Bullet Collision Detection & Physics Library
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#include <btGeneric6DofSpring2Constraint.h>
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... | |
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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 () |
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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) |
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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) |
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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... | |
Additional Inherited Members | |
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int | m_objectType |
Definition at line 271 of file btGeneric6DofSpring2Constraint.h.
btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint | ( | btRigidBody & | rbA, |
btRigidBody & | rbB, | ||
const btTransform & | frameInA, | ||
const btTransform & | frameInB, | ||
RotateOrder | rotOrder = RO_XYZ |
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2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev Added support for generic constraint solver through getInfo1/getInfo2 methods
Definition at line 45 of file btGeneric6DofSpring2Constraint.cpp.
btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint | ( | btRigidBody & | rbB, |
const btTransform & | frameInB, | ||
RotateOrder | rotOrder = RO_XYZ |
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not providing rigidbody A means implicitly using worldspace for body A
Definition at line 51 of file btGeneric6DofSpring2Constraint.cpp.
btGeneric6DofSpring2Constraint::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
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Definition at line 59 of file btGeneric6DofSpring2Constraint.cpp.
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internal method used by the constraint solver, don't use them directly
Reimplemented from btTypedConstraint.
Definition at line 321 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 268 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 636 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 625 of file btGeneric6DofSpring2Constraint.cpp.
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Reimplemented from btTypedConstraint.
Definition at line 582 of file btGeneric6DofSpring2Constraint.h.
void btGeneric6DofSpring2Constraint::calculateTransforms | ( | ) |
Definition at line 410 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::calculateTransforms | ( | const btTransform & | transA, |
const btTransform & | transB | ||
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Definition at line 415 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::enableMotor | ( | int | index, |
bool | onOff | ||
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Definition at line 1046 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::enableSpring | ( | int | index, |
bool | onOff | ||
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Definition at line 1126 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 669 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 349 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 373 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 379 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 397 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 403 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 346 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 335 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 337 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 342 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 339 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 343 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 340 of file btGeneric6DofSpring2Constraint.h.
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internal method used by the constraint solver, don't use them directly
Implements btTypedConstraint.
Definition at line 445 of file btGeneric6DofSpring2Constraint.cpp.
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internal method used by the constraint solver, don't use them directly
Implements btTypedConstraint.
Definition at line 475 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 357 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 359 of file btGeneric6DofSpring2Constraint.h.
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return the local value of parameter
Implements btTypedConstraint.
Definition at line 960 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 352 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 327 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 453 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 328 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 443 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 68 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 103 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 136 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 169 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 202 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 235 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 297 of file btGeneric6DofSpring2Constraint.h.
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fills the dataBuffer and returns the struct name (and 0 on failure)
Reimplemented from btTypedConstraint.
Definition at line 587 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 545 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 361 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 367 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 385 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 391 of file btGeneric6DofSpring2Constraint.h.
Definition at line 1018 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setBounce | ( | int | index, |
btScalar | bounce | ||
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Definition at line 1037 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setDamping | ( | int | index, |
btScalar | damping, | ||
bool | limitIfNeeded = true |
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Definition at line 1150 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setEquilibriumPoint | ( | ) |
Definition at line 1165 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setEquilibriumPoint | ( | int | index | ) |
Definition at line 1175 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setEquilibriumPoint | ( | int | index, |
btScalar | val | ||
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Definition at line 1185 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setFrames | ( | const btTransform & | frameA, |
const btTransform & | frameB | ||
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Definition at line 617 of file btGeneric6DofSpring2Constraint.cpp.
Definition at line 411 of file btGeneric6DofSpring2Constraint.h.
Definition at line 427 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 489 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 356 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 358 of file btGeneric6DofSpring2Constraint.h.
void btGeneric6DofSpring2Constraint::setMaxMotorForce | ( | int | index, |
btScalar | force | ||
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Definition at line 1117 of file btGeneric6DofSpring2Constraint.cpp.
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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 903 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 452 of file btGeneric6DofSpring2Constraint.h.
void btGeneric6DofSpring2Constraint::setServo | ( | int | index, |
bool | onOff | ||
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Definition at line 1055 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setServoTarget | ( | int | index, |
btScalar | target | ||
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Definition at line 1073 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setStiffness | ( | int | index, |
btScalar | stiffness, | ||
bool | limitIfNeeded = true |
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Definition at line 1135 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setTargetVelocity | ( | int | index, |
btScalar | velocity | ||
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Definition at line 1064 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 437 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 282 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 290 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 289 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 275 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 276 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 294 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 279 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 278 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 281 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 284 of file btGeneric6DofSpring2Constraint.h.