Bullet Collision Detection & Physics Library
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32 #ifndef BT_CONETWISTCONSTRAINT_H
33 #define BT_CONETWISTCONSTRAINT_H
39 #ifdef BT_USE_DOUBLE_PRECISION
40 #define btConeTwistConstraintData2 btConeTwistConstraintDoubleData
41 #define btConeTwistConstraintDataName "btConeTwistConstraintDoubleData"
43 #define btConeTwistConstraintData2 btConeTwistConstraintData
44 #define btConeTwistConstraintDataName "btConeTwistConstraintData"
45 #endif //BT_USE_DOUBLE_PRECISION
60 #ifdef IN_PARALLELL_SOLVER
128 void adjustSwingAxisToUseEllipseNormal(
btVector3 & vSwingAxis)
const;
137 virtual void buildJacobian();
162 m_angularOnly = angularOnly;
167 return m_angularOnly;
176 m_twistSpan = limitValue;
181 m_swingSpan2 = limitValue;
186 m_swingSpan1 = limitValue;
216 btAssert(0 &&
"Invalid limitIndex specified for btConeTwistConstraint");
235 m_swingSpan1 = _swingSpan1;
236 m_swingSpan2 = _swingSpan2;
237 m_twistSpan = _twistSpan;
239 m_limitSoftness = _softness;
240 m_biasFactor = _biasFactor;
241 m_relaxationFactor = _relaxationFactor;
249 return m_solveTwistLimit;
254 return m_solveSwingLimit;
259 return m_twistLimitSign;
262 void calcAngleInfo();
279 return m_limitSoftness;
287 return m_relaxationFactor;
304 m_maxMotorImpulse = maxMotorImpulse;
305 m_bNormalizedMotorStrength =
false;
309 m_maxMotorImpulse = maxMotorImpulse;
310 m_bNormalizedMotorStrength =
true;
324 void setMotorTargetInConstraintSpace(
const btQuaternion& q);
330 virtual void setParam(
int num,
btScalar value,
int axis = -1);
345 virtual btScalar getParam(
int num,
int axis = -1)
const;
375 #ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION
395 #endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION
423 #endif //BT_CONETWISTCONSTRAINT_H
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
TypedConstraint is the baseclass for Bullet constraints and vehicles.
bool m_bNormalizedMotorStrength
The btRigidBody is the main class for rigid body objects.
const btRigidBody & getRigidBodyB() const
#define btConeTwistConstraintData2
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar m_swingCorrection
btTransformDoubleData m_rbBFrame
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
const btTransform & getFrameOffsetB() const
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btScalar getMaxMotorImpulse() const
bool getAngularOnly() const
btScalar getTwistAngle() const
const btTransform & getAFrame() const
btVector3 m_accMotorImpulse
virtual int calculateSerializeBufferSize() const
bool isMaxMotorImpulseNormalized() const
btScalar m_twistLimitRatio
btScalar getSwingSpan1() const
btScalar m_twistCorrection
void setFixThresh(btScalar fixThresh)
btScalar m_accTwistLimitImpulse
btScalar m_twistLimitSign
const btQuaternion & getMotorTarget() const
btScalar m_maxMotorImpulse
btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
const btTransform & getBFrame() const
btScalar getBiasFactor() const
btScalar getLimit(int limitIndex) const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
btVector3 can be used to represent 3D points and vectors.
btScalar getTwistLimitSign()
btTransformFloatData m_rbBFrame
const btRigidBody & getRigidBodyA() const
#define ATTRIBUTE_ALIGNED16(a)
btTypedConstraintDoubleData m_typeConstraintData
btScalar getSwingSpan2() const
void setLimit(btScalar _swingSpan1, btScalar _swingSpan2, btScalar _twistSpan, btScalar _softness=1.f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
virtual int calculateSerializeBufferSize() const
btScalar m_swingLimitRatio
void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse)
void setAngularOnly(bool angularOnly)
void setLimit(int limitIndex, btScalar limitValue)
#define SIMD_FORCE_INLINE
btTransformFloatData m_rbAFrame
const btTransform & getFrameOffsetA() const
double m_relaxationFactor
void setMaxMotorImpulse(btScalar maxMotorImpulse)
this structure is not used, except for loading pre-2.82 .bullet files
btScalar getLimitSoftness() const
void setDamping(btScalar damping)
btScalar getTwistSpan() const
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btScalar getRelaxationFactor() const
btTypedConstraintData m_typeConstraintData
btTransformDoubleData m_rbAFrame
btScalar m_accSwingLimitImpulse
bool isMotorEnabled() const
bool m_useSolveConstraintObsolete
btScalar getDamping() const
btScalar m_relaxationFactor
this structure is not used, except for loading pre-2.82 .bullet files
#define btConeTwistConstraintDataName