Blender: btRotationalLimitMotor Class Reference

Blender V4.3

Rotation Limit structure for generic joints. More...

#include <btGeneric6DofConstraint.h>

Public Member Functions
	btRotationalLimitMotor ()

	btRotationalLimitMotor (const btRotationalLimitMotor &limot)

bool	isLimited () const
	Is limited.

bool	needApplyTorques () const
	Need apply correction.

int	testLimitValue (btScalar test_value)
	calculates error

btScalar	solveAngularLimits (btScalar timeStep, btVector3 &axis, btScalar jacDiagABInv, btRigidBody body0, btRigidBody body1)
	apply the correction impulses for two bodies

Public Attributes

btScalar	m_loLimit
	joint limit

btScalar	m_hiLimit
	joint limit

btScalar	m_targetVelocity
	target motor velocity

btScalar	m_maxMotorForce
	max force on motor

btScalar	m_maxLimitForce
	max force on limit

btScalar	m_damping
	Damping.

btScalar	m_limitSoftness

btScalar	m_normalCFM
	Relaxation factor.

btScalar	m_stopERP
	Error tolerance factor when joint is at limit.

btScalar	m_stopCFM
	Constraint force mixing factor when joint is at limit.

btScalar	m_bounce
	restitution factor

bool	m_enableMotor


btScalar	m_currentLimitError

btScalar	m_currentPosition
	How much is violated this limit.

int	m_currentLimit
	current value of angle

btScalar	m_accumulatedImpulse

Detailed Description

Rotation Limit structure for generic joints.

Definition at line 44 of file btGeneric6DofConstraint.h.

Constructor & Destructor Documentation

◆ btRotationalLimitMotor() [1/2]

btRotationalLimitMotor::btRotationalLimitMotor ( )

inline

Definition at line 72 of file btGeneric6DofConstraint.h.

References m_accumulatedImpulse, m_bounce, m_currentLimit, m_currentLimitError, m_damping, m_enableMotor, m_hiLimit, m_limitSoftness, m_loLimit, m_maxLimitForce, m_maxMotorForce, m_normalCFM, m_stopCFM, m_stopERP, and m_targetVelocity.

◆ btRotationalLimitMotor() [2/2]

btRotationalLimitMotor::btRotationalLimitMotor ( const btRotationalLimitMotor & limot )

inline

Definition at line 91 of file btGeneric6DofConstraint.h.

References m_bounce, m_currentLimit, m_currentLimitError, m_enableMotor, m_hiLimit, m_limitSoftness, m_loLimit, m_maxMotorForce, m_normalCFM, m_stopCFM, m_stopERP, and m_targetVelocity.

Member Function Documentation

◆ isLimited()

bool btRotationalLimitMotor::isLimited ( ) const

inline

Is limited.

Definition at line 108 of file btGeneric6DofConstraint.h.

References m_hiLimit, and m_loLimit.

Referenced by isLimited().

◆ needApplyTorques()

bool btRotationalLimitMotor::needApplyTorques ( ) const

inline

Need apply correction.

Definition at line 115 of file btGeneric6DofConstraint.h.

References m_currentLimit, and m_enableMotor.

Referenced by solveAngularLimits(), and testAngularLimitMotor().

◆ solveAngularLimits()

btScalar btRotationalLimitMotor::solveAngularLimits	(	btScalar	timeStep,
		btVector3 &	axis,
		btScalar	jacDiagABInv,
		btRigidBody *	body0,
		btRigidBody *	body1 )

apply the correction impulses for two bodies

Todo: : should clip against accumulated impulse

Definition at line 132 of file btGeneric6DofConstraint.cpp.

References btRigidBody::applyTorqueImpulse(), BT_LARGE_FLOAT, btRigidBody::getAngularVelocity(), m_accumulatedImpulse, m_bounce, m_currentLimit, m_currentLimitError, m_damping, m_limitSoftness, m_maxLimitForce, m_maxMotorForce, m_stopERP, m_targetVelocity, needApplyTorques(), SIMD_EPSILON, and sum().

◆ testLimitValue()

int btRotationalLimitMotor::testLimitValue ( btScalar test_value )

calculates error

calculates m_currentLimit and m_currentLimitError.

Definition at line 100 of file btGeneric6DofConstraint.cpp.

References m_currentLimit, m_currentLimitError, m_hiLimit, m_loLimit, SIMD_2_PI, and SIMD_PI.

Referenced by testAngularLimitMotor().

Member Data Documentation

◆ m_accumulatedImpulse

btScalar btRotationalLimitMotor::m_accumulatedImpulse

Definition at line 69 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), and solveAngularLimits().

◆ m_bounce

btScalar btRotationalLimitMotor::m_bounce

restitution factor

Definition at line 59 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), get_limit_motor_info2(), setBounce(), setLinearLimits(), and solveAngularLimits().

◆ m_currentLimit

int btRotationalLimitMotor::m_currentLimit

current value of angle

0=free, 1=at lo limit, 2=at hi limit

Definition at line 68 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), get_limit_motor_info2(), needApplyTorques(), setLinearLimits(), solveAngularLimits(), and testLimitValue().

◆ m_currentLimitError

btScalar btRotationalLimitMotor::m_currentLimitError

temp_variables

Definition at line 66 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), get_limit_motor_info2(), setLinearLimits(), solveAngularLimits(), and testLimitValue().

◆ m_currentPosition

btScalar btRotationalLimitMotor::m_currentPosition

How much is violated this limit.

Definition at line 67 of file btGeneric6DofConstraint.h.

Referenced by get_limit_motor_info2(), setLinearLimits(), and testAngularLimitMotor().

◆ m_damping

btScalar btRotationalLimitMotor::m_damping

Damping.

Definition at line 54 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), setLinearLimits(), and solveAngularLimits().

◆ m_enableMotor

bool btRotationalLimitMotor::m_enableMotor

Definition at line 60 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), enableMotor(), get_limit_motor_info2(), needApplyTorques(), and setLinearLimits().

◆ m_hiLimit

btScalar btRotationalLimitMotor::m_hiLimit

joint limit

Definition at line 50 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), get_limit_motor_info2(), isLimited(), setLimit(), setLinearLimits(), and testLimitValue().

◆ m_limitSoftness

btScalar btRotationalLimitMotor::m_limitSoftness

Definition at line 55 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), setLinearLimits(), and solveAngularLimits().

◆ m_loLimit

btScalar btRotationalLimitMotor::m_loLimit

joint limit

limit_parameters

Definition at line 49 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), get_limit_motor_info2(), isLimited(), setLimit(), setLinearLimits(), and testLimitValue().

◆ m_maxLimitForce

btScalar btRotationalLimitMotor::m_maxLimitForce

max force on limit

Definition at line 53 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), setLinearLimits(), and solveAngularLimits().

◆ m_maxMotorForce

btScalar btRotationalLimitMotor::m_maxMotorForce

max force on motor

Definition at line 52 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), get_limit_motor_info2(), internalUpdateSprings(), setLinearLimits(), setMaxMotorForce(), and solveAngularLimits().

◆ m_normalCFM

btScalar btRotationalLimitMotor::m_normalCFM

Relaxation factor.

Constraint force mixing factor

Definition at line 56 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), get_limit_motor_info2(), setAngularLimits(), and setLinearLimits().

◆ m_stopCFM

btScalar btRotationalLimitMotor::m_stopCFM

Constraint force mixing factor when joint is at limit.

Definition at line 58 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), get_limit_motor_info2(), setAngularLimits(), and setLinearLimits().

◆ m_stopERP

btScalar btRotationalLimitMotor::m_stopERP

Error tolerance factor when joint is at limit.

Definition at line 57 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), get_limit_motor_info2(), setAngularLimits(), setLinearLimits(), and solveAngularLimits().

◆ m_targetVelocity

btScalar btRotationalLimitMotor::m_targetVelocity

target motor velocity

Definition at line 51 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btRotationalLimitMotor(), get_limit_motor_info2(), internalUpdateSprings(), setLinearLimits(), setTargetVelocity(), and solveAngularLimits().

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