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

#include <btFixedConstraint.h>

Inheritance diagram for btFixedConstraint:
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Collaboration diagram for btFixedConstraint:
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Public Member Functions

 btFixedConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB)
 
virtual ~btFixedConstraint ()
 
- Public Member Functions inherited from btGeneric6DofSpring2Constraint
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 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 More...
 
 btGeneric6DofSpring2Constraint (btRigidBody &rbB, const btTransform &frameInB, RotateOrder rotOrder=RO_XYZ)
 
virtual void buildJacobian ()
 internal method used by the constraint solver, don't use them directly More...
 
virtual void getInfo1 (btConstraintInfo1 *info)
 internal method used by the constraint solver, don't use them directly More...
 
virtual void getInfo2 (btConstraintInfo2 *info)
 internal method used by the constraint solver, don't use them directly More...
 
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) More...
 
btRotationalLimitMotor2getRotationalLimitMotor (int index)
 
btTranslationalLimitMotor2getTranslationalLimitMotor ()
 
void calculateTransforms (const btTransform &transA, const btTransform &transB)
 
void calculateTransforms ()
 
const btTransformgetCalculatedTransformA () const
 
const btTransformgetCalculatedTransformB () const
 
const btTransformgetFrameOffsetA () const
 
const btTransformgetFrameOffsetB () const
 
btTransformgetFrameOffsetA ()
 
btTransformgetFrameOffsetB ()
 
btVector3 getAxis (int axis_index) const
 
btScalar getAngle (int axis_index) const
 
btScalar getRelativePivotPosition (int axis_index) const
 
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)
 override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). More...
 
virtual btScalar getParam (int num, int axis=-1) const
 return the local value of parameter More...
 
- Public Member Functions inherited from btTypedConstraint
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
virtual ~btTypedConstraint ()
 
 btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA)
 
 btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA, btRigidBody &rbB)
 
int getOverrideNumSolverIterations () const
 
void setOverrideNumSolverIterations (int overideNumIterations)
 override the number of constraint solver iterations used to solve this constraint -1 will use the default number of iterations, as specified in SolverInfo.m_numIterations More...
 
virtual void setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
 internal method used by the constraint solver, don't use them directly More...
 
void internalSetAppliedImpulse (btScalar appliedImpulse)
 internal method used by the constraint solver, don't use them directly More...
 
btScalar internalGetAppliedImpulse ()
 internal method used by the constraint solver, don't use them directly More...
 
btScalar getBreakingImpulseThreshold () const
 
void setBreakingImpulseThreshold (btScalar threshold)
 
bool isEnabled () const
 
void setEnabled (bool enabled)
 
virtual void solveConstraintObsolete (btSolverBody &, btSolverBody &, btScalar)
 internal method used by the constraint solver, don't use them directly More...
 
const btRigidBodygetRigidBodyA () const
 
const btRigidBodygetRigidBodyB () const
 
btRigidBodygetRigidBodyA ()
 
btRigidBodygetRigidBodyB ()
 
int getUserConstraintType () const
 
void setUserConstraintType (int userConstraintType)
 
void setUserConstraintId (int uid)
 
int getUserConstraintId () const
 
void setUserConstraintPtr (void *ptr)
 
void * getUserConstraintPtr ()
 
void setJointFeedback (btJointFeedback *jointFeedback)
 
const btJointFeedbackgetJointFeedback () const
 
btJointFeedbackgetJointFeedback ()
 
int getUid () const
 
bool needsFeedback () const
 
void enableFeedback (bool needsFeedback)
 enableFeedback will allow to read the applied linear and angular impulse use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information More...
 
btScalar getAppliedImpulse () const
 getAppliedImpulse is an estimated total applied impulse. More...
 
btTypedConstraintType getConstraintType () const
 
void setDbgDrawSize (btScalar dbgDrawSize)
 
btScalar getDbgDrawSize ()
 
- Public Member Functions inherited from btTypedObject
 btTypedObject (int objectType)
 
int getObjectType () const
 

Additional Inherited Members

- Static Public Member Functions inherited from btTypedConstraint
static btRigidBodygetFixedBody ()
 
- Public Attributes inherited from btTypedObject
int m_objectType
 
- Protected Member Functions inherited from btGeneric6DofSpring2Constraint
btGeneric6DofSpring2Constraintoperator= (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)
 
- Protected Member Functions inherited from btTypedConstraint
btScalar getMotorFactor (btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
 internal method used by the constraint solver, don't use them directly More...
 
- Static Protected Member Functions inherited from btGeneric6DofSpring2Constraint
static btScalar btGetMatrixElem (const btMatrix3x3 &mat, int index)
 
static bool matrixToEulerXYZ (const btMatrix3x3 &mat, btVector3 &xyz)
 
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)
 
- Protected Attributes inherited from btGeneric6DofSpring2Constraint
btTransform m_frameInA
 
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
 
- Protected Attributes inherited from btTypedConstraint
btRigidBodym_rbA
 
btRigidBodym_rbB
 
btScalar m_appliedImpulse
 
btScalar m_dbgDrawSize
 
btJointFeedbackm_jointFeedback
 

Detailed Description

Definition at line 22 of file btFixedConstraint.h.

Constructor & Destructor Documentation

btFixedConstraint::btFixedConstraint ( btRigidBody rbA,
btRigidBody rbB,
const btTransform frameInA,
const btTransform frameInB 
)

Definition at line 23 of file btFixedConstraint.cpp.

btFixedConstraint::~btFixedConstraint ( )
virtual

Definition at line 35 of file btFixedConstraint.cpp.


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