btGeneric6DofSpring2Constraint.h File Reference

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

Go to the source code of this file.

Classes
class	btRotationalLimitMotor2
class	btTranslationalLimitMotor2
struct	btGeneric6DofSpring2ConstraintData
struct	btGeneric6DofSpring2ConstraintDoubleData2

Macros
#define	btGeneric6DofSpring2ConstraintData2   btGeneric6DofSpring2ConstraintData
#define	btGeneric6DofSpring2ConstraintDataName   "btGeneric6DofSpring2ConstraintData"
#define	BT_6DOF_FLAGS_AXIS_SHIFT2   4

Enumerations
enum	RotateOrder {   RO_XYZ = 0 , RO_XZY , RO_YXZ , RO_YZX ,   RO_ZXY , RO_ZYX }
enum	bt6DofFlags2 {   BT_6DOF_FLAGS_CFM_STOP2 = 1 , BT_6DOF_FLAGS_ERP_STOP2 = 2 , BT_6DOF_FLAGS_CFM_MOTO2 = 4 , BT_6DOF_FLAGS_ERP_MOTO2 = 8 ,   BT_6DOF_FLAGS_USE_INFINITE_ERROR = (1<<16) }

Functions
btGeneric6DofSpring2Constraint &	operator= (const btGeneric6DofSpring2Constraint &)
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	calculateLinearInfo ()
void	calculateAngleInfo ()
void	testAngularLimitMotor (int axis_index)
void	calculateJacobi (btRotationalLimitMotor2 *limot, const btTransform &transA, const btTransform &transB, btConstraintInfo2 *info, int srow, btVector3 &ax1, int rotational, int rotAllowed)
int	get_limit_motor_info2 (btRotationalLimitMotor2 *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)
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btGeneric6DofSpring2Constraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, RotateOrder rotOrder=RO_XYZ)
	btGeneric6DofSpring2Constraint (btRigidBody &rbB, const btTransform &frameInB, RotateOrder rotOrder=RO_XYZ)
virtual void	buildJacobian ()
	obsolete methods
virtual void	getInfo1 (btConstraintInfo1 *info)
virtual void	getInfo2 (btConstraintInfo2 *info)
virtual int	calculateSerializeBufferSize () const
virtual const char *	serialize (void *dataBuffer, btSerializer *serializer) const
btRotationalLimitMotor2 *	getRotationalLimitMotor (int index)
btTranslationalLimitMotor2 *	getTranslationalLimitMotor ()
void	calculateTransforms (const btTransform &transA, const btTransform &transB)
void	calculateTransforms ()
const btTransform &	getCalculatedTransformA () const
const btTransform &	getCalculatedTransformB () const
const btTransform &	getFrameOffsetA () const
const btTransform &	getFrameOffsetB () const
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)
void	setLinearLowerLimit (const btVector3 &linearLower)
void	getLinearLowerLimit (btVector3 &linearLower)
void	setLinearUpperLimit (const btVector3 &linearUpper)
void	getLinearUpperLimit (btVector3 &linearUpper)
void	setAngularLowerLimit (const btVector3 &angularLower)
void	setAngularLowerLimitReversed (const btVector3 &angularLower)
void	getAngularLowerLimit (btVector3 &angularLower)
void	getAngularLowerLimitReversed (btVector3 &angularLower)
void	setAngularUpperLimit (const btVector3 &angularUpper)
void	setAngularUpperLimitReversed (const btVector3 &angularUpper)
void	getAngularUpperLimit (btVector3 &angularUpper)
void	getAngularUpperLimitReversed (btVector3 &angularUpper)
void	setLimit (int axis, btScalar lo, btScalar hi)
void	setLimitReversed (int axis, btScalar lo, btScalar hi)
bool	isLimited (int limitIndex)
void	setRotationOrder (RotateOrder order)
RotateOrder	getRotationOrder ()
void	setAxis (const btVector3 &axis1, const btVector3 &axis2)
void	setBounce (int index, btScalar bounce)
void	enableMotor (int index, bool onOff)
void	setServo (int index, bool onOff)
void	setTargetVelocity (int index, btScalar velocity)
void	setServoTarget (int index, btScalar target)
void	setMaxMotorForce (int index, btScalar force)
void	enableSpring (int index, bool onOff)
void	setStiffness (int index, btScalar stiffness, bool limitIfNeeded=true)
void	setDamping (int index, btScalar damping, bool limitIfNeeded=true)
void	setEquilibriumPoint ()
void	setEquilibriumPoint (int index)
void	setEquilibriumPoint (int index, btScalar val)
virtual void	setParam (int num, btScalar value, int axis=-1)
virtual btScalar	getParam (int num, int axis=-1) const
static btScalar	btGetMatrixElem (const btMatrix3x3 &mat, int index)
static bool	matrixToEulerXYZ (const btMatrix3x3 &mat, btVector3 &xyz)
	MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html.
static bool	matrixToEulerXZY (const btMatrix3x3 &mat, btVector3 &xyz)
static bool	matrixToEulerYXZ (const btMatrix3x3 &mat, btVector3 &xyz)
static bool	matrixToEulerYZX (const btMatrix3x3 &mat, btVector3 &xyz)
static bool	matrixToEulerZXY (const btMatrix3x3 &mat, btVector3 &xyz)
static bool	matrixToEulerZYX (const btMatrix3x3 &mat, btVector3 &xyz)

Variables
btGeneric6DofSpring2Constraint	__pad0__
btTransform	m_frameInB
btJacobianEntry	m_jacLinear [3]
btJacobianEntry	m_jacAng [3]
btTranslationalLimitMotor2	m_linearLimits
btRotationalLimitMotor2	m_angularLimits [3]
RotateOrder	m_rotateOrder
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
int	m_flags

Macro Definition Documentation

BT_6DOF_FLAGS_AXIS_SHIFT2

#define BT_6DOF_FLAGS_AXIS_SHIFT2   4

Definition at line 270 of file btGeneric6DofSpring2Constraint.h.

btGeneric6DofSpring2ConstraintData2

#define btGeneric6DofSpring2ConstraintData2   btGeneric6DofSpring2ConstraintData

Definition at line 53 of file btGeneric6DofSpring2Constraint.h.

btGeneric6DofSpring2ConstraintDataName

#define btGeneric6DofSpring2ConstraintDataName   "btGeneric6DofSpring2ConstraintData"

Definition at line 54 of file btGeneric6DofSpring2Constraint.h.

Enumeration Type Documentation

bt6DofFlags2

enum bt6DofFlags2

Enumerator
BT_6DOF_FLAGS_CFM_STOP2
BT_6DOF_FLAGS_ERP_STOP2
BT_6DOF_FLAGS_CFM_MOTO2
BT_6DOF_FLAGS_ERP_MOTO2
BT_6DOF_FLAGS_USE_INFINITE_ERROR

Definition at line 262 of file btGeneric6DofSpring2Constraint.h.

RotateOrder

enum RotateOrder

Enumerator
RO_XYZ
RO_XZY
RO_YXZ
RO_YZX
RO_ZXY
RO_ZYX

Definition at line 57 of file btGeneric6DofSpring2Constraint.h.

Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR

(

)

btGeneric6DofSpring2Constraint() [1/2]

btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	frameInA,
		const btTransform &	frameInB,
		RotateOrder	rotOrder = RO_XYZ )

2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev Added support for generic constraint solver through getInfo1/getInfo2 methods

Definition at line 46 of file btGeneric6DofSpring2Constraint.cpp.

References calculateTransforms().

Referenced by debugDrawConstraint(), RB_constraint_new_6dof_spring2(), RB_constraint_set_damping_6dof_spring2(), RB_constraint_set_equilibrium_6dof_spring2(), RB_constraint_set_limits_6dof_spring2(), RB_constraint_set_spring_6dof_spring2(), and RB_constraint_set_stiffness_6dof_spring2().

btGeneric6DofSpring2Constraint() [2/2]

btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint	(	btRigidBody &	rbB,
		const btTransform &	frameInB,
		RotateOrder	rotOrder = RO_XYZ )

not providing rigidbody A means implicitly using worldspace for body A

Definition at line 52 of file btGeneric6DofSpring2Constraint.cpp.

References calculateTransforms(), btRigidBody::getCenterOfMassTransform(), m_frameInA, m_frameInB, and rbB.

btGetMatrixElem()

static btScalar btGetMatrixElem ( const btMatrix3x3 & mat, int index )

static

Definition at line 53 of file btGeneric6DofConstraint.cpp.

Referenced by matrixToEulerXYZ(), matrixToEulerXZY(), matrixToEulerYXZ(), matrixToEulerYZX(), matrixToEulerZXY(), and matrixToEulerZYX().

buildJacobian()

virtual void buildJacobian ( )

virtual

obsolete methods

performs Jacobian calculation, and also calculates angle differences and axis

we need it for both methods

Definition at line 322 of file btGeneric6DofSpring2Constraint.h.

calculateAngleInfo()

void calculateAngleInfo ( )

protected

calculateJacobi()

void btGeneric6DofSpring2Constraint::calculateJacobi ( btRotationalLimitMotor2 * limot, const btTransform & transA, const btTransform & transB, btConstraintInfo2 * info, int srow, btVector3 & ax1, int rotational, int rotAllowed )

protected

Definition at line 637 of file btGeneric6DofSpring2Constraint.cpp.

References m_calculatedTransformA, m_calculatedTransformB, m_factA, m_factB, m_hasStaticBody, btConstraintInfo2::m_J1angularAxis, btConstraintInfo2::m_J1linearAxis, btConstraintInfo2::m_J2angularAxis, and btConstraintInfo2::m_J2linearAxis.

Referenced by get_limit_motor_info2().

calculateLinearInfo()

void calculateLinearInfo ( )

protected

calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

calculateTransforms() [1/2]

void calculateTransforms

(

)

calculateTransforms() [2/2]

void calculateTransforms	(	const btTransform &	transA,
		const btTransform &	transB )

enableMotor()

void btGeneric6DofSpring2Constraint::enableMotor	(	int	index,
		bool	onOff )

Definition at line 1050 of file btGeneric6DofSpring2Constraint.cpp.

References btAssert, m_angularLimits, btRotationalLimitMotor::m_enableMotor, btTranslationalLimitMotor::m_enableMotor, and m_linearLimits.

enableSpring()

void btGeneric6DofSpringConstraint::enableSpring	(	int	index,
		bool	onOff )

Definition at line 1130 of file btGeneric6DofSpring2Constraint.cpp.

References btAssert, m_angularLimits, and m_linearLimits.

Referenced by btHinge2Constraint().

get_limit_motor_info2()

int btGeneric6DofSpring2Constraint::get_limit_motor_info2 ( btRotationalLimitMotor2 * 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 )

protected

Definition at line 670 of file btGeneric6DofSpring2Constraint.cpp.

References BT_6DOF_FLAGS_USE_INFINITE_ERROR, BT_ONE, BT_ZERO, btSqrt(), calculateJacobi(), btConstraintInfo2::cfm, count, dot(), error(), btConstraintInfo2::fps, btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), getMotorFactor(), length(), length2(), btRotationalLimitMotor2::m_bounce, m_calculatedTransformA, m_calculatedTransformB, btConstraintInfo2::m_constraintError, btRotationalLimitMotor2::m_currentLimit, btRotationalLimitMotor2::m_currentLimitError, btRotationalLimitMotor2::m_currentLimitErrorHi, btRotationalLimitMotor2::m_currentPosition, btRotationalLimitMotor2::m_enableMotor, btRotationalLimitMotor2::m_enableSpring, btRotationalLimitMotor2::m_equilibriumPoint, m_flags, btRotationalLimitMotor2::m_hiLimit, btRotationalLimitMotor2::m_loLimit, btConstraintInfo2::m_lowerLimit, btRotationalLimitMotor2::m_maxMotorForce, btRotationalLimitMotor2::m_motorCFM, btRotationalLimitMotor2::m_motorERP, m_rbA, m_rbB, btRotationalLimitMotor2::m_servoMotor, btRotationalLimitMotor2::m_servoTarget, btRotationalLimitMotor2::m_springDamping, btRotationalLimitMotor2::m_springDampingLimited, btRotationalLimitMotor2::m_springStiffness, btRotationalLimitMotor2::m_springStiffnessLimited, btRotationalLimitMotor2::m_stopCFM, btRotationalLimitMotor2::m_stopERP, btRotationalLimitMotor2::m_targetVelocity, btConstraintInfo2::m_upperLimit, btConstraintInfo2::rowskip, SIMD_2_PI, SIMD_INFINITY, and SIMD_PI.

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

)

Definition at line 374 of file btGeneric6DofSpring2Constraint.h.

References m_angularLimits.

getAngularLowerLimitReversed()

void getAngularLowerLimitReversed

(

btVector3 &

angularLower

)

Definition at line 380 of file btGeneric6DofSpring2Constraint.h.

References m_angularLimits.

getAngularUpperLimit()

void getAngularUpperLimit

(

btVector3 &

angularUpper

)

Definition at line 398 of file btGeneric6DofSpring2Constraint.h.

References m_angularLimits.

getAngularUpperLimitReversed()

void getAngularUpperLimitReversed

(

btVector3 &

angularUpper

)

Definition at line 404 of file btGeneric6DofSpring2Constraint.h.

References 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 m_calculatedAxis.

getCalculatedTransformA()

const btTransform & getCalculatedTransformA

(

)

const

Definition at line 336 of file btGeneric6DofSpring2Constraint.h.

References m_calculatedTransformA.

getCalculatedTransformB()

const btTransform & getCalculatedTransformB

(

)

const

Definition at line 338 of file btGeneric6DofSpring2Constraint.h.

References m_calculatedTransformB.

getFrameOffsetA()

const btTransform & getFrameOffsetA

(

)

const

Definition at line 340 of file btGeneric6DofSpring2Constraint.h.

References m_frameInA.

getFrameOffsetB()

const btTransform & getFrameOffsetB

(

)

const

Definition at line 341 of file btGeneric6DofSpring2Constraint.h.

References m_frameInB.

getInfo1()

virtual void getInfo1 ( btConstraintInfo1 * info )

virtual

getInfo2()

virtual void getInfo2 ( btConstraintInfo2 * info )

virtual

getLinearLowerLimit()

void getLinearLowerLimit

(

btVector3 &

linearLower

)

Definition at line 358 of file btGeneric6DofSpring2Constraint.h.

References m_linearLimits, and btTranslationalLimitMotor2::m_lowerLimit.

getLinearUpperLimit()

void getLinearUpperLimit

(

btVector3 &

linearUpper

)

Definition at line 360 of file btGeneric6DofSpring2Constraint.h.

References m_linearLimits, and btTranslationalLimitMotor2::m_upperLimit.

getParam()

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

virtual

getRelativePivotPosition()

btScalar getRelativePivotPosition

(

int

axis_index

)

const

Get the relative position of the constraint pivot.

Precondition

btGeneric6DofConstraint::calculateTransforms() must be called previously.

Definition at line 353 of file btGeneric6DofSpring2Constraint.h.

References m_calculatedLinearDiff.

getRotationalLimitMotor()

btRotationalLimitMotor2 * getRotationalLimitMotor

(

int

index

)

Definition at line 328 of file btGeneric6DofSpring2Constraint.h.

References m_angularLimits.

getRotationOrder()

RotateOrder getRotationOrder

(

)

Definition at line 454 of file btGeneric6DofSpring2Constraint.h.

References m_rotateOrder.

getTranslationalLimitMotor()

btTranslationalLimitMotor2 * getTranslationalLimitMotor

(

)

Definition at line 329 of file btGeneric6DofSpring2Constraint.h.

References m_linearLimits.

isLimited()

bool isLimited

(

int

limitIndex

)

Definition at line 444 of file btGeneric6DofSpring2Constraint.h.

References btRotationalLimitMotor2::isLimited(), btTranslationalLimitMotor2::isLimited(), m_angularLimits, and m_linearLimits.

matrixToEulerXYZ()

static bool matrixToEulerXYZ ( const btMatrix3x3 & mat, btVector3 & xyz )

static

MatrixToEulerXYZ from http://www.geometrictools.com/LibFoundation/Mathematics/Wm4Matrix3.inl.html.

Definition at line 62 of file btGeneric6DofConstraint.cpp.

References btAsin(), btAtan2(), btGetMatrixElem(), and SIMD_HALF_PI.

Referenced by calculateAngleInfo().

matrixToEulerXZY()

bool btGeneric6DofSpring2Constraint::matrixToEulerXZY ( const btMatrix3x3 & mat, btVector3 & xyz )

static

Definition at line 104 of file btGeneric6DofSpring2Constraint.cpp.

References btAsin(), btAtan2(), btGetMatrixElem(), and SIMD_HALF_PI.

matrixToEulerYXZ()

bool btGeneric6DofSpring2Constraint::matrixToEulerYXZ ( const btMatrix3x3 & mat, btVector3 & xyz )

static

Definition at line 137 of file btGeneric6DofSpring2Constraint.cpp.

References btAsin(), btAtan2(), btGetMatrixElem(), and SIMD_HALF_PI.

matrixToEulerYZX()

bool btGeneric6DofSpring2Constraint::matrixToEulerYZX ( const btMatrix3x3 & mat, btVector3 & xyz )

static

Definition at line 170 of file btGeneric6DofSpring2Constraint.cpp.

References btAsin(), btAtan2(), btGetMatrixElem(), and SIMD_HALF_PI.

matrixToEulerZXY()

bool btGeneric6DofSpring2Constraint::matrixToEulerZXY ( const btMatrix3x3 & mat, btVector3 & xyz )

static

Definition at line 203 of file btGeneric6DofSpring2Constraint.cpp.

References btAsin(), btAtan2(), btGetMatrixElem(), and SIMD_HALF_PI.

matrixToEulerZYX()

bool btGeneric6DofSpring2Constraint::matrixToEulerZYX ( const btMatrix3x3 & mat, btVector3 & xyz )

static

Definition at line 236 of file btGeneric6DofSpring2Constraint.cpp.

References btAsin(), btAtan2(), btGetMatrixElem(), and SIMD_HALF_PI.

operator=()

btGeneric6DofSpring2Constraint & operator= ( const btGeneric6DofSpring2Constraint & )

protected

Definition at line 298 of file btGeneric6DofSpring2Constraint.h.

References btAssert.

serialize()

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

virtual

setAngularLimits()

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 )

protected

setAngularLowerLimit()

void setAngularLowerLimit

(

const btVector3 &

angularLower

)

Definition at line 362 of file btGeneric6DofSpring2Constraint.h.

References btNormalizeAngle(), and m_angularLimits.

setAngularLowerLimitReversed()

void setAngularLowerLimitReversed

(

const btVector3 &

angularLower

)

Definition at line 368 of file btGeneric6DofSpring2Constraint.h.

References btNormalizeAngle(), and m_angularLimits.

setAngularUpperLimit()

void setAngularUpperLimit

(

const btVector3 &

angularUpper

)

Definition at line 386 of file btGeneric6DofSpring2Constraint.h.

References btNormalizeAngle(), and m_angularLimits.

setAngularUpperLimitReversed()

void setAngularUpperLimitReversed

(

const btVector3 &

angularUpper

)

Definition at line 392 of file btGeneric6DofSpring2Constraint.h.

References btNormalizeAngle(), and m_angularLimits.

setAxis()

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

setBounce()

void btGeneric6DofSpring2Constraint::setBounce	(	int	index,
		btScalar	bounce )

Definition at line 1041 of file btGeneric6DofSpring2Constraint.cpp.

References btAssert, m_angularLimits, btRotationalLimitMotor::m_bounce, and m_linearLimits.

setDamping()

void setDamping	(	int	index,
		btScalar	damping,
		bool	limitIfNeeded = true )

setEquilibriumPoint() [1/3]

void btGeneric6DofSpringConstraint::setEquilibriumPoint

(

)

Definition at line 1169 of file btGeneric6DofSpring2Constraint.cpp.

References calculateTransforms(), m_angularLimits, m_calculatedAxisAngleDiff, m_calculatedLinearDiff, m_equilibriumPoint, and m_linearLimits.

Referenced by btHinge2Constraint().

setEquilibriumPoint() [2/3]

void btGeneric6DofSpringConstraint::setEquilibriumPoint

(

int

index

)

Definition at line 1179 of file btGeneric6DofSpring2Constraint.cpp.

References btAssert, calculateTransforms(), m_angularLimits, m_calculatedAxisAngleDiff, m_calculatedLinearDiff, and m_linearLimits.

setEquilibriumPoint() [3/3]

void btGeneric6DofSpringConstraint::setEquilibriumPoint	(	int	index,
		btScalar	val )

Definition at line 1189 of file btGeneric6DofSpring2Constraint.cpp.

References btAssert, m_angularLimits, and m_linearLimits.

setFrames()

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

Definition at line 264 of file btSliderConstraint.h.

setLimit()

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

Definition at line 412 of file btGeneric6DofSpring2Constraint.h.

References btNormalizeAngle(), m_angularLimits, btRotationalLimitMotor2::m_hiLimit, m_linearLimits, btRotationalLimitMotor2::m_loLimit, btTranslationalLimitMotor2::m_lowerLimit, and btTranslationalLimitMotor2::m_upperLimit.

setLimitReversed()

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

Definition at line 428 of file btGeneric6DofSpring2Constraint.h.

References btNormalizeAngle(), m_angularLimits, btRotationalLimitMotor2::m_hiLimit, m_linearLimits, btRotationalLimitMotor2::m_loLimit, btTranslationalLimitMotor2::m_lowerLimit, and btTranslationalLimitMotor2::m_upperLimit.

setLinearLimits()

int setLinearLimits ( btConstraintInfo2 * info, int row, const btTransform & transA, const btTransform & transB, const btVector3 & linVelA, const btVector3 & linVelB, const btVector3 & angVelA, const btVector3 & angVelB )

protected

setLinearLowerLimit()

void setLinearLowerLimit

(

const btVector3 &

linearLower

)

Definition at line 357 of file btGeneric6DofSpring2Constraint.h.

References m_linearLimits, and btTranslationalLimitMotor2::m_lowerLimit.

setLinearUpperLimit()

void setLinearUpperLimit

(

const btVector3 &

linearUpper

)

Definition at line 359 of file btGeneric6DofSpring2Constraint.h.

References m_linearLimits, and btTranslationalLimitMotor2::m_upperLimit.

setMaxMotorForce()

void btGeneric6DofSpring2Constraint::setMaxMotorForce	(	int	index,
		btScalar	force )

Definition at line 1121 of file btGeneric6DofSpring2Constraint.cpp.

References btAssert, m_angularLimits, m_linearLimits, btRotationalLimitMotor::m_maxMotorForce, and btTranslationalLimitMotor::m_maxMotorForce.

setParam()

virtual void setParam ( int num, btScalar value, int axis = -1 )

virtual

setRotationOrder()

void setRotationOrder

(

RotateOrder

order

)

Definition at line 453 of file btGeneric6DofSpring2Constraint.h.

References m_rotateOrder.

setServo()

void btGeneric6DofSpring2Constraint::setServo	(	int	index,
		bool	onOff )

Definition at line 1059 of file btGeneric6DofSpring2Constraint.cpp.

References btAssert, m_angularLimits, and m_linearLimits.

setServoTarget()

void btGeneric6DofSpring2Constraint::setServoTarget	(	int	index,
		btScalar	target )

Definition at line 1077 of file btGeneric6DofSpring2Constraint.cpp.

References btAssert, m_angularLimits, m_linearLimits, SIMD_2_PI, and SIMD_PI.

setStiffness()

void btGeneric6DofSpring2Constraint::setStiffness	(	int	index,
		btScalar	stiffness,
		bool	limitIfNeeded = true )

Definition at line 1139 of file btGeneric6DofSpring2Constraint.cpp.

References btAssert, m_angularLimits, and m_linearLimits.

Referenced by btHinge2Constraint().

setTargetVelocity()

void btGeneric6DofSpring2Constraint::setTargetVelocity	(	int	index,
		btScalar	velocity )

Definition at line 1068 of file btGeneric6DofSpring2Constraint.cpp.

References btAssert, m_angularLimits, m_linearLimits, btRotationalLimitMotor::m_targetVelocity, and btTranslationalLimitMotor::m_targetVelocity.

testAngularLimitMotor()

void testAngularLimitMotor ( int axis_index )

protected

Variable Documentation

__pad0__

btGeneric6DofSpring2Constraint __pad0__

Definition at line 273 of file btGeneric6DofSpring2Constraint.h.

m_angularLimits

btRotationalLimitMotor2 m_angularLimits[3]

Definition at line 283 of file btGeneric6DofSpring2Constraint.h.

Referenced by getAngularLowerLimit(), getAngularLowerLimitReversed(), getAngularUpperLimit(), getAngularUpperLimitReversed(), getRotationalLimitMotor(), isLimited(), setAngularLowerLimit(), setAngularLowerLimitReversed(), setAngularUpperLimit(), setAngularUpperLimitReversed(), setLimit(), and setLimitReversed().

m_calculatedAxis

btVector3 m_calculatedAxis[3]

protected

Definition at line 291 of file btGeneric6DofSpring2Constraint.h.

Referenced by getAxis().

m_calculatedAxisAngleDiff

btVector3 m_calculatedAxisAngleDiff

protected

Definition at line 290 of file btGeneric6DofSpring2Constraint.h.

Referenced by getAngle().

m_calculatedLinearDiff

btVector3 m_calculatedLinearDiff

protected

Definition at line 292 of file btGeneric6DofSpring2Constraint.h.

Referenced by getRelativePivotPosition().

m_calculatedTransformA

btTransform m_calculatedTransformA

protected

Definition at line 288 of file btGeneric6DofSpring2Constraint.h.

Referenced by getCalculatedTransformA().

m_calculatedTransformB

btTransform m_calculatedTransformB

protected

Definition at line 289 of file btGeneric6DofSpring2Constraint.h.

Referenced by getCalculatedTransformB().

m_factA

btScalar m_factA

protected

Definition at line 293 of file btGeneric6DofSpring2Constraint.h.

m_factB

btScalar m_factB

protected

Definition at line 294 of file btGeneric6DofSpring2Constraint.h.

m_flags

int m_flags

protected

Definition at line 296 of file btGeneric6DofSpring2Constraint.h.

m_frameInB

btTransform m_frameInB

Definition at line 277 of file btGeneric6DofSpring2Constraint.h.

Referenced by getFrameOffsetB().

m_hasStaticBody

bool m_hasStaticBody

protected

Definition at line 295 of file btGeneric6DofSpring2Constraint.h.

m_jacAng

btJacobianEntry m_jacAng[3]

Definition at line 280 of file btGeneric6DofSpring2Constraint.h.

m_jacLinear

btJacobianEntry m_jacLinear[3]

Definition at line 279 of file btGeneric6DofSpring2Constraint.h.

m_linearLimits

btTranslationalLimitMotor2 m_linearLimits

Definition at line 282 of file btGeneric6DofSpring2Constraint.h.

Referenced by getLinearLowerLimit(), getLinearUpperLimit(), getTranslationalLimitMotor(), isLimited(), setLimit(), setLimitReversed(), setLinearLowerLimit(), and setLinearUpperLimit().

m_rotateOrder

RotateOrder m_rotateOrder

Definition at line 285 of file btGeneric6DofSpring2Constraint.h.

Referenced by getRotationOrder(), and setRotationOrder().