#include <btGeneric6DofSpring2Constraint.h>

Inheritance diagram for btGeneric6DofSpring2Constraint:

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Collaboration diagram for btGeneric6DofSpring2Constraint:

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Public Member Functions
	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...

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

btTransform &	getFrameOffsetA ()

btTransform &	getFrameOffsetB ()

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 btRigidBody &	getRigidBodyA () const

const btRigidBody &	getRigidBodyB () const

btRigidBody &	getRigidBodyA ()

btRigidBody &	getRigidBodyB ()

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 btJointFeedback *	getJointFeedback () const

btJointFeedback *	getJointFeedback ()

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

Static Public Member Functions
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)

Static Public Member Functions inherited from btTypedConstraint
static btRigidBody &	getFixedBody ()

Protected Member Functions
btGeneric6DofSpring2Constraint &	operator= (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...

Protected Attributes
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
btRigidBody &	m_rbA

btRigidBody &	m_rbB

btScalar	m_appliedImpulse

btScalar	m_dbgDrawSize

btJointFeedback *	m_jointFeedback

Additional Inherited Members
Public Attributes inherited from btTypedObject
int	m_objectType

Detailed Description

Definition at line 277 of file btGeneric6DofSpring2Constraint.h.

Constructor & Destructor Documentation

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 49 of file btGeneric6DofSpring2Constraint.cpp.

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 60 of file btGeneric6DofSpring2Constraint.cpp.

Member Function Documentation

btGeneric6DofSpring2Constraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

btScalar btGeneric6DofSpring2Constraint::btGetMatrixElem	(	const btMatrix3x3 &	mat,
		int	index
	)

static

Definition at line 72 of file btGeneric6DofSpring2Constraint.cpp.

virtual void btGeneric6DofSpring2Constraint::buildJacobian ( )

inlinevirtual

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

Reimplemented from btTypedConstraint.

Definition at line 329 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::calculateAngleInfo ( )

protected

Definition at line 281 of file btGeneric6DofSpring2Constraint.cpp.

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 617 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::calculateLinearInfo ( )

protected

Definition at line 606 of file btGeneric6DofSpring2Constraint.cpp.

int btGeneric6DofSpring2Constraint::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btTypedConstraint.

Definition at line 591 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::calculateTransforms	(	const btTransform &	transA,
		const btTransform &	transB
	)

Definition at line 416 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::calculateTransforms ( )

Definition at line 411 of file btGeneric6DofSpring2Constraint.cpp.

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

Definition at line 1006 of file btGeneric6DofSpring2Constraint.cpp.

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

Definition at line 1087 of file btGeneric6DofSpring2Constraint.cpp.

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 651 of file btGeneric6DofSpring2Constraint.cpp.

btScalar btGeneric6DofSpring2Constraint::getAngle ( int axis_index ) const

inline

Definition at line 357 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::getAngularLowerLimit ( btVector3 & angularLower )

inline

Definition at line 381 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::getAngularLowerLimitReversed ( btVector3 & angularLower )

inline

Definition at line 387 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::getAngularUpperLimit ( btVector3 & angularUpper )

inline

Definition at line 405 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::getAngularUpperLimitReversed ( btVector3 & angularUpper )

inline

Definition at line 411 of file btGeneric6DofSpring2Constraint.h.

btVector3 btGeneric6DofSpring2Constraint::getAxis ( int axis_index ) const

inline

Definition at line 354 of file btGeneric6DofSpring2Constraint.h.

const btTransform& btGeneric6DofSpring2Constraint::getCalculatedTransformA ( ) const

inline

Definition at line 343 of file btGeneric6DofSpring2Constraint.h.

const btTransform& btGeneric6DofSpring2Constraint::getCalculatedTransformB ( ) const

inline

Definition at line 345 of file btGeneric6DofSpring2Constraint.h.

const btTransform& btGeneric6DofSpring2Constraint::getFrameOffsetA ( ) const

inline

Definition at line 347 of file btGeneric6DofSpring2Constraint.h.

btTransform& btGeneric6DofSpring2Constraint::getFrameOffsetA ( )

inline

Definition at line 350 of file btGeneric6DofSpring2Constraint.h.

const btTransform& btGeneric6DofSpring2Constraint::getFrameOffsetB ( ) const

inline

Definition at line 348 of file btGeneric6DofSpring2Constraint.h.

btTransform& btGeneric6DofSpring2Constraint::getFrameOffsetB ( )

inline

Definition at line 351 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::getInfo1 ( btConstraintInfo1 * info )

virtual

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

Implements btTypedConstraint.

Definition at line 448 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::getInfo2 ( btConstraintInfo2 * info )

virtual

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

Implements btTypedConstraint.

Definition at line 475 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::getLinearLowerLimit ( btVector3 & linearLower )

inline

Definition at line 365 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::getLinearUpperLimit ( btVector3 & linearUpper )

inline

Definition at line 367 of file btGeneric6DofSpring2Constraint.h.

btScalar btGeneric6DofSpring2Constraint::getParam	(	int	num,
		int	axis = `-1`
	)		const

virtual

return the local value of parameter

Implements btTypedConstraint.

Definition at line 918 of file btGeneric6DofSpring2Constraint.cpp.

btScalar btGeneric6DofSpring2Constraint::getRelativePivotPosition ( int axis_index ) const

inline

Definition at line 360 of file btGeneric6DofSpring2Constraint.h.

btRotationalLimitMotor2* btGeneric6DofSpring2Constraint::getRotationalLimitMotor ( int index )

inline

Definition at line 335 of file btGeneric6DofSpring2Constraint.h.

RotateOrder btGeneric6DofSpring2Constraint::getRotationOrder ( )

inline

Definition at line 461 of file btGeneric6DofSpring2Constraint.h.

btTranslationalLimitMotor2* btGeneric6DofSpring2Constraint::getTranslationalLimitMotor ( )

inline

Definition at line 336 of file btGeneric6DofSpring2Constraint.h.

bool btGeneric6DofSpring2Constraint::isLimited ( int limitIndex )

inline

Definition at line 451 of file btGeneric6DofSpring2Constraint.h.

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

static

Definition at line 81 of file btGeneric6DofSpring2Constraint.cpp.

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

static

Definition at line 116 of file btGeneric6DofSpring2Constraint.cpp.

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

static

Definition at line 149 of file btGeneric6DofSpring2Constraint.cpp.

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

static

Definition at line 182 of file btGeneric6DofSpring2Constraint.cpp.

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

static

Definition at line 215 of file btGeneric6DofSpring2Constraint.cpp.

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

static

Definition at line 248 of file btGeneric6DofSpring2Constraint.cpp.

btGeneric6DofSpring2Constraint& btGeneric6DofSpring2Constraint::operator= ( btGeneric6DofSpring2Constraint & )

inlineprotected

Definition at line 304 of file btGeneric6DofSpring2Constraint.h.

const char * btGeneric6DofSpring2Constraint::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 596 of file btGeneric6DofSpring2Constraint.h.

int btGeneric6DofSpring2Constraint::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

Definition at line 549 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::setAngularLowerLimit ( const btVector3 & angularLower )

inline

Definition at line 369 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::setAngularLowerLimitReversed ( const btVector3 & angularLower )

inline

Definition at line 375 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::setAngularUpperLimit ( const btVector3 & angularUpper )

inline

Definition at line 393 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::setAngularUpperLimitReversed ( const btVector3 & angularUpper )

inline

Definition at line 399 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::setAxis	(	const btVector3 &	axis1,
		const btVector3 &	axis2
	)

Definition at line 978 of file btGeneric6DofSpring2Constraint.cpp.

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

Definition at line 997 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::setDamping	(	int	index,
		btScalar	damping,
		bool	limitIfNeeded = `true`
	)

Definition at line 1108 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::setEquilibriumPoint ( )

Definition at line 1120 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::setEquilibriumPoint ( int index )

Definition at line 1130 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::setEquilibriumPoint	(	int	index,
		btScalar	val
	)

Definition at line 1140 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::setFrames	(	const btTransform &	frameA,
		const btTransform &	frameB
	)

Definition at line 597 of file btGeneric6DofSpring2Constraint.cpp.

void btGeneric6DofSpring2Constraint::setLimit	(	int	axis,
		btScalar	lo,
		btScalar	hi
	)

inline

Definition at line 419 of file btGeneric6DofSpring2Constraint.h.

void btGeneric6DofSpring2Constraint::setLimitReversed	(	int	axis,
		btScalar	lo,
		btScalar	hi
	)

inline

Definition at line 435 of file btGeneric6DofSpring2Constraint.h.

int btGeneric6DofSpring2Constraint::setLinearLimits	(	btConstraintInfo2 *	info,
		int	row,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	linVelA,
		const btVector3 &	linVelB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)