btRotationalLimitMotor Class Reference

Rotation Limit structure for generic joints. More...

#include <btGeneric6DofConstraint.h>

Public Member Functions
	btRotationalLimitMotor ()
	btRotationalLimitMotor (const btRotationalLimitMotor &limot)
bool	isLimited () const
	Is limited. More...
bool	needApplyTorques () const
	Need apply correction. More...
int	testLimitValue (btScalar test_value)
	calculates error More...
btScalar	solveAngularLimits (btScalar timeStep, btVector3 &axis, btScalar jacDiagABInv, btRigidBody *body0, btRigidBody *body1)
	apply the correction impulses for two bodies More...

Public Attributes
btScalar	m_loLimit
	limit_parameters More...
btScalar	m_hiLimit
	joint limit More...
btScalar	m_targetVelocity
	target motor velocity More...
btScalar	m_maxMotorForce
	max force on motor More...
btScalar	m_maxLimitForce
	max force on limit More...
btScalar	m_damping
	Damping. More...
btScalar	m_limitSoftness
btScalar	m_normalCFM
	Relaxation factor. More...
btScalar	m_stopERP
	Error tolerance factor when joint is at limit. More...
btScalar	m_stopCFM
	Constraint force mixing factor when joint is at limit. More...
btScalar	m_bounce
	restitution factor More...
bool	m_enableMotor
btScalar	m_currentLimitError
	temp_variables More...
btScalar	m_currentPosition
	How much is violated this limit. More...
int	m_currentLimit
	current value of angle More...
btScalar	m_accumulatedImpulse

Detailed Description

Rotation Limit structure for generic joints.

Definition at line 48 of file btGeneric6DofConstraint.h.

Constructor & Destructor Documentation

btRotationalLimitMotor::btRotationalLimitMotor ( )

inline

Definition at line 76 of file btGeneric6DofConstraint.h.

btRotationalLimitMotor::btRotationalLimitMotor ( const btRotationalLimitMotor &  limot )

inline

Definition at line 95 of file btGeneric6DofConstraint.h.

Member Function Documentation

bool btRotationalLimitMotor::isLimited ( ) const

inline

Is limited.

Definition at line 114 of file btGeneric6DofConstraint.h.

bool btRotationalLimitMotor::needApplyTorques ( ) const

inline

Need apply correction.

Definition at line 121 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::solveAngularLimits	(	btScalar	timeStep,
		btVector3 &	axis,
		btScalar	jacDiagABInv,
		btRigidBody *	body0,
		btRigidBody *	body1
	)

apply the correction impulses for two bodies

Definition at line 157 of file btGeneric6DofConstraint.cpp.

int btRotationalLimitMotor::testLimitValue

(

btScalar

test_value

)

calculates error

calculates m_currentLimit and m_currentLimitError.

Definition at line 122 of file btGeneric6DofConstraint.cpp.

Member Data Documentation

btScalar btRotationalLimitMotor::m_accumulatedImpulse

Definition at line 73 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_bounce

restitution factor

Definition at line 63 of file btGeneric6DofConstraint.h.

int btRotationalLimitMotor::m_currentLimit

current value of angle

0=free, 1=at lo limit, 2=at hi limit

Definition at line 72 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_currentLimitError

temp_variables

Definition at line 70 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_currentPosition

How much is violated this limit.

Definition at line 71 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_damping

Damping.

Definition at line 58 of file btGeneric6DofConstraint.h.

bool btRotationalLimitMotor::m_enableMotor

Definition at line 64 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_hiLimit

joint limit

Definition at line 54 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_limitSoftness

Definition at line 59 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_loLimit

limit_parameters

joint limit

Definition at line 53 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_maxLimitForce

max force on limit

Definition at line 57 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_maxMotorForce

max force on motor

Definition at line 56 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_normalCFM

Relaxation factor.

Constraint force mixing factor

Definition at line 60 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_stopCFM

Constraint force mixing factor when joint is at limit.

Definition at line 62 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_stopERP

Error tolerance factor when joint is at limit.

Definition at line 61 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_targetVelocity

target motor velocity

Definition at line 55 of file btGeneric6DofConstraint.h.

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

• btGeneric6DofConstraint.h
• btGeneric6DofConstraint.cpp