hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space axis defines the orientation of the hinge axis More...

#include <btHingeConstraint.h>

Inheritance diagram for btHingeConstraint:

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Collaboration diagram for btHingeConstraint:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btVector3 &axisInA, const btVector3 &axisInB, bool useReferenceFrameA=false)

	btHingeConstraint (btRigidBody &rbA, const btVector3 &pivotInA, const btVector3 &axisInA, bool useReferenceFrameA=false)

	btHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)

	btHingeConstraint (btRigidBody &rbA, const btTransform &rbAFrame, bool useReferenceFrameA=false)

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...

void	getInfo1NonVirtual (btConstraintInfo1 *info)

virtual void	getInfo2 (btConstraintInfo2 *info)
	internal method used by the constraint solver, don't use them directly More...

void	getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)

void	getInfo2Internal (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)

void	getInfo2InternalUsingFrameOffset (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)

void	updateRHS (btScalar timeStep)

const btRigidBody &	getRigidBodyA () const

const btRigidBody &	getRigidBodyB () const

btRigidBody &	getRigidBodyA ()

btRigidBody &	getRigidBodyB ()

btTransform &	getFrameOffsetA ()

btTransform &	getFrameOffsetB ()

void	setFrames (const btTransform &frameA, const btTransform &frameB)

void	setAngularOnly (bool angularOnly)

void	enableAngularMotor (bool enableMotor, btScalar targetVelocity, btScalar maxMotorImpulse)

void	enableMotor (bool enableMotor)

void	setMaxMotorImpulse (btScalar maxMotorImpulse)

void	setMotorTarget (const btQuaternion &qAinB, btScalar dt)

void	setMotorTarget (btScalar targetAngle, btScalar dt)

void	setLimit (btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)

void	setAxis (btVector3 &axisInA)

btScalar	getLowerLimit () const

btScalar	getUpperLimit () const

btScalar	getHingeAngle ()

btScalar	getHingeAngle (const btTransform &transA, const btTransform &transB)

void	testLimit (const btTransform &transA, const btTransform &transB)

const btTransform &	getAFrame () const

const btTransform &	getBFrame () const

btTransform &	getAFrame ()

btTransform &	getBFrame ()

int	getSolveLimit ()

btScalar	getLimitSign ()

bool	getAngularOnly ()

bool	getEnableAngularMotor ()

btScalar	getMotorTargetVelosity ()

btScalar	getMaxMotorImpulse ()

bool	getUseFrameOffset ()

void	setUseFrameOffset (bool frameOffsetOnOff)

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...

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...

Public Member Functions inherited from btTypedConstraint
	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 ()

Public Member Functions inherited from btTypedObject
	btTypedObject (int objectType)

int	getObjectType () const

Private Attributes
btJacobianEntry	m_jac [3]

btJacobianEntry	m_jacAng [3]

btTransform	m_rbAFrame

btTransform	m_rbBFrame

btScalar	m_motorTargetVelocity

btScalar	m_maxMotorImpulse

btAngularLimit	m_limit

btScalar	m_kHinge

btScalar	m_accLimitImpulse

btScalar	m_hingeAngle

btScalar	m_referenceSign

bool	m_angularOnly

bool	m_enableAngularMotor

bool	m_useSolveConstraintObsolete

bool	m_useOffsetForConstraintFrame

bool	m_useReferenceFrameA

btScalar	m_accMotorImpulse

int	m_flags

btScalar	m_normalCFM

btScalar	m_stopCFM

btScalar	m_stopERP

Additional Inherited Members
Static Public Member Functions inherited from btTypedConstraint
static btRigidBody &	getFixedBody ()

Public Attributes inherited from btTypedObject
int	m_objectType

Protected Member Functions inherited from btTypedConstraint
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...

Protected Attributes inherited from btTypedConstraint
btRigidBody &	m_rbA

btRigidBody &	m_rbB

btScalar	m_appliedImpulse

btScalar	m_dbgDrawSize

btJointFeedback *	m_jointFeedback

Detailed Description

hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space axis defines the orientation of the hinge axis

Definition at line 50 of file btHingeConstraint.h.

Constructor & Destructor Documentation

btHingeConstraint::btHingeConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btVector3 &	pivotInA,
		const btVector3 &	pivotInB,
		const btVector3 &	axisInA,
		const btVector3 &	axisInB,
		bool	useReferenceFrameA = `false`
	)

Definition at line 37 of file btHingeConstraint.cpp.

btHingeConstraint::btHingeConstraint	(	btRigidBody &	rbA,
		const btVector3 &	pivotInA,
		const btVector3 &	axisInA,
		bool	useReferenceFrameA = `false`
	)

Definition at line 95 of file btHingeConstraint.cpp.

btHingeConstraint::btHingeConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	rbAFrame,
		const btTransform &	rbBFrame,
		bool	useReferenceFrameA = `false`
	)

Definition at line 143 of file btHingeConstraint.cpp.

btHingeConstraint::btHingeConstraint	(	btRigidBody &	rbA,
		const btTransform &	rbAFrame,
		bool	useReferenceFrameA = `false`
	)

not providing rigidbody B means implicitly using worldspace for body B

Definition at line 170 of file btHingeConstraint.cpp.

Member Function Documentation

btHingeConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

void btHingeConstraint::buildJacobian ( )

virtual

internal method used by the constraint solver, don't use them directly

Reimplemented from btTypedConstraint.

Definition at line 199 of file btHingeConstraint.cpp.

int btHingeConstraint::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented from btTypedConstraint.

Definition at line 376 of file btHingeConstraint.h.

void btHingeConstraint::enableAngularMotor	(	bool	enableMotor,
		btScalar	targetVelocity,
		btScalar	maxMotorImpulse
	)

inline

Definition at line 166 of file btHingeConstraint.h.

void btHingeConstraint::enableMotor ( bool enableMotor )

inline

Definition at line 176 of file btHingeConstraint.h.

const btTransform& btHingeConstraint::getAFrame ( ) const

inline

Definition at line 246 of file btHingeConstraint.h.

btTransform& btHingeConstraint::getAFrame ( )

inline

Definition at line 249 of file btHingeConstraint.h.

bool btHingeConstraint::getAngularOnly ( )

inline

Definition at line 270 of file btHingeConstraint.h.

const btTransform& btHingeConstraint::getBFrame ( ) const

inline

Definition at line 247 of file btHingeConstraint.h.

btTransform& btHingeConstraint::getBFrame ( )

inline

Definition at line 250 of file btHingeConstraint.h.

bool btHingeConstraint::getEnableAngularMotor ( )

inline

Definition at line 274 of file btHingeConstraint.h.

btTransform& btHingeConstraint::getFrameOffsetA ( )

inline

Definition at line 149 of file btHingeConstraint.h.

btTransform& btHingeConstraint::getFrameOffsetB ( )

inline

Definition at line 154 of file btHingeConstraint.h.

btScalar btHingeConstraint::getHingeAngle ( )

Definition at line 609 of file btHingeConstraint.cpp.

btScalar btHingeConstraint::getHingeAngle	(	const btTransform &	transA,
		const btTransform &	transB
	)

Definition at line 614 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo1 ( btConstraintInfo1 * info )

virtual

internal method used by the constraint solver, don't use them directly

Implements btTypedConstraint.

Definition at line 288 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

Definition at line 311 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo2 ( btConstraintInfo2 * info )

virtual

internal method used by the constraint solver, don't use them directly

Implements btTypedConstraint.

Definition at line 326 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo2Internal	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)

Definition at line 348 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo2InternalUsingFrameOffset	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)

Definition at line 705 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)

the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now

Definition at line 339 of file btHingeConstraint.cpp.

btScalar btHingeConstraint::getLimitSign ( )

inline

Definition at line 261 of file btHingeConstraint.h.

btScalar btHingeConstraint::getLowerLimit ( ) const

inline

Definition at line 220 of file btHingeConstraint.h.

btScalar btHingeConstraint::getMaxMotorImpulse ( )

inline

Definition at line 282 of file btHingeConstraint.h.

btScalar btHingeConstraint::getMotorTargetVelosity ( )

inline

Definition at line 278 of file btHingeConstraint.h.

btScalar btHingeConstraint::getParam	(	int	num,
		int	axis = `-1`
	)		const

virtual

return the local value of parameter

Implements btTypedConstraint.

Definition at line 1016 of file btHingeConstraint.cpp.

const btRigidBody& btHingeConstraint::getRigidBodyA ( ) const

inline

Definition at line 130 of file btHingeConstraint.h.

btRigidBody& btHingeConstraint::getRigidBodyA ( )

inline

Definition at line 139 of file btHingeConstraint.h.

const btRigidBody& btHingeConstraint::getRigidBodyB ( ) const

inline

Definition at line 134 of file btHingeConstraint.h.

btRigidBody& btHingeConstraint::getRigidBodyB ( )

inline

Definition at line 144 of file btHingeConstraint.h.

int btHingeConstraint::getSolveLimit ( )

inline

Definition at line 252 of file btHingeConstraint.h.

btScalar btHingeConstraint::getUpperLimit ( ) const

inline

Definition at line 229 of file btHingeConstraint.h.

bool btHingeConstraint::getUseFrameOffset ( )

inline

Definition at line 287 of file btHingeConstraint.h.

const char * btHingeConstraint::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)		const

inlinevirtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented from btTypedConstraint.

Definition at line 382 of file btHingeConstraint.h.

void btHingeConstraint::setAngularOnly ( bool angularOnly )

inline

Definition at line 161 of file btHingeConstraint.h.

void btHingeConstraint::setAxis ( btVector3 & axisInA )

inline

Definition at line 195 of file btHingeConstraint.h.

void btHingeConstraint::setFrames	(	const btTransform &	frameA,
		const btTransform &	frameB
	)

Definition at line 594 of file btHingeConstraint.cpp.

void btHingeConstraint::setLimit	(	btScalar	low,
		btScalar	high,
		btScalar	_softness = `0.9f`,
		btScalar	_biasFactor = `0.3f`,
		btScalar	_relaxationFactor = `1.0f`
	)

inline

Definition at line 182 of file btHingeConstraint.h.

void btHingeConstraint::setMaxMotorImpulse ( btScalar maxMotorImpulse )

inline

Definition at line 177 of file btHingeConstraint.h.

void btHingeConstraint::setMotorTarget	(	const btQuaternion &	qAinB,
		btScalar	dt
	)

Definition at line 659 of file btHingeConstraint.cpp.

void btHingeConstraint::setMotorTarget	(	btScalar	targetAngle,
		btScalar	dt
	)

Definition at line 684 of file btHingeConstraint.cpp.

void btHingeConstraint::setParam	(	int	num,
		btScalar	value,
		int	axis = `-1`
	)

virtual

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 987 of file btHingeConstraint.cpp.

void btHingeConstraint::setUseFrameOffset ( bool frameOffsetOnOff )

inline

Definition at line 288 of file btHingeConstraint.h.

void btHingeConstraint::testLimit	(	const btTransform &	transA,
		const btTransform &	transB
	)

Definition at line 626 of file btHingeConstraint.cpp.

void btHingeConstraint::updateRHS ( btScalar timeStep )

Definition at line 602 of file btHingeConstraint.cpp.

Member Data Documentation

btScalar btHingeConstraint::m_accLimitImpulse

private

Definition at line 83 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_accMotorImpulse

private

Definition at line 93 of file btHingeConstraint.h.

bool btHingeConstraint::m_angularOnly

private

Definition at line 87 of file btHingeConstraint.h.

bool btHingeConstraint::m_enableAngularMotor

private

Definition at line 88 of file btHingeConstraint.h.

int btHingeConstraint::m_flags

private

Definition at line 95 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_hingeAngle

private

Definition at line 84 of file btHingeConstraint.h.

btJacobianEntry btHingeConstraint::m_jac[3]

private

Definition at line 55 of file btHingeConstraint.h.

btJacobianEntry btHingeConstraint::m_jacAng[3]

private

Definition at line 56 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_kHinge

private

Definition at line 80 of file btHingeConstraint.h.

btAngularLimit btHingeConstraint::m_limit

private

Definition at line 66 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_maxMotorImpulse

private

Definition at line 62 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_motorTargetVelocity

private

Definition at line 61 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_normalCFM

private

Definition at line 96 of file btHingeConstraint.h.

btTransform btHingeConstraint::m_rbAFrame

private

Definition at line 58 of file btHingeConstraint.h.

btTransform btHingeConstraint::m_rbBFrame

private

Definition at line 59 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_referenceSign

private

Definition at line 85 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_stopCFM

private

Definition at line 97 of file btHingeConstraint.h.

btScalar btHingeConstraint::m_stopERP

private

Definition at line 98 of file btHingeConstraint.h.

bool btHingeConstraint::m_useOffsetForConstraintFrame

private

Definition at line 90 of file btHingeConstraint.h.

bool btHingeConstraint::m_useReferenceFrameA

private

Definition at line 91 of file btHingeConstraint.h.

bool btHingeConstraint::m_useSolveConstraintObsolete

private

Definition at line 89 of file btHingeConstraint.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation