hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space axis defines the orientation of the hinge axis More...

#include <btHingeConstraint.h>

Inheritance diagram for btHingeConstraint:

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Collaboration diagram for btHingeConstraint:

[legend]

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btVector3 &axisInA, const btVector3 &axisInB, bool useReferenceFrameA=false)

	btHingeConstraint (btRigidBody &rbA, const btVector3 &pivotInA, const btVector3 &axisInA, bool useReferenceFrameA=false)

	btHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)

	btHingeConstraint (btRigidBody &rbA, const btTransform &rbAFrame, bool useReferenceFrameA=false)

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...

void	getInfo1NonVirtual (btConstraintInfo1 *info)

virtual void	getInfo2 (btConstraintInfo2 *info)
	internal method used by the constraint solver, don't use them directly More...

void	getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)

void	getInfo2Internal (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)

void	getInfo2InternalUsingFrameOffset (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)

void	updateRHS (btScalar timeStep)

const btRigidBody &	getRigidBodyA () const

const btRigidBody &	getRigidBodyB () const

btRigidBody &	getRigidBodyA ()

btRigidBody &	getRigidBodyB ()

btTransform &	getFrameOffsetA ()

btTransform &	getFrameOffsetB ()

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

void	setAngularOnly (bool angularOnly)

void	enableAngularMotor (bool enableMotor, btScalar targetVelocity, btScalar maxMotorImpulse)

void	enableMotor (bool enableMotor)

void	setMaxMotorImpulse (btScalar maxMotorImpulse)

void	setMotorTargetVelocity (btScalar motorTargetVelocity)

void	setMotorTarget (const btQuaternion &qAinB, btScalar dt)

void	setMotorTarget (btScalar targetAngle, btScalar dt)

void	setLimit (btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)

btScalar	getLimitSoftness () const

btScalar	getLimitBiasFactor () const

btScalar	getLimitRelaxationFactor () const

void	setAxis (btVector3 &axisInA)

bool	hasLimit () const

btScalar	getLowerLimit () const

btScalar	getUpperLimit () const

btScalar	getHingeAngle ()
	The getHingeAngle gives the hinge angle in range [-PI,PI]. More...

btScalar	getHingeAngle (const btTransform &transA, const btTransform &transB)

void	testLimit (const btTransform &transA, const btTransform &transB)

const btTransform &	getAFrame () const

const btTransform &	getBFrame () const

btTransform &	getAFrame ()

btTransform &	getBFrame ()

int	getSolveLimit ()

btScalar	getLimitSign ()

bool	getAngularOnly ()

bool	getEnableAngularMotor ()

btScalar	getMotorTargetVelocity ()

btScalar	getMaxMotorImpulse ()

bool	getUseFrameOffset ()

void	setUseFrameOffset (bool frameOffsetOnOff)

bool	getUseReferenceFrameA () const

void	setUseReferenceFrameA (bool useReferenceFrameA)

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	getFlags () const

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	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

Private Attributes
btJacobianEntry	m_jac [3]

btJacobianEntry	m_jacAng [3]

btTransform	m_rbAFrame

btTransform	m_rbBFrame

btScalar	m_motorTargetVelocity

btScalar	m_maxMotorImpulse

btAngularLimit	m_limit

btScalar	m_kHinge

btScalar	m_accLimitImpulse

btScalar	m_hingeAngle

btScalar	m_referenceSign

bool	m_angularOnly

bool	m_enableAngularMotor

bool	m_useSolveConstraintObsolete

bool	m_useOffsetForConstraintFrame

bool	m_useReferenceFrameA

btScalar	m_accMotorImpulse

int	m_flags

btScalar	m_normalCFM

btScalar	m_normalERP

btScalar	m_stopCFM

btScalar	m_stopERP

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

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...

Protected Attributes inherited from btTypedConstraint
btRigidBody &	m_rbA

btRigidBody &	m_rbB

btScalar	m_appliedImpulse

btScalar	m_dbgDrawSize

btJointFeedback *	m_jointFeedback

Detailed Description

hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space axis defines the orientation of the hinge axis

Definition at line 51 of file btHingeConstraint.h.

Constructor & Destructor Documentation

btHingeConstraint::btHingeConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB,
		const btVector3 &	axisInA,
		const btVector3 &	axisInB,
		bool	useReferenceFrameA = `false`
	)

Definition at line 37 of file btHingeConstraint.cpp.

btHingeConstraint::btHingeConstraint	(	btRigidBody &	rbA,
		const btVector3 &	pivotInA,
		const btVector3 &	axisInA,
		bool	useReferenceFrameA = `false`
	)

Definition at line 99 of file btHingeConstraint.cpp.

btHingeConstraint::btHingeConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	rbAFrame,
		const btTransform &	rbBFrame,
		bool	useReferenceFrameA = `false`
	)

Definition at line 151 of file btHingeConstraint.cpp.

btHingeConstraint::btHingeConstraint	(	btRigidBody &	rbA,
		const btTransform &	rbAFrame,
		bool	useReferenceFrameA = `false`
	)

not providing rigidbody B means implicitly using worldspace for body B

Definition at line 182 of file btHingeConstraint.cpp.

Member Function Documentation

btHingeConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

void btHingeConstraint::buildJacobian ( )

virtual

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

Reimplemented from btTypedConstraint.

Definition at line 215 of file btHingeConstraint.cpp.

int btHingeConstraint::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btTypedConstraint.

Definition at line 459 of file btHingeConstraint.h.

void btHingeConstraint::enableAngularMotor	(	bool	enableMotor,
		btScalar	targetVelocity,
		btScalar	maxMotorImpulse
	)

inline

Definition at line 168 of file btHingeConstraint.h.

void btHingeConstraint::enableMotor ( bool enableMotor )

inline

Definition at line 178 of file btHingeConstraint.h.

const btTransform& btHingeConstraint::getAFrame ( ) const

inline

Definition at line 285 of file btHingeConstraint.h.

btTransform& btHingeConstraint::getAFrame ( )

inline

Definition at line 288 of file btHingeConstraint.h.

bool btHingeConstraint::getAngularOnly ( )

inline

Definition at line 309 of file btHingeConstraint.h.

const btTransform& btHingeConstraint::getBFrame ( ) const

inline

Definition at line 286 of file btHingeConstraint.h.

btTransform& btHingeConstraint::getBFrame ( )

inline

Definition at line 289 of file btHingeConstraint.h.

bool btHingeConstraint::getEnableAngularMotor ( )

inline

Definition at line 313 of file btHingeConstraint.h.

virtual int btHingeConstraint::getFlags ( ) const

inlinevirtual

Definition at line 338 of file btHingeConstraint.h.

btTransform& btHingeConstraint::getFrameOffsetA ( )

inline

Definition at line 151 of file btHingeConstraint.h.

btTransform& btHingeConstraint::getFrameOffsetB ( )

inline

Definition at line 156 of file btHingeConstraint.h.

btScalar btHingeConstraint::getHingeAngle ( )

The getHingeAngle gives the hinge angle in range [-PI,PI].

Definition at line 677 of file btHingeConstraint.cpp.

btScalar btHingeConstraint::getHingeAngle	(	const btTransform &	transA,
		const btTransform &	transB
	)

Definition at line 682 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo1 ( btConstraintInfo1 * info )

virtual

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

Implements btTypedConstraint.

Reimplemented in btHingeAccumulatedAngleConstraint.

Definition at line 354 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

Definition at line 379 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo2 ( btConstraintInfo2 * info )

virtual

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

Implements btTypedConstraint.

Definition at line 394 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo2Internal	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)

Definition at line 416 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo2InternalUsingFrameOffset	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)

Definition at line 773 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)

the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now

Definition at line 407 of file btHingeConstraint.cpp.

btScalar btHingeConstraint::getLimitBiasFactor ( ) const

inline

Definition at line 207 of file btHingeConstraint.h.

btScalar btHingeConstraint::getLimitRelaxationFactor ( ) const

inline

Definition at line 216 of file btHingeConstraint.h.

btScalar btHingeConstraint::getLimitSign ( )

inline

Definition at line 300 of file btHingeConstraint.h.

btScalar btHingeConstraint::getLimitSoftness ( ) const

inline

Definition at line 198 of file btHingeConstraint.h.

btScalar btHingeConstraint::getLowerLimit ( ) const

inline

Definition at line 258 of file btHingeConstraint.h.

btScalar btHingeConstraint::getMaxMotorImpulse ( )

inline

Definition at line 321 of file btHingeConstraint.h.

btScalar btHingeConstraint::getMotorTargetVelocity ( )

inline

Definition at line 317 of file btHingeConstraint.h.

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

virtual

return the local value of parameter

Implements btTypedConstraint.

Definition at line 1086 of file btHingeConstraint.cpp.

const btRigidBody& btHingeConstraint::getRigidBodyA ( ) const

inline

Definition at line 132 of file btHingeConstraint.h.

btRigidBody& btHingeConstraint::getRigidBodyA ( )

inline

Definition at line 141 of file btHingeConstraint.h.

const btRigidBody& btHingeConstraint::getRigidBodyB ( ) const

inline

Definition at line 136 of file btHingeConstraint.h.

btRigidBody& btHingeConstraint::getRigidBodyB ( )

inline

Definition at line 146 of file btHingeConstraint.h.

int btHingeConstraint::getSolveLimit ( )

inline

Definition at line 291 of file btHingeConstraint.h.

btScalar btHingeConstraint::getUpperLimit ( ) const

inline

Definition at line 267 of file btHingeConstraint.h.

bool btHingeConstraint::getUseFrameOffset ( )

inline

Definition at line 326 of file btHingeConstraint.h.

bool btHingeConstraint::getUseReferenceFrameA ( ) const

inline

Definition at line 329 of file btHingeConstraint.h.

bool btHingeConstraint::hasLimit ( ) const

inline

Definition at line 250 of file btHingeConstraint.h.

const char * btHingeConstraint::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 465 of file btHingeConstraint.h.

void btHingeConstraint::setAngularOnly ( bool angularOnly )

inline

Definition at line 163 of file btHingeConstraint.h.

void btHingeConstraint::setAxis ( btVector3 & axisInA )

inline

Definition at line 225 of file btHingeConstraint.h.

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

Definition at line 660 of file btHingeConstraint.cpp.

void btHingeConstraint::setLimit	(	btScalar	low,
		btScalar	high,
		btScalar	_softness = `0.9f`,
		btScalar	_biasFactor = `0.3f`,
		btScalar	_relaxationFactor = `1.0f`
	)

inline

Definition at line 185 of file btHingeConstraint.h.

void btHingeConstraint::setMaxMotorImpulse ( btScalar maxMotorImpulse )

inline

Definition at line 179 of file btHingeConstraint.h.

void btHingeConstraint::setMotorTarget	(	const btQuaternion &	qAinB,
		btScalar	dt
	)

Definition at line 727 of file btHingeConstraint.cpp.

void btHingeConstraint::setMotorTarget	(	btScalar	targetAngle,
		btScalar	dt
	)

Definition at line 752 of file btHingeConstraint.cpp.

void btHingeConstraint::setMotorTargetVelocity ( btScalar motorTargetVelocity )

inline

Definition at line 180 of file btHingeConstraint.h.

void btHingeConstraint::setParam	(	int	num,
		btScalar	value,
		int	axis = `-1`
	)

virtual

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 1053 of file btHingeConstraint.cpp.

void btHingeConstraint::setUseFrameOffset ( bool frameOffsetOnOff )

inline

Definition at line 327 of file btHingeConstraint.h.

void btHingeConstraint::setUseReferenceFrameA ( bool useReferenceFrameA )

inline

Definition at line 330 of file btHingeConstraint.h.

void btHingeConstraint::testLimit	(	const btTransform &	transA,
		const btTransform &	transB
	)

Definition at line 694 of file btHingeConstraint.cpp.

void btHingeConstraint::updateRHS ( btScalar timeStep )

Definition at line 668 of file btHingeConstraint.cpp.

Member Data Documentation

btScalar btHingeConstraint::m_accLimitImpulse

private

Definition at line 84 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_accMotorImpulse

private

Definition at line 94 of file btHingeConstraint.h.

bool btHingeConstraint::m_angularOnly

private

Definition at line 88 of file btHingeConstraint.h.

bool btHingeConstraint::m_enableAngularMotor

private

Definition at line 89 of file btHingeConstraint.h.

int btHingeConstraint::m_flags

private

Definition at line 96 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_hingeAngle

private

Definition at line 85 of file btHingeConstraint.h.

btJacobianEntry btHingeConstraint::m_jac[3]

private

Definition at line 56 of file btHingeConstraint.h.

btJacobianEntry btHingeConstraint::m_jacAng[3]

private

Definition at line 57 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_kHinge

private

Definition at line 81 of file btHingeConstraint.h.

btAngularLimit btHingeConstraint::m_limit

private

Definition at line 67 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_maxMotorImpulse

private

Definition at line 63 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_motorTargetVelocity

private

Definition at line 62 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_normalCFM

private

Definition at line 97 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_normalERP

private

Definition at line 98 of file btHingeConstraint.h.

btTransform btHingeConstraint::m_rbAFrame

private

Definition at line 59 of file btHingeConstraint.h.

btTransform btHingeConstraint::m_rbBFrame

private

Definition at line 60 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_referenceSign

private

Definition at line 86 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_stopCFM

private

Definition at line 99 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_stopERP

private

Definition at line 100 of file btHingeConstraint.h.

bool btHingeConstraint::m_useOffsetForConstraintFrame

private

Definition at line 91 of file btHingeConstraint.h.

bool btHingeConstraint::m_useReferenceFrameA

private

Definition at line 92 of file btHingeConstraint.h.

bool btHingeConstraint::m_useSolveConstraintObsolete

private

Definition at line 90 of file btHingeConstraint.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation