btGeneric6DofSpringConstraint Class Reference

Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF. More...

#include <btGeneric6DofSpringConstraint.h>

Inheritance diagram for btGeneric6DofSpringConstraint:

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Collaboration diagram for btGeneric6DofSpringConstraint:

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List of all members.

Public Member Functions
	btGeneric6DofSpringConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
void	enableSpring (int index, bool onOff)
void	setStiffness (int index, btScalar stiffness)
void	setDamping (int index, btScalar damping)
void	setEquilibriumPoint ()
void	setEquilibriumPoint (int index)
virtual void	getInfo2 (btConstraintInfo2 *info)
	internal method used by the constraint solver, don't use them directly
Protected Member Functions
void	internalUpdateSprings (btConstraintInfo2 *info)
Protected Attributes
bool	m_springEnabled [6]
btScalar	m_equilibriumPoint [6]
btScalar	m_springStiffness [6]
btScalar	m_springDamping [6]

Detailed Description

Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF.

DOF index used in enableSpring() and setStiffness() means: 0 : translation X 1 : translation Y 2 : translation Z 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )

Definition at line 35 of file btGeneric6DofSpringConstraint.h.

Constructor & Destructor Documentation

btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	frameInA,
		const btTransform &	frameInB,
		bool	useLinearReferenceFrameA
	)