Blender: btTranslationalLimitMotor Class Reference

Blender V5.0

#include <btGeneric6DofConstraint.h>

Public Member Functions
	btTranslationalLimitMotor ()
	btTranslationalLimitMotor (const btTranslationalLimitMotor &other)
bool	isLimited (int limitIndex) const
	Test limit.
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
btVector3	m_upperLimit
	the constraint upper limits
btVector3	m_accumulatedImpulse
bool	m_enableMotor [3]
btVector3	m_targetVelocity
	target motor velocity
btVector3	m_maxMotorForce
	max force on motor
btVector3	m_currentLimitError
btVector3	m_currentLinearDiff
	How much is violated this limit.
int	m_currentLimit [3]
	Current relative offset of constraint frames.

btScalar	m_limitSoftness
	Softness for linear limit.
btScalar	m_damping
	Damping for linear limit.
btScalar	m_restitution
btVector3	m_normalCFM
	Bounce parameter for linear limit.
btVector3	m_stopERP
	Error tolerance factor when joint is at limit.
btVector3	m_stopCFM
	Constraint force mixing factor when joint is at limit.

Detailed Description

Definition at line 131 of file btGeneric6DofConstraint.h.

Constructor & Destructor Documentation

◆ btTranslationalLimitMotor() [1/2]

btTranslationalLimitMotor::btTranslationalLimitMotor ( )

inline

Definition at line 153 of file btGeneric6DofConstraint.h.

References i, m_accumulatedImpulse, m_damping, m_enableMotor, m_limitSoftness, m_lowerLimit, m_maxMotorForce, m_normalCFM, m_restitution, m_stopCFM, m_stopERP, m_targetVelocity, and m_upperLimit.

Referenced by btTranslationalLimitMotor().

◆ btTranslationalLimitMotor() [2/2]

btTranslationalLimitMotor::btTranslationalLimitMotor ( const btTranslationalLimitMotor & other )

inline

Definition at line 173 of file btGeneric6DofConstraint.h.

References btTranslationalLimitMotor(), i, m_accumulatedImpulse, m_damping, m_enableMotor, m_limitSoftness, m_lowerLimit, m_maxMotorForce, m_normalCFM, m_restitution, m_stopCFM, m_stopERP, m_targetVelocity, and m_upperLimit.

Member Function Documentation

◆ isLimited()

bool btTranslationalLimitMotor::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 201 of file btGeneric6DofConstraint.h.

References m_lowerLimit, and m_upperLimit.

◆ needApplyForce()

bool btTranslationalLimitMotor::needApplyForce ( int limitIndex ) const

inline

Definition at line 205 of file btGeneric6DofConstraint.h.

References m_currentLimit, and m_enableMotor.

◆ 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.

References btRigidBody::applyImpulse(), BT_LARGE_FLOAT, btVector3, dot(), btRigidBody::getCenterOfMassPosition(), btRigidBody::getVelocityInLocalPoint(), m_accumulatedImpulse, m_damping, m_limitSoftness, m_lowerLimit, m_restitution, m_upperLimit, and sum().

◆ testLimitValue()

int btTranslationalLimitMotor::testLimitValue	(	int	limitIndex,
		btScalar	test_value )

Definition at line 206 of file btGeneric6DofConstraint.cpp.

References m_currentLimit, m_currentLimitError, m_lowerLimit, and m_upperLimit.

Member Data Documentation

◆ m_accumulatedImpulse

btVector3 btTranslationalLimitMotor::m_accumulatedImpulse

Definition at line 136 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), btTranslationalLimitMotor(), and solveLinearAxis().

◆ 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.

Referenced by needApplyForce(), and testLimitValue().

◆ m_currentLimitError

btVector3 btTranslationalLimitMotor::m_currentLimitError

Definition at line 149 of file btGeneric6DofConstraint.h.

Referenced by testLimitValue().

◆ 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.

Referenced by btTranslationalLimitMotor(), btTranslationalLimitMotor(), and solveLinearAxis().

◆ m_enableMotor

bool btTranslationalLimitMotor::m_enableMotor[3]

Definition at line 146 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), btTranslationalLimitMotor(), and needApplyForce().

◆ m_limitSoftness

btScalar btTranslationalLimitMotor::m_limitSoftness

Softness for linear limit.

Linear_Limit_parameters

Definition at line 139 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), btTranslationalLimitMotor(), and solveLinearAxis().

◆ m_lowerLimit

btVector3 btTranslationalLimitMotor::m_lowerLimit

the constraint lower limits

Definition at line 134 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), btTranslationalLimitMotor(), isLimited(), solveLinearAxis(), and testLimitValue().

◆ m_maxMotorForce

btVector3 btTranslationalLimitMotor::m_maxMotorForce

max force on motor

Definition at line 148 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), and btTranslationalLimitMotor().

◆ m_normalCFM

btVector3 btTranslationalLimitMotor::m_normalCFM

Bounce parameter for linear limit.

Constraint force mixing factor

Definition at line 142 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), and btTranslationalLimitMotor().

◆ m_restitution

btScalar btTranslationalLimitMotor::m_restitution

Definition at line 141 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), btTranslationalLimitMotor(), and solveLinearAxis().

◆ m_stopCFM

btVector3 btTranslationalLimitMotor::m_stopCFM

Constraint force mixing factor when joint is at limit.

Definition at line 144 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), and btTranslationalLimitMotor().

◆ m_stopERP

btVector3 btTranslationalLimitMotor::m_stopERP

Error tolerance factor when joint is at limit.

Definition at line 143 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), and btTranslationalLimitMotor().

◆ m_targetVelocity

btVector3 btTranslationalLimitMotor::m_targetVelocity

target motor velocity

Definition at line 147 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), and btTranslationalLimitMotor().

◆ m_upperLimit

btVector3 btTranslationalLimitMotor::m_upperLimit

the constraint upper limits

Definition at line 135 of file btGeneric6DofConstraint.h.

Referenced by btTranslationalLimitMotor(), btTranslationalLimitMotor(), isLimited(), solveLinearAxis(), and testLimitValue().

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