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= (const 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 46 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 52 of file btGeneric6DofSpring2Constraint.cpp.
btGeneric6DofSpring2Constraint::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
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Definition at line 60 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 269 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 637 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 626 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 411 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::calculateTransforms | ( | const btTransform & | transA, |
const btTransform & | transB | ||
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Definition at line 416 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::enableMotor | ( | int | index, |
bool | onOff | ||
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Definition at line 1047 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::enableSpring | ( | int | index, |
bool | onOff | ||
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Definition at line 1127 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 670 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 446 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 476 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 961 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 69 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 104 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 137 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 170 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 203 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 236 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 546 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 1019 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setBounce | ( | int | index, |
btScalar | bounce | ||
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Definition at line 1038 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setDamping | ( | int | index, |
btScalar | damping, | ||
bool | limitIfNeeded = true |
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Definition at line 1151 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setEquilibriumPoint | ( | ) |
Definition at line 1166 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setEquilibriumPoint | ( | int | index | ) |
Definition at line 1176 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setEquilibriumPoint | ( | int | index, |
btScalar | val | ||
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Definition at line 1186 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setFrames | ( | const btTransform & | frameA, |
const btTransform & | frameB | ||
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Definition at line 618 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 490 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 1118 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 904 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 1056 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setServoTarget | ( | int | index, |
btScalar | target | ||
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Definition at line 1074 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setStiffness | ( | int | index, |
btScalar | stiffness, | ||
bool | limitIfNeeded = true |
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Definition at line 1136 of file btGeneric6DofSpring2Constraint.cpp.
void btGeneric6DofSpring2Constraint::setTargetVelocity | ( | int | index, |
btScalar | velocity | ||
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Definition at line 1065 of file btGeneric6DofSpring2Constraint.cpp.
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Definition at line 438 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 287 of file btGeneric6DofSpring2Constraint.h.
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Definition at line 295 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.