Bullet Collision Detection & Physics Library
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36 for (
int i = 0; i < 6; i++)
47 btAssert((index >= 0) && (index < 6));
61 btAssert((index >= 0) && (index < 6));
67 btAssert((index >= 0) && (index < 6));
76 for (i = 0; i < 3; i++)
80 for (i = 0; i < 3; i++)
88 btAssert((index >= 0) && (index < 6));
102 btAssert((index >= 0) && (index < 6));
111 for (i = 0; i < 3; i++)
126 for (i = 0; i < 3; i++)
161 xAxis[1], yAxis[1], zAxis[1],
162 xAxis[2], yAxis[2], zAxis[2]);
The btRigidBody is the main class for rigid body objects.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
btScalar m_equilibriumPoint[6]
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
void internalUpdateSprings(btConstraintInfo2 *info)
btScalar m_springDamping[6]
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
const btTransform & getCenterOfMassTransform() const
void setDamping(int index, btScalar damping)
void setStiffness(int index, btScalar stiffness)
btScalar btFabs(btScalar x)
void calculateTransforms()
btScalar m_maxMotorForce
max force on motor
btTranslationalLimitMotor m_linearLimits
Linear_Limit_parameters.
btVector3 m_calculatedLinearDiff
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
btScalar m_springStiffness[6]
btRotationalLimitMotor m_angularLimits[3]
hinge_parameters
void enableSpring(int index, bool onOff)
void setEquilibriumPoint()
btVector3 m_targetVelocity
target motor velocity
btVector3 m_calculatedAxisAngleDiff
btVector3 can be used to represent 3D points and vectors.
btVector3 m_maxMotorForce
max force on motor
btTransform m_frameInA
relative_frames
void setValue(const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
Set the values of the matrix explicitly (row major)
btTransform m_frameInB
the constraint space w.r.t body B
virtual void setAxis(const btVector3 &axis1, const btVector3 &axis2)
btVector3 normalized() const
Return a normalized version of this vector.
btGeneric6DofSpringConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
btScalar m_targetVelocity
target motor velocity