Bullet Collision Detection & Physics Library
Public Member Functions | Protected Attributes | List of all members
btUniversalConstraint Class Reference

Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) and Y (axis 2) Description from ODE manual : "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. More...

#include <btUniversalConstraint.h>

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Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btUniversalConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &anchor, const btVector3 &axis1, const btVector3 &axis2)
 
const btVector3getAnchor ()
 
const btVector3getAnchor2 ()
 
const btVector3getAxis1 ()
 
const btVector3getAxis2 ()
 
btScalar getAngle1 ()
 
btScalar getAngle2 ()
 
void setUpperLimit (btScalar ang1max, btScalar ang2max)
 
void setLowerLimit (btScalar ang1min, btScalar ang2min)
 
void setAxis (const btVector3 &axis1, const btVector3 &axis2)
 
- Public Member Functions inherited from btGeneric6DofConstraint
 BT_DECLARE_ALIGNED_ALLOCATOR ()
 
 btGeneric6DofConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
 
 btGeneric6DofConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB)
 
void calculateTransforms (const btTransform &transA, const btTransform &transB)
 Calcs global transform of the offsets. More...
 
void calculateTransforms ()
 
const btTransformgetCalculatedTransformA () const
 Gets the global transform of the offset for body A. More...
 
const btTransformgetCalculatedTransformB () const
 Gets the global transform of the offset for body B. More...
 
const btTransformgetFrameOffsetA () const
 
const btTransformgetFrameOffsetB () const
 
btTransformgetFrameOffsetA ()
 
btTransformgetFrameOffsetB ()
 
virtual void buildJacobian ()
 performs Jacobian calculation, and also calculates angle differences and axis 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 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)
 
void updateRHS (btScalar timeStep)
 
btVector3 getAxis (int axis_index) const
 Get the rotation axis in global coordinates. More...
 
btScalar getAngle (int axis_index) const
 Get the relative Euler angle. More...
 
btScalar getRelativePivotPosition (int axis_index) const
 Get the relative position of the constraint pivot. More...
 
void setFrames (const btTransform &frameA, const btTransform &frameB)
 
bool testAngularLimitMotor (int axis_index)
 Test angular limit. More...
 
void setLinearLowerLimit (const btVector3 &linearLower)
 
void getLinearLowerLimit (btVector3 &linearLower)
 
void setLinearUpperLimit (const btVector3 &linearUpper)
 
void getLinearUpperLimit (btVector3 &linearUpper)
 
void setAngularLowerLimit (const btVector3 &angularLower)
 
void getAngularLowerLimit (btVector3 &angularLower)
 
void setAngularUpperLimit (const btVector3 &angularUpper)
 
void getAngularUpperLimit (btVector3 &angularUpper)
 
btRotationalLimitMotorgetRotationalLimitMotor (int index)
 Retrieves the angular limit informacion. More...
 
btTranslationalLimitMotorgetTranslationalLimitMotor ()
 Retrieves the limit informacion. More...
 
void setLimit (int axis, btScalar lo, btScalar hi)
 
bool isLimited (int limitIndex)
 Test limit. More...
 
virtual void calcAnchorPos (void)
 
int get_limit_motor_info2 (btRotationalLimitMotor *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)
 
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...
 
void setAxis (const btVector3 &axis1, const btVector3 &axis2)
 
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 btRigidBodygetRigidBodyA () const
 
const btRigidBodygetRigidBodyB () const
 
btRigidBodygetRigidBodyA ()
 
btRigidBodygetRigidBodyB ()
 
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 btJointFeedbackgetJointFeedback () const
 
btJointFeedbackgetJointFeedback ()
 
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
 

Protected Attributes

btVector3 m_anchor
 
btVector3 m_axis1
 
btVector3 m_axis2
 
- Protected Attributes inherited from btGeneric6DofConstraint
btTransform m_frameInA
 relative_frames More...
 
btTransform m_frameInB
 the constraint space w.r.t body B More...
 
btJacobianEntry m_jacLinear [3]
 Jacobians. More...
 
btJacobianEntry m_jacAng [3]
 3 orthogonal angular constraints More...
 
btTranslationalLimitMotor m_linearLimits
 Linear_Limit_parameters. More...
 
btRotationalLimitMotor m_angularLimits [3]
 hinge_parameters More...
 
btScalar m_timeStep
 temporal variables More...
 
btTransform m_calculatedTransformA
 
btTransform m_calculatedTransformB
 
btVector3 m_calculatedAxisAngleDiff
 
btVector3 m_calculatedAxis [3]
 
btVector3 m_calculatedLinearDiff
 
btScalar m_factA
 
btScalar m_factB
 
bool m_hasStaticBody
 
btVector3 m_AnchorPos
 
bool m_useLinearReferenceFrameA
 
bool m_useOffsetForConstraintFrame
 
int m_flags
 
- Protected Attributes inherited from btTypedConstraint
btRigidBodym_rbA
 
btRigidBodym_rbB
 
btScalar m_appliedImpulse
 
btScalar m_dbgDrawSize
 
btJointFeedbackm_jointFeedback
 

Additional Inherited Members

- Static Public Member Functions inherited from btTypedConstraint
static btRigidBodygetFixedBody ()
 
- Public Attributes inherited from btGeneric6DofConstraint
bool m_useSolveConstraintObsolete
 for backwards compatibility during the transition to 'getInfo/getInfo2' More...
 
- Public Attributes inherited from btTypedObject
int m_objectType
 
- Protected Member Functions inherited from btGeneric6DofConstraint
btGeneric6DofConstraintoperator= (btGeneric6DofConstraint &other)
 
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 buildLinearJacobian (btJacobianEntry &jacLinear, const btVector3 &normalWorld, const btVector3 &pivotAInW, const btVector3 &pivotBInW)
 
void buildAngularJacobian (btJacobianEntry &jacAngular, const btVector3 &jointAxisW)
 
void calculateLinearInfo ()
 
void calculateAngleInfo ()
 calcs the euler angles between the two bodies. More...
 
- 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...
 

Detailed Description

Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) and Y (axis 2) Description from ODE manual : "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.

In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."

Definition at line 34 of file btUniversalConstraint.h.

Constructor & Destructor Documentation

btUniversalConstraint::btUniversalConstraint ( btRigidBody rbA,
btRigidBody rbB,
const btVector3 anchor,
const btVector3 axis1,
const btVector3 axis2 
)

Definition at line 30 of file btUniversalConstraint.cpp.

Member Function Documentation

btUniversalConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )
const btVector3& btUniversalConstraint::getAnchor ( )
inline

Definition at line 49 of file btUniversalConstraint.h.

const btVector3& btUniversalConstraint::getAnchor2 ( )
inline

Definition at line 50 of file btUniversalConstraint.h.

btScalar btUniversalConstraint::getAngle1 ( )
inline

Definition at line 53 of file btUniversalConstraint.h.

btScalar btUniversalConstraint::getAngle2 ( )
inline

Definition at line 54 of file btUniversalConstraint.h.

const btVector3& btUniversalConstraint::getAxis1 ( )
inline

Definition at line 51 of file btUniversalConstraint.h.

const btVector3& btUniversalConstraint::getAxis2 ( )
inline

Definition at line 52 of file btUniversalConstraint.h.

void btUniversalConstraint::setAxis ( const btVector3 axis1,
const btVector3 axis2 
)

Definition at line 64 of file btUniversalConstraint.cpp.

void btUniversalConstraint::setLowerLimit ( btScalar  ang1min,
btScalar  ang2min 
)
inline

Definition at line 57 of file btUniversalConstraint.h.

void btUniversalConstraint::setUpperLimit ( btScalar  ang1max,
btScalar  ang2max 
)
inline

Definition at line 56 of file btUniversalConstraint.h.

Member Data Documentation

btVector3 btUniversalConstraint::m_anchor
protected

Definition at line 37 of file btUniversalConstraint.h.

btVector3 btUniversalConstraint::m_axis1
protected

Definition at line 38 of file btUniversalConstraint.h.

btVector3 btUniversalConstraint::m_axis2
protected

Definition at line 39 of file btUniversalConstraint.h.


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