
	Test angular limit.
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.
btTranslationalLimitMotor *	getTranslationalLimitMotor ()
	Retrieves the limit informacion.
void	setLimit (int axis, btScalar lo, btScalar hi)
bool	isLimited (int limitIndex) const
	Test limit.
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)
virtual btScalar	getParam (int num, int axis=-1) const
	return the local value of parameter
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)

Variables
btGeneric6DofConstraint	__pad0__
	btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
btTransform	m_frameInB
	the constraint space w.r.t body B
bool	m_useSolveConstraintObsolete
	for backwards compatibility during the transition to 'getInfo/getInfo2'
btJacobianEntry	m_jacLinear [3]
	3 orthogonal linear constraints
btJacobianEntry	m_jacAng [3]
	3 orthogonal angular constraints
btTranslationalLimitMotor	m_linearLimits
btRotationalLimitMotor	m_angularLimits [3]
btScalar	m_timeStep
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

Macro Definition Documentation

BT_6DOF_FLAGS_AXIS_SHIFT

#define BT_6DOF_FLAGS_AXIS_SHIFT   3

Definition at line 228 of file btGeneric6DofConstraint.h.

Referenced by setAngularLimits(), and setLinearLimits().

btGeneric6DofConstraintData2

#define btGeneric6DofConstraintData2   btGeneric6DofConstraintData

Definition at line 39 of file btGeneric6DofConstraint.h.

btGeneric6DofConstraintDataName

#define btGeneric6DofConstraintDataName   "btGeneric6DofConstraintData"

Definition at line 40 of file btGeneric6DofConstraint.h.

Enumeration Type Documentation

bt6DofFlags

enum bt6DofFlags

Enumerator
BT_6DOF_FLAGS_CFM_NORM
BT_6DOF_FLAGS_CFM_STOP
BT_6DOF_FLAGS_ERP_STOP

Definition at line 222 of file btGeneric6DofConstraint.h.

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

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.

References btTransform, btTypedConstraint(), calculateTransforms(), D6_CONSTRAINT_TYPE, D6_USE_FRAME_OFFSET, D6_USE_OBSOLETE_METHOD, frameInA, frameInB, m_flags, m_frameInA, m_frameInB, m_useLinearReferenceFrameA, m_useOffsetForConstraintFrame, m_useSolveConstraintObsolete, and rbB.

Referenced by btGeneric6DofSpringConstraint(), btGeneric6DofSpringConstraint(), btUniversalConstraint(), debugDrawConstraint(), operator=(), RB_constraint_new_6dof(), RB_constraint_new_motor(), RB_constraint_set_enable_motor(), RB_constraint_set_limits_6dof(), RB_constraint_set_max_impulse_motor(), RB_constraint_set_target_velocity_motor(), and setAngularLimits().

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.

References btTransform, btTypedConstraint(), calculateTransforms(), D6_CONSTRAINT_TYPE, D6_USE_FRAME_OFFSET, false, frameInB, getFixedBody(), m_flags, m_frameInA, m_frameInB, m_useLinearReferenceFrameA, m_useOffsetForConstraintFrame, m_useSolveConstraintObsolete, and rbB.

buildAngularJacobian()

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

protected

Definition at line 381 of file btGeneric6DofConstraint.cpp.

References btJacobianEntry, btVector3, m_rbA, and m_rbB.

buildJacobian()

virtual void buildJacobian ( )

virtual

performs Jacobian calculation, and also calculates angle differences and axis

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.

buildLinearJacobian()

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

protected

Definition at line 365 of file btGeneric6DofConstraint.cpp.

References btJacobianEntry, btVector3, m_rbA, and m_rbB.

calcAnchorPos()

void btGeneric6DofConstraint::calcAnchorPos ( void )

virtual

Definition at line 660 of file btGeneric6DofConstraint.cpp.

References btVector3, m_AnchorPos, m_calculatedTransformA, m_calculatedTransformB, m_rbA, and m_rbB.

calculateAngleInfo()

void btGeneric6DofSpring2Constraint::calculateAngleInfo ( )

protected

calcs the euler angles between the two bodies.

Definition at line 306 of file btGeneric6DofConstraint.cpp.

References btMatrix3x3, btVector3, m_calculatedAxis, m_calculatedAxisAngleDiff, m_calculatedTransformA, m_calculatedTransformB, and matrixToEulerXYZ().

Referenced by calculateTransforms().

calculateLinearInfo()

void btGeneric6DofSpring2Constraint::calculateLinearInfo ( )

protected

Definition at line 679 of file btGeneric6DofConstraint.cpp.

References i, m_calculatedLinearDiff, m_calculatedTransformA, m_calculatedTransformB, and m_linearLimits.

Referenced by calculateTransforms().

calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

calculateTransforms() [1/2]

void btGeneric6DofSpring2Constraint::calculateTransforms

(

)

Definition at line 336 of file btGeneric6DofConstraint.cpp.

References calculateTransforms(), m_rbA, and m_rbB.

Referenced by btGeneric6DofConstraint(), btGeneric6DofConstraint(), btGeneric6DofSpring2Constraint(), btGeneric6DofSpring2Constraint(), calculateTransforms(), getInfo2NonVirtual(), initParams(), setAxis(), setEquilibriumPoint(), setEquilibriumPoint(), and setFrames().

calculateTransforms() [2/2]

void btSliderConstraint::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.

References btTransform, calculateAngleInfo(), calculateLinearInfo(), btRigidBody::getInvMass(), getRigidBodyA(), getRigidBodyB(), m_calculatedTransformA, m_calculatedTransformB, m_factA, m_factB, m_frameInA, m_frameInB, m_hasStaticBody, m_useOffsetForConstraintFrame, and SIMD_EPSILON.

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.

References btTransform, btVector3, btConstraintInfo2::cfm, btConstraintInfo2::fps, getMotorFactor(), i, btRotationalLimitMotor::m_bounce, m_calculatedTransformA, m_calculatedTransformB, btConstraintInfo2::m_constraintError, btRotationalLimitMotor::m_currentLimit, btRotationalLimitMotor::m_currentLimitError, btRotationalLimitMotor::m_currentPosition, btRotationalLimitMotor::m_enableMotor, m_factA, m_factB, m_hasStaticBody, btRotationalLimitMotor::m_hiLimit, btConstraintInfo2::m_J1angularAxis, btConstraintInfo2::m_J1linearAxis, btConstraintInfo2::m_J2angularAxis, btConstraintInfo2::m_J2linearAxis, btRotationalLimitMotor::m_loLimit, btConstraintInfo2::m_lowerLimit, btRotationalLimitMotor::m_maxMotorForce, btRotationalLimitMotor::m_normalCFM, btRotationalLimitMotor::m_stopCFM, btRotationalLimitMotor::m_stopERP, btRotationalLimitMotor::m_targetVelocity, btConstraintInfo2::m_upperLimit, m_useOffsetForConstraintFrame, btConstraintInfo2::rowskip, and SIMD_INFINITY.

Referenced by setAngularLimits(), and setLinearLimits().

getAngle()

btScalar getAngle

(

int

axis_index

)

const

Get the relative Euler angle.

Precondition

btGeneric6DofConstraint::calculateTransforms() must be called previously.

Definition at line 350 of file btGeneric6DofSpring2Constraint.h.

References m_calculatedAxisAngleDiff.

Referenced by getAngle1(), and getAngle2().

getAngularLowerLimit()

void getAngularLowerLimit

(

btVector3 &

angularLower

)

const

Definition at line 459 of file btGeneric6DofConstraint.h.

References btVector3, i, and m_angularLimits.

getAngularUpperLimit()

void getAngularUpperLimit

(

btVector3 &

angularUpper

)

const

Definition at line 471 of file btGeneric6DofConstraint.h.

References btVector3, i, and m_angularLimits.

getAxis()

btVector3 getAxis

(

int

axis_index

)

const

Get the rotation axis in global coordinates.

Precondition

btGeneric6DofConstraint.buildJacobian must be called previously.

Definition at line 347 of file btGeneric6DofSpring2Constraint.h.

References btVector3, and m_calculatedAxis.

getCalculatedTransformA()

const btTransform & getCalculatedTransformA

(

)

const

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.

References btTransform, and m_calculatedTransformA.

Referenced by getInfo2NonVirtual().

getCalculatedTransformB()

const btTransform & getCalculatedTransformB

(

)

const

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.

References btTransform, and m_calculatedTransformB.

Referenced by getInfo2NonVirtual().

getFlags()

virtual int getFlags ( ) const

virtual

Definition at line 543 of file btGeneric6DofConstraint.h.

References m_flags.

getFrameOffsetA()

const btTransform & getFrameOffsetA

(

)

const

Definition at line 373 of file btGeneric6DofConstraint.h.

References btTransform, and m_frameInA.

getFrameOffsetB()

const btTransform & getFrameOffsetB

(

)

const

Definition at line 378 of file btGeneric6DofConstraint.h.

References btTransform, and m_frameInB.

getInfo1()

virtual void getInfo1 ( btConstraintInfo1 * info )

virtual

getInfo1NonVirtual()

void getInfo1NonVirtual

(

btConstraintInfo1 *

info

)

getInfo2()

virtual void getInfo2 ( btConstraintInfo2 * info )

virtual

References btTransform, and btVector3.

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.

References btAssert, btTransform, btVector3, calculateTransforms(), i, m_useOffsetForConstraintFrame, m_useSolveConstraintObsolete, setAngularLimits(), setLinearLimits(), and testAngularLimitMotor().

getLinearLowerLimit()

void getLinearLowerLimit

(

btVector3 &

linearLower

)

const

Definition at line 438 of file btGeneric6DofConstraint.h.

References btVector3, and m_linearLimits.

getLinearUpperLimit()

void getLinearUpperLimit

(

btVector3 &

linearUpper

)

const

Definition at line 448 of file btGeneric6DofConstraint.h.

References btVector3, and m_linearLimits.

getParam()

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

virtual

return the local value of parameter

References btVector3, and num.

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.

References m_calculatedLinearDiff.

getRotationalLimitMotor()

btRotationalLimitMotor * getRotationalLimitMotor

(

int

index

)

Retrieves the angular limit informacion.

Definition at line 478 of file btGeneric6DofConstraint.h.

References m_angularLimits.

getTranslationalLimitMotor()

btTranslationalLimitMotor * getTranslationalLimitMotor

(

)

Retrieves the limit informacion.

Definition at line 484 of file btGeneric6DofConstraint.h.

References m_linearLimits.

getUseFrameOffset()

bool getUseFrameOffset

(

)

const

Definition at line 529 of file btGeneric6DofConstraint.h.

References m_useOffsetForConstraintFrame.

getUseLinearReferenceFrameA()

bool getUseLinearReferenceFrameA

(

)

const

Definition at line 532 of file btGeneric6DofConstraint.h.

References m_useLinearReferenceFrameA.

isLimited()

bool isLimited

(

int

limitIndex

)

const

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.

References m_angularLimits, and m_linearLimits.

operator=()

btGeneric6DofConstraint & operator= ( btGeneric6DofConstraint & other )

protected

Definition at line 314 of file btGeneric6DofConstraint.h.

References btAssert, and btGeneric6DofConstraint().

Referenced by ccl_try_align(), ccl_try_align(), ccl_try_align(), ccl_try_align(), ccl_try_align(), and generate().

serialize()

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

virtual

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

setAngularLimits()

int btGeneric6DofSpring2Constraint::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.

References BT_6DOF_FLAGS_AXIS_SHIFT, BT_6DOF_FLAGS_CFM_NORM, BT_6DOF_FLAGS_CFM_STOP, BT_6DOF_FLAGS_ERP_STOP, btGeneric6DofConstraint(), btTransform, btVector3, btConstraintInfo2::cfm, btConstraintInfo2::erp, get_limit_motor_info2(), i, m_angularLimits, and m_flags.

Referenced by getInfo2NonVirtual().

setAngularLowerLimit()

void setAngularLowerLimit

(

const btVector3 &

angularLower

)

Definition at line 453 of file btGeneric6DofConstraint.h.

References btNormalizeAngle(), btVector3, i, and m_angularLimits.

Referenced by btHinge2Constraint(), btUniversalConstraint(), setLowerLimit(), and setLowerLimit().

setAngularUpperLimit()

void setAngularUpperLimit

(

const btVector3 &

angularUpper

)

Definition at line 465 of file btGeneric6DofConstraint.h.

References btNormalizeAngle(), btVector3, i, and m_angularLimits.

Referenced by btHinge2Constraint(), btUniversalConstraint(), setUpperLimit(), and setUpperLimit().

setAxis()

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

Definition at line 958 of file btGeneric6DofConstraint.cpp.

References btTransform, btVector3, calculateTransforms(), m_frameInA, m_frameInB, m_rbA, and m_rbB.

setFrames()

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

Definition at line 264 of file btSliderConstraint.h.

References btTransform, buildJacobian(), calculateTransforms(), m_frameInA, m_frameInB, m_rbA, and m_rbB.

setLimit()

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

Definition at line 490 of file btGeneric6DofConstraint.h.

References btNormalizeAngle(), m_angularLimits, and m_linearLimits.

setLinearLimits()

int btGeneric6DofSpring2Constraint::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.

References BT_6DOF_FLAGS_AXIS_SHIFT, BT_6DOF_FLAGS_CFM_NORM, BT_6DOF_FLAGS_CFM_STOP, BT_6DOF_FLAGS_ERP_STOP, btTransform, btVector3, btConstraintInfo2::cfm, btConstraintInfo2::erp, get_limit_motor_info2(), i, m_angularLimits, btRotationalLimitMotor::m_bounce, m_calculatedTransformA, btRotationalLimitMotor::m_currentLimit, btRotationalLimitMotor::m_currentLimitError, btRotationalLimitMotor::m_currentPosition, btRotationalLimitMotor::m_damping, btRotationalLimitMotor::m_enableMotor, m_flags, btRotationalLimitMotor::m_hiLimit, btRotationalLimitMotor::m_limitSoftness, m_linearLimits, btRotationalLimitMotor::m_loLimit, btRotationalLimitMotor::m_maxLimitForce, btRotationalLimitMotor::m_maxMotorForce, btRotationalLimitMotor::m_normalCFM, btRotationalLimitMotor::m_stopCFM, btRotationalLimitMotor::m_stopERP, btRotationalLimitMotor::m_targetVelocity, and m_useOffsetForConstraintFrame.

Referenced by getInfo2NonVirtual().

setLinearLowerLimit()

void setLinearLowerLimit

(

const btVector3 &

linearLower

)

Definition at line 433 of file btGeneric6DofConstraint.h.

References btVector3, and m_linearLimits.

Referenced by btHinge2Constraint(), and btUniversalConstraint().

setLinearUpperLimit()

void setLinearUpperLimit

(

const btVector3 &

linearUpper

)

Definition at line 443 of file btGeneric6DofConstraint.h.

References btVector3, and m_linearLimits.

Referenced by btHinge2Constraint(), and btUniversalConstraint().

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 530 of file btGeneric6DofConstraint.h.

References m_useOffsetForConstraintFrame.

setUseLinearReferenceFrameA()

void setUseLinearReferenceFrameA

(

bool

linearReferenceFrameA

)

Definition at line 533 of file btGeneric6DofConstraint.h.

References m_useLinearReferenceFrameA.

testAngularLimitMotor()

void btGeneric6DofSpring2Constraint::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.

References angle(), btAdjustAngleToLimits(), m_angularLimits, and m_calculatedAxisAngleDiff.

Referenced by getInfo2NonVirtual().

updateRHS()

void updateRHS

(

btScalar

timeStep

)

References btTransform, and btVector3.

Variable Documentation

__pad0__

btGeneric6DofConstraint __pad0__

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

the constraint space w.r.t body A

Definition at line 267 of file btGeneric6DofConstraint.h.

m_AnchorPos

btVector3 m_AnchorPos

protected

Definition at line 305 of file btGeneric6DofConstraint.h.

Referenced by calcAnchorPos().

m_angularLimits

btRotationalLimitMotor m_angularLimits[3]

hinge_parameters

Definition at line 289 of file btGeneric6DofConstraint.h.

Referenced by enableMotor(), enableSpring(), getAngularLowerLimit(), getAngularLowerLimit(), getAngularLowerLimitReversed(), getAngularUpperLimit(), getAngularUpperLimit(), getAngularUpperLimitReversed(), getRotationalLimitMotor(), internalUpdateSprings(), isLimited(), isLimited(), setAngularLimits(), setAngularLowerLimit(), setAngularLowerLimitReversed(), setAngularUpperLimit(), setAngularUpperLimitReversed(), setBounce(), setEquilibriumPoint(), setEquilibriumPoint(), setEquilibriumPoint(), setLimit(), setLimitReversed(), setLinearLimits(), setMaxMotorForce(), setServo(), setServoTarget(), setStiffness(), setTargetVelocity(), and testAngularLimitMotor().

m_calculatedAxis

btVector3 m_calculatedAxis[3]

protected

Definition at line 299 of file btGeneric6DofConstraint.h.

Referenced by calculateAngleInfo(), and getAxis().

m_calculatedAxisAngleDiff

btVector3 m_calculatedAxisAngleDiff

protected

Definition at line 298 of file btGeneric6DofConstraint.h.

Referenced by calculateAngleInfo(), getAngle(), internalUpdateSprings(), setEquilibriumPoint(), setEquilibriumPoint(), and testAngularLimitMotor().

m_calculatedLinearDiff

btVector3 m_calculatedLinearDiff

protected

Definition at line 300 of file btGeneric6DofConstraint.h.

Referenced by calculateLinearInfo(), getRelativePivotPosition(), internalUpdateSprings(), setEquilibriumPoint(), and setEquilibriumPoint().

m_calculatedTransformA

btTransform m_calculatedTransformA

protected

Definition at line 296 of file btGeneric6DofConstraint.h.

Referenced by calcAnchorPos(), calculateAngleInfo(), calculateJacobi(), calculateLinearInfo(), calculateTransforms(), get_limit_motor_info2(), get_limit_motor_info2(), getAnchor(), getCalculatedTransformA(), setLinearLimits(), and testAngLimits().

m_calculatedTransformB

btTransform m_calculatedTransformB

protected

Definition at line 297 of file btGeneric6DofConstraint.h.

Referenced by calcAnchorPos(), calculateAngleInfo(), calculateJacobi(), calculateLinearInfo(), calculateTransforms(), get_limit_motor_info2(), get_limit_motor_info2(), getAnchor2(), getCalculatedTransformB(), and testAngLimits().

m_factA

btScalar m_factA

protected

Definition at line 301 of file btGeneric6DofConstraint.h.

Referenced by calculateJacobi(), calculateTransforms(), and get_limit_motor_info2().

m_factB

btScalar m_factB

protected

Definition at line 302 of file btGeneric6DofConstraint.h.

Referenced by calculateJacobi(), calculateTransforms(), and get_limit_motor_info2().

m_flags

int m_flags

protected

Definition at line 310 of file btGeneric6DofConstraint.h.

m_frameInB

btTransform m_frameInB

the constraint space w.r.t body B

Definition at line 273 of file btGeneric6DofConstraint.h.

Referenced by btGeneric6DofConstraint(), btGeneric6DofConstraint(), btGeneric6DofSpring2Constraint(), btGeneric6DofSpring2Constraint(), btHinge2Constraint(), btSliderConstraint(), btSliderConstraint(), btUniversalConstraint(), calculateTransforms(), getAncorInB(), getFrameOffsetB(), setAxis(), and setFrames().

m_hasStaticBody

bool m_hasStaticBody

protected

Definition at line 303 of file btGeneric6DofConstraint.h.

Referenced by calculateJacobi(), calculateTransforms(), and get_limit_motor_info2().

m_jacAng

btJacobianEntry m_jacAng[3]

3 orthogonal angular constraints

Definition at line 279 of file btGeneric6DofConstraint.h.

m_jacLinear

btJacobianEntry m_jacLinear[3]

3 orthogonal linear constraints

Jacobians

Definition at line 278 of file btGeneric6DofConstraint.h.

m_linearLimits

btTranslationalLimitMotor m_linearLimits

Linear_Limit_parameters

Definition at line 284 of file btGeneric6DofConstraint.h.

Referenced by calculateLinearInfo(), enableMotor(), enableSpring(), getLinearLowerLimit(), getLinearLowerLimit(), getLinearUpperLimit(), getLinearUpperLimit(), getTranslationalLimitMotor(), internalUpdateSprings(), isLimited(), isLimited(), setBounce(), setEquilibriumPoint(), setEquilibriumPoint(), setEquilibriumPoint(), setLimit(), setLimitReversed(), setLinearLimits(), setLinearLowerLimit(), setLinearUpperLimit(), setMaxMotorForce(), setServo(), setServoTarget(), setStiffness(), and setTargetVelocity().

m_timeStep

btScalar m_timeStep

protected

temporal variables

Definition at line 295 of file btGeneric6DofConstraint.h.

m_useLinearReferenceFrameA

bool m_useLinearReferenceFrameA

protected

Definition at line 307 of file btGeneric6DofConstraint.h.

Referenced by btGeneric6DofConstraint(), btGeneric6DofConstraint(), btSliderConstraint(), btSliderConstraint(), getInfo2NonVirtual(), getUseLinearReferenceFrameA(), getUseLinearReferenceFrameA(), and setUseLinearReferenceFrameA().

m_useOffsetForConstraintFrame

bool m_useOffsetForConstraintFrame

protected

Definition at line 308 of file btGeneric6DofConstraint.h.

Referenced by btGeneric6DofConstraint(), btGeneric6DofConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), calculateTransforms(), get_limit_motor_info2(), getInfo2NonVirtual(), getInfo2NonVirtual(), getUseFrameOffset(), getUseFrameOffset(), initParams(), setLinearLimits(), and setUseFrameOffset().

m_useSolveConstraintObsolete

bool m_useSolveConstraintObsolete

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

Definition at line 341 of file btGeneric6DofConstraint.h.