Bullet Collision Detection & Physics Library
Public Member Functions | Private Attributes | List of all members
btAngularLimit Class Reference

#include <btTypedConstraint.h>

Public Member Functions

 btAngularLimit ()
 Default constructor initializes limit as inactive, allowing free constraint movement. More...
 
void set (btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
 Sets all limit's parameters. More...
 
void test (const btScalar angle)
 Checks conastaint angle against limit. More...
 
btScalar getSoftness () const
 Returns limit's softness. More...
 
btScalar getBiasFactor () const
 Returns limit's bias factor. More...
 
btScalar getRelaxationFactor () const
 Returns limit's relaxation factor. More...
 
btScalar getCorrection () const
 Returns correction value evaluated when test() was invoked. More...
 
btScalar getSign () const
 Returns sign value evaluated when test() was invoked. More...
 
btScalar getHalfRange () const
 Gives half of the distance between min and max limit angle. More...
 
bool isLimit () const
 Returns true when the last test() invocation recognized limit violation. More...
 
void fit (btScalar &angle) const
 Checks given angle against limit. More...
 
btScalar getError () const
 Returns correction value multiplied by sign value. More...
 
btScalar getLow () const
 
btScalar getHigh () const
 

Private Attributes

btScalar m_center
 
btScalar m_halfRange
 
btScalar m_softness
 
btScalar m_biasFactor
 
btScalar m_relaxationFactor
 
btScalar m_correction
 
btScalar m_sign
 
bool m_solveLimit
 

Detailed Description

Definition at line 451 of file btTypedConstraint.h.

Constructor & Destructor Documentation

btAngularLimit::btAngularLimit ( )
inline

Default constructor initializes limit as inactive, allowing free constraint movement.

Definition at line 468 of file btTypedConstraint.h.

Member Function Documentation

void btAngularLimit::fit ( btScalar angle) const

Checks given angle against limit.

If limit is active and angle doesn't fit it, the angle returned is modified so it equals to the limit closest to given angle.

Definition at line 195 of file btTypedConstraint.cpp.

btScalar btAngularLimit::getBiasFactor ( ) const
inline

Returns limit's bias factor.

Definition at line 495 of file btTypedConstraint.h.

btScalar btAngularLimit::getCorrection ( ) const
inline

Returns correction value evaluated when test() was invoked.

Definition at line 507 of file btTypedConstraint.h.

btScalar btAngularLimit::getError ( ) const

Returns correction value multiplied by sign value.

Definition at line 190 of file btTypedConstraint.cpp.

btScalar btAngularLimit::getHalfRange ( ) const
inline

Gives half of the distance between min and max limit angle.

Definition at line 519 of file btTypedConstraint.h.

btScalar btAngularLimit::getHigh ( ) const

Definition at line 219 of file btTypedConstraint.cpp.

btScalar btAngularLimit::getLow ( ) const

Definition at line 214 of file btTypedConstraint.cpp.

btScalar btAngularLimit::getRelaxationFactor ( ) const
inline

Returns limit's relaxation factor.

Definition at line 501 of file btTypedConstraint.h.

btScalar btAngularLimit::getSign ( ) const
inline

Returns sign value evaluated when test() was invoked.

Definition at line 513 of file btTypedConstraint.h.

btScalar btAngularLimit::getSoftness ( ) const
inline

Returns limit's softness.

Definition at line 489 of file btTypedConstraint.h.

bool btAngularLimit::isLimit ( ) const
inline

Returns true when the last test() invocation recognized limit violation.

Definition at line 525 of file btTypedConstraint.h.

void btAngularLimit::set ( btScalar  low,
btScalar  high,
btScalar  _softness = 0.9f,
btScalar  _biasFactor = 0.3f,
btScalar  _relaxationFactor = 1.0f 
)

Sets all limit's parameters.

When low > high limit becomes inactive. When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit

Definition at line 156 of file btTypedConstraint.cpp.

void btAngularLimit::test ( const btScalar  angle)

Checks conastaint angle against limit.

If limit is active and the angle violates the limit correction is calculated.

Definition at line 165 of file btTypedConstraint.cpp.

Member Data Documentation

btScalar btAngularLimit::m_biasFactor
private

Definition at line 455 of file btTypedConstraint.h.

btScalar btAngularLimit::m_center
private

Definition at line 455 of file btTypedConstraint.h.

btScalar btAngularLimit::m_correction
private

Definition at line 455 of file btTypedConstraint.h.

btScalar btAngularLimit::m_halfRange
private

Definition at line 455 of file btTypedConstraint.h.

btScalar btAngularLimit::m_relaxationFactor
private

Definition at line 455 of file btTypedConstraint.h.

btScalar btAngularLimit::m_sign
private

Definition at line 455 of file btTypedConstraint.h.

btScalar btAngularLimit::m_softness
private

Definition at line 455 of file btTypedConstraint.h.

bool btAngularLimit::m_solveLimit
private

Definition at line 464 of file btTypedConstraint.h.


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