#include <btHinge2Constraint.h>

Inheritance diagram for btHinge2Constraint:

Collaboration diagram for btHinge2Constraint:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btHinge2Constraint (btRigidBody &rbA, btRigidBody &rbB, btVector3 &anchor, btVector3 &axis1, btVector3 &axis2)

const btVector3 &	getAnchor ()

const btVector3 &	getAnchor2 ()

const btVector3 &	getAxis1 ()

const btVector3 &	getAxis2 ()

btScalar	getAngle1 ()

btScalar	getAngle2 ()

void	setUpperLimit (btScalar ang1max)

void	setLowerLimit (btScalar ang1min)

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...

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

Protected Attributes
btVector3	m_anchor

btVector3	m_axis1

btVector3	m_axis2

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
btRigidBody &	m_rbA

btRigidBody &	m_rbB

btScalar	m_appliedImpulse

btScalar	m_dbgDrawSize

btJointFeedback *	m_jointFeedback

Additional Inherited Members
Static Public 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)

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

Public Attributes inherited from btTypedObject
int	m_objectType

Protected Member Functions inherited from btGeneric6DofSpring2Constraint
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...

Detailed Description

Definition at line 32 of file btHinge2Constraint.h.

Constructor & Destructor Documentation

btHinge2Constraint::btHinge2Constraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		btVector3 &	anchor,
		btVector3 &	axis1,
		btVector3 &	axis2
	)

Definition at line 27 of file btHinge2Constraint.cpp.

Member Function Documentation

btHinge2Constraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

const btVector3& btHinge2Constraint::getAnchor ( )

inline

Definition at line 46 of file btHinge2Constraint.h.

const btVector3& btHinge2Constraint::getAnchor2 ( )

inline

Definition at line 47 of file btHinge2Constraint.h.

btScalar btHinge2Constraint::getAngle1 ( )

inline

Definition at line 50 of file btHinge2Constraint.h.

btScalar btHinge2Constraint::getAngle2 ( )

inline

Definition at line 51 of file btHinge2Constraint.h.

const btVector3& btHinge2Constraint::getAxis1 ( )

inline

Definition at line 48 of file btHinge2Constraint.h.

const btVector3& btHinge2Constraint::getAxis2 ( )

inline

Definition at line 49 of file btHinge2Constraint.h.

void btHinge2Constraint::setLowerLimit ( btScalar ang1min )

inline

Definition at line 54 of file btHinge2Constraint.h.

void btHinge2Constraint::setUpperLimit ( btScalar ang1max )

inline

Definition at line 53 of file btHinge2Constraint.h.

Member Data Documentation

btVector3 btHinge2Constraint::m_anchor

protected

Definition at line 35 of file btHinge2Constraint.h.

btVector3 btHinge2Constraint::m_axis1

protected

Definition at line 36 of file btHinge2Constraint.h.

btVector3 btHinge2Constraint::m_axis2

protected

Definition at line 37 of file btHinge2Constraint.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation