#include "LinearMath/btVector3.h"
#include "btTypedConstraint.h"
#include "btGeneric6DofConstraint.h"

Classes
struct	btGeneric6DofSpringConstraintData

struct	btGeneric6DofSpringConstraintDoubleData2

Macros
#define	btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData

#define	btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"

Functions
void	init ()

void	internalUpdateSprings (btConstraintInfo2 *info)

	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btGeneric6DofSpringConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)

	btGeneric6DofSpringConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB)

void	enableSpring (int index, bool onOff)

void	setStiffness (int index, btScalar stiffness)

void	setDamping (int index, btScalar damping)

void	setEquilibriumPoint ()

void	setEquilibriumPoint (int index)

void	setEquilibriumPoint (int index, btScalar val)

bool	isSpringEnabled (int index) const

btScalar	getStiffness (int index) const

btScalar	getDamping (int index) const

btScalar	getEquilibriumPoint (int index) const

virtual void	setAxis (const btVector3 &axis1, const btVector3 &axis2)

virtual void	getInfo2 (btConstraintInfo2 *info)

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
btGeneric6DofSpringConstraint	__pad0__
	Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF.

btScalar	m_equilibriumPoint [6]

btScalar	m_springStiffness [6]

btScalar	m_springDamping [6]

Macro Definition Documentation

◆ btGeneric6DofSpringConstraintData2

#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintData

Definition at line 27 of file btGeneric6DofSpringConstraint.h.

◆ btGeneric6DofSpringConstraintDataName

#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintData"

Definition at line 28 of file btGeneric6DofSpringConstraint.h.

Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ btGeneric6DofSpringConstraint() [1/2]

btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	frameInA,
		const btTransform &	frameInB,
		bool	useLinearReferenceFrameA )

Definition at line 20 of file btGeneric6DofSpringConstraint.cpp.

References init().

Referenced by RB_constraint_new_6dof_spring(), RB_constraint_set_damping_6dof_spring(), RB_constraint_set_equilibrium_6dof_spring(), RB_constraint_set_spring_6dof_spring(), and RB_constraint_set_stiffness_6dof_spring().

◆ btGeneric6DofSpringConstraint() [2/2]

btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint	(	btRigidBody &	rbB,
		const btTransform &	frameInB,
		bool	useLinearReferenceFrameB )

Definition at line 26 of file btGeneric6DofSpringConstraint.cpp.

References init().

◆ calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

◆ enableSpring()

void enableSpring	(	int	index,
		bool	onOff )

◆ getDamping()

btScalar getDamping ( int index ) const

Definition at line 74 of file btGeneric6DofSpringConstraint.h.

References m_springDamping.

◆ getEquilibriumPoint()

btScalar getEquilibriumPoint ( int index ) const

Definition at line 79 of file btGeneric6DofSpringConstraint.h.

References m_equilibriumPoint.

◆ getInfo2()

virtual void getInfo2 ( btConstraintInfo2 * info )

virtual

◆ getStiffness()

btScalar getStiffness ( int index ) const

Definition at line 69 of file btGeneric6DofSpringConstraint.h.

References m_springStiffness.

◆ init()

void init ( )

◆ internalUpdateSprings()

void btGeneric6DofSpringConstraint::internalUpdateSprings ( btConstraintInfo2 * info )

Definition at line 106 of file btGeneric6DofSpringConstraint.cpp.

References btFabs(), btConstraintInfo2::fps, m_angularLimits, m_calculatedAxisAngleDiff, m_calculatedLinearDiff, m_equilibriumPoint, m_linearLimits, btRotationalLimitMotor::m_maxMotorForce, btTranslationalLimitMotor::m_maxMotorForce, btConstraintInfo2::m_numIterations, m_springDamping, m_springStiffness, btRotationalLimitMotor::m_targetVelocity, and btTranslationalLimitMotor::m_targetVelocity.

◆ isSpringEnabled()

bool isSpringEnabled ( int index ) const

Definition at line 64 of file btGeneric6DofSpringConstraint.h.

◆ serialize()

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

virtual

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

◆ setAxis()

virtual void setAxis	(	const btVector3 &	axis1,
		const btVector3 &	axis2 )

virtual

◆ setDamping()

void setDamping	(	int	index,
		btScalar	damping )

◆ setEquilibriumPoint() [1/3]

void setEquilibriumPoint ( )

◆ setEquilibriumPoint() [2/3]

void setEquilibriumPoint ( int index )

◆ setEquilibriumPoint() [3/3]

void setEquilibriumPoint	(	int	index,
		btScalar	val )

◆ setStiffness()

void btGeneric6DofSpringConstraint::setStiffness	(	int	index,
		btScalar	stiffness )

Definition at line 59 of file btGeneric6DofSpringConstraint.cpp.

References btAssert, and m_springStiffness.

Variable Documentation

◆ pad0

btGeneric6DofSpringConstraint __pad0__

Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF.

DOF index used in enableSpring() and setStiffness() means: 0 : translation X 1 : translation Y 2 : translation Z 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )

Definition at line 42 of file btGeneric6DofSpringConstraint.h.