btHingeConstraint Class Reference

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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List of all members.

Public Member Functions
	btHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, btVector3 &axisInA, btVector3 &axisInB, bool useReferenceFrameA=false)
	btHingeConstraint (btRigidBody &rbA, const btVector3 &pivotInA, 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
virtual void	getInfo1 (btConstraintInfo1 *info)
	internal method used by the constraint solver, don't use them directly
void	getInfo1NonVirtual (btConstraintInfo1 *info)
virtual void	getInfo2 (btConstraintInfo2 *info)
	internal method used by the constraint solver, don't use them directly
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 ()
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).
virtual btScalar	getParam (int num, int axis=-1) const
	return the local value of parameter
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)
Private Attributes
btJacobianEntry	m_jac [3]
btJacobianEntry	m_jacAng [3]
btTransform	m_rbAFrame
btTransform	m_rbBFrame
btScalar	m_motorTargetVelocity
btScalar	m_maxMotorImpulse
btScalar	m_limitSoftness
btScalar	m_biasFactor
btScalar	m_relaxationFactor
btScalar	m_lowerLimit
btScalar	m_upperLimit
btScalar	m_kHinge
btScalar	m_limitSign
btScalar	m_correction
btScalar	m_accLimitImpulse
btScalar	m_hingeAngle
btScalar	m_referenceSign
bool	m_angularOnly
bool	m_enableAngularMotor
bool	m_solveLimit
bool	m_useSolveConstraintObsolete
bool	m_useOffsetForConstraintFrame
bool	m_useReferenceFrameA
btScalar	m_accMotorImpulse
int	m_flags
btScalar	m_normalCFM
btScalar	m_stopCFM
btScalar	m_stopERP

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 46 of file btHingeConstraint.h.

Constructor & Destructor Documentation

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

Definition at line 37 of file btHingeConstraint.cpp.

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

Definition at line 90 of file btHingeConstraint.cpp.

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

Definition at line 132 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 154 of file btHingeConstraint.cpp.

Member Function Documentation

void btHingeConstraint::buildJacobian ( ) [virtual]

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

Reimplemented from btTypedConstraint.

Definition at line 179 of file btHingeConstraint.cpp.

SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize ( ) const [virtual]

Reimplemented from btTypedConstraint.

Definition at line 303 of file btHingeConstraint.h.

void btHingeConstraint::enableAngularMotor	(	bool	enableMotor,
		btScalar	targetVelocity,
		btScalar	maxMotorImpulse
	)			`[inline]`

Definition at line 142 of file btHingeConstraint.h.

void btHingeConstraint::enableMotor ( bool enableMotor ) [inline]

Definition at line 152 of file btHingeConstraint.h.

btTransform& btHingeConstraint::getAFrame ( ) [inline]

Definition at line 213 of file btHingeConstraint.h.

const btTransform& btHingeConstraint::getAFrame ( ) const [inline]

Definition at line 210 of file btHingeConstraint.h.

bool btHingeConstraint::getAngularOnly ( ) [inline]

Definition at line 226 of file btHingeConstraint.h.

btTransform& btHingeConstraint::getBFrame ( ) [inline]

Definition at line 214 of file btHingeConstraint.h.

const btTransform& btHingeConstraint::getBFrame ( ) const [inline]

Definition at line 211 of file btHingeConstraint.h.

bool btHingeConstraint::getEnableAngularMotor ( ) [inline]

Definition at line 230 of file btHingeConstraint.h.

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

Definition at line 563 of file btHingeConstraint.cpp.

btScalar btHingeConstraint::getHingeAngle ( )

Definition at line 558 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 268 of file btHingeConstraint.cpp.

void btHingeConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

Definition at line 291 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 306 of file btHingeConstraint.cpp.

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

Definition at line 328 of file btHingeConstraint.cpp.

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

Definition at line 674 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 319 of file btHingeConstraint.cpp.

btScalar btHingeConstraint::getLimitSign ( ) [inline]

Definition at line 221 of file btHingeConstraint.h.

btScalar btHingeConstraint::getLowerLimit ( ) const [inline]

Definition at line 192 of file btHingeConstraint.h.

btScalar btHingeConstraint::getMaxMotorImpulse ( ) [inline]

Definition at line 238 of file btHingeConstraint.h.

btScalar btHingeConstraint::getMotorTargetVelosity ( ) [inline]

Definition at line 234 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 962 of file btHingeConstraint.cpp.

btRigidBody& btHingeConstraint::getRigidBodyA ( ) [inline]

Reimplemented from btTypedConstraint.

Definition at line 127 of file btHingeConstraint.h.

const btRigidBody& btHingeConstraint::getRigidBodyA ( ) const [inline]

Reimplemented from btTypedConstraint.

Definition at line 118 of file btHingeConstraint.h.

btRigidBody& btHingeConstraint::getRigidBodyB ( ) [inline]

Reimplemented from btTypedConstraint.

Definition at line 132 of file btHingeConstraint.h.

const btRigidBody& btHingeConstraint::getRigidBodyB ( ) const [inline]

Reimplemented from btTypedConstraint.

Definition at line 122 of file btHingeConstraint.h.

int btHingeConstraint::getSolveLimit ( ) [inline]

Definition at line 216 of file btHingeConstraint.h.

btScalar btHingeConstraint::getUpperLimit ( ) const [inline]

Definition at line 197 of file btHingeConstraint.h.

bool btHingeConstraint::getUseFrameOffset ( ) [inline]

Definition at line 243 of file btHingeConstraint.h.

SIMD_FORCE_INLINE const char * btHingeConstraint::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)			const `[virtual]`

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

Reimplemented from btTypedConstraint.

Definition at line 309 of file btHingeConstraint.h.

void btHingeConstraint::setAngularOnly ( bool angularOnly ) [inline]

Definition at line 137 of file btHingeConstraint.h.

void btHingeConstraint::setAxis ( btVector3 & axisInA ) [inline]

Definition at line 169 of file btHingeConstraint.h.

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