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

The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio. More...

#include <btGearConstraint.h>

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Public Member Functions

 btGearConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &axisInA, const btVector3 &axisInB, btScalar ratio=1.f)
 Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou. More...
 
virtual ~btGearConstraint ()
 
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...
 
void setAxisA (btVector3 &axisA)
 
void setAxisB (btVector3 &axisB)
 
void setRatio (btScalar ratio)
 
const btVector3getAxisA () const
 
const btVector3getAxisB () const
 
btScalar getRatio () const
 
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...
 
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...
 
- 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 buildJacobian ()
 internal method used by the constraint solver, don't use them directly 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
 

Protected Attributes

btVector3 m_axisInA
 
btVector3 m_axisInB
 
bool m_useFrameA
 
btScalar m_ratio
 
- Protected Attributes inherited from btTypedConstraint
btRigidBodym_rbA
 
btRigidBodym_rbB
 
btScalar m_appliedImpulse
 
btScalar m_dbgDrawSize
 
btJointFeedbackm_jointFeedback
 

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 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...
 

Detailed Description

The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.

See Bullet/Demos/ConstraintDemo for an example use.

Definition at line 36 of file btGearConstraint.h.

Constructor & Destructor Documentation

btGearConstraint::btGearConstraint ( btRigidBody rbA,
btRigidBody rbB,
const btVector3 axisInA,
const btVector3 axisInB,
btScalar  ratio = 1.f 
)

Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.

Definition at line 20 of file btGearConstraint.cpp.

btGearConstraint::~btGearConstraint ( )
virtual

Definition at line 28 of file btGearConstraint.cpp.

Member Function Documentation

int btGearConstraint::calculateSerializeBufferSize ( ) const
inlinevirtual

Reimplemented from btTypedConstraint.

Definition at line 128 of file btGearConstraint.h.

const btVector3& btGearConstraint::getAxisA ( ) const
inline

Definition at line 66 of file btGearConstraint.h.

const btVector3& btGearConstraint::getAxisB ( ) const
inline

Definition at line 70 of file btGearConstraint.h.

void btGearConstraint::getInfo1 ( btConstraintInfo1 info)
virtual

internal method used by the constraint solver, don't use them directly

Implements btTypedConstraint.

Definition at line 32 of file btGearConstraint.cpp.

void btGearConstraint::getInfo2 ( btConstraintInfo2 info)
virtual

internal method used by the constraint solver, don't use them directly

Implements btTypedConstraint.

Definition at line 38 of file btGearConstraint.cpp.

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

return the local value of parameter

Implements btTypedConstraint.

Definition at line 89 of file btGearConstraint.h.

btScalar btGearConstraint::getRatio ( ) const
inline

Definition at line 74 of file btGearConstraint.h.

const char * btGearConstraint::serialize ( void *  dataBuffer,
btSerializer serializer 
) const
inlinevirtual

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

Reimplemented from btTypedConstraint.

Definition at line 134 of file btGearConstraint.h.

void btGearConstraint::setAxisA ( btVector3 axisA)
inline

Definition at line 54 of file btGearConstraint.h.

void btGearConstraint::setAxisB ( btVector3 axisB)
inline

Definition at line 58 of file btGearConstraint.h.

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

override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).

If no axis is provided, it uses the default axis for this constraint.

Implements btTypedConstraint.

Definition at line 80 of file btGearConstraint.h.

void btGearConstraint::setRatio ( btScalar  ratio)
inline

Definition at line 62 of file btGearConstraint.h.

Member Data Documentation

btVector3 btGearConstraint::m_axisInA
protected

Definition at line 39 of file btGearConstraint.h.

btVector3 btGearConstraint::m_axisInB
protected

Definition at line 40 of file btGearConstraint.h.

btScalar btGearConstraint::m_ratio
protected

Definition at line 42 of file btGearConstraint.h.

bool btGearConstraint::m_useFrameA
protected

Definition at line 41 of file btGearConstraint.h.


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