btGeneric6DofConstraint Class Reference

btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space More...

#include <btGeneric6DofConstraint.h>

Inheritance diagram for btGeneric6DofConstraint:

[legend]

List of all members.

Public Member Functions
	btGeneric6DofConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB)
	btGeneric6DofConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
virtual void	buildJacobian ()
	performs Jacobian calculation, and also calculates angle differences and axis
virtual void	calcAnchorPos (void)
virtual int	calculateSerializeBufferSize () const
void	calculateTransforms ()
void	calculateTransforms (const btTransform &transA, const btTransform &transB)
	Calcs global transform of the offsets.
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)
btScalar	getAngle (int axis_index) const
	Get the relative Euler angle.
btVector3	getAxis (int axis_index) const
	Get the rotation axis in global coordinates.
const btTransform &	getCalculatedTransformA () const
	Gets the global transform of the offset for body A.
const btTransform &	getCalculatedTransformB () const
	Gets the global transform of the offset for body B.
btTransform &	getFrameOffsetA ()
const btTransform &	getFrameOffsetA () const
btTransform &	getFrameOffsetB ()
const btTransform &	getFrameOffsetB () const
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 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)
virtual btScalar	getParam (int num, int axis=-1) const
	return the local value of parameter
btScalar	getRelativePivotPosition (int axis_index) const
	Get the relative position of the constraint pivot.
btRotationalLimitMotor *	getRotationalLimitMotor (int index)
	Retrieves the angular limit informacion.
btTranslationalLimitMotor *	getTranslationalLimitMotor ()
	Retrieves the limit informacion.
bool	getUseFrameOffset ()
bool	isLimited (int limitIndex)
	Test limit.
virtual const char *	serialize (void dataBuffer, btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
void	setAngularLowerLimit (const btVector3 &angularLower)
void	setAngularUpperLimit (const btVector3 &angularUpper)
void	setLimit (int axis, btScalar lo, btScalar hi)
void	setLinearLowerLimit (const btVector3 &linearLower)
void	setLinearUpperLimit (const btVector3 &linearUpper)
virtual void	setParam (int num, btScalar value, int axis=-1)
void	setUseFrameOffset (bool frameOffsetOnOff)
bool	testAngularLimitMotor (int axis_index)
	Test angular limit.
void	updateRHS (btScalar timeStep)
Public Attributes
bool	m_useSolveConstraintObsolete
	for backwards compatibility during the transition to 'getInfo/getInfo2'
Protected Member Functions
void	buildAngularJacobian (btJacobianEntry &jacAngular, const btVector3 &jointAxisW)
void	buildLinearJacobian (btJacobianEntry &jacLinear, const btVector3 &normalWorld, const btVector3 &pivotAInW, const btVector3 &pivotBInW)
void	calculateAngleInfo ()
	calcs the euler angles between the two bodies.
void	calculateLinearInfo ()
btGeneric6DofConstraint &	operator= (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)
Protected Attributes


btVector3	m_AnchorPos
btVector3	m_calculatedAxis [3]
btVector3	m_calculatedAxisAngleDiff
btVector3	m_calculatedLinearDiff
btTransform	m_calculatedTransformA
btTransform	m_calculatedTransformB
btScalar	m_factA
btScalar	m_factB
int	m_flags
bool	m_hasStaticBody
btScalar	m_timeStep
bool	m_useLinearReferenceFrameA
bool	m_useOffsetForConstraintFrame


btRotationalLimitMotor	m_angularLimits [3]


btTransform	m_frameInA
	the constraint space w.r.t body A
btTransform	m_frameInB


btJacobianEntry	m_jacAng [3]
btJacobianEntry	m_jacLinear [3]
	3 orthogonal linear constraints


btTranslationalLimitMotor	m_linearLimits

Detailed Description

btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space

btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'. currently this limit supports rotational motors

For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method. At this moment translational motors are not supported. May be in the future.
For Angular limits, use the btRotationalLimitMotor structure for configuring the limit. This is accessible through btGeneric6DofConstraint.getLimitMotor method, This brings support for limit parameters and motors.
Angulars limits have these possible ranges:

AXIS MIN ANGLE MAX ANGLE

X -PI PI

Y -PI/2 PI/2

Z -PI PI

Definition at line 271 of file btGeneric6DofConstraint.h.

Constructor & Destructor Documentation

btGeneric6DofConstraint::btGeneric6DofConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	frameInA,
		const btTransform &	frameInB,
		bool	useLinearReferenceFrameA
	)

btGeneric6DofConstraint::btGeneric6DofConstraint	(	btRigidBody &	rbB,
		const btTransform &	frameInB,
		bool	useLinearReferenceFrameB
	)

Member Function Documentation

void btGeneric6DofConstraint::buildAngularJacobian	(	btJacobianEntry &	jacAngular,
		const btVector3 &	jointAxisW
	)			`[protected]`

virtual void btGeneric6DofConstraint::buildJacobian ( ) [virtual]

performs Jacobian calculation, and also calculates angle differences and axis

Reimplemented from btTypedConstraint.

void btGeneric6DofConstraint::buildLinearJacobian	(	btJacobianEntry &	jacLinear,
		const btVector3 &	normalWorld,
		const btVector3 &	pivotAInW,
		const btVector3 &	pivotBInW
	)			`[protected]`

virtual void btGeneric6DofConstraint::calcAnchorPos ( void ) [virtual]

void btGeneric6DofConstraint::calculateAngleInfo ( ) [protected]

calcs the euler angles between the two bodies.

void btGeneric6DofConstraint::calculateLinearInfo ( ) [protected]

SIMD_FORCE_INLINE int btGeneric6DofConstraint::calculateSerializeBufferSize ( ) const [virtual]

Reimplemented from btTypedConstraint.

Definition at line 553 of file btGeneric6DofConstraint.h.

void btGeneric6DofConstraint::calculateTransforms ( )

void btGeneric6DofConstraint::calculateTransforms	(	const btTransform &	transA,
		const btTransform &	transB
	)

Calcs global transform of the offsets.

Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.

See also:: btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo

int btGeneric6DofConstraint::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`
	)

btScalar btGeneric6DofConstraint::getAngle ( int axis_index ) const

Get the relative Euler angle.

Precondition:: btGeneric6DofConstraint::calculateTransforms() must be called previously.

btVector3 btGeneric6DofConstraint::getAxis ( int axis_index ) const

Get the rotation axis in global coordinates.

Precondition:: btGeneric6DofConstraint.buildJacobian must be called previously.

const btTransform& btGeneric6DofConstraint::getCalculatedTransformA ( ) const [inline]

Gets the global transform of the offset for body A.

See also:: btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.

Definition at line 368 of file btGeneric6DofConstraint.h.

const btTransform& btGeneric6DofConstraint::getCalculatedTransformB ( ) const [inline]

Gets the global transform of the offset for body B.

See also:: btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.

Definition at line 377 of file btGeneric6DofConstraint.h.

btTransform& btGeneric6DofConstraint::getFrameOffsetA ( ) [inline]

Definition at line 393 of file btGeneric6DofConstraint.h.

const btTransform& btGeneric6DofConstraint::getFrameOffsetA ( ) const [inline]

Definition at line 382 of file btGeneric6DofConstraint.h.

btTransform& btGeneric6DofConstraint::getFrameOffsetB ( ) [inline]

Definition at line 398 of file btGeneric6DofConstraint.h.

const btTransform& btGeneric6DofConstraint::getFrameOffsetB ( ) const [inline]

Definition at line 387 of file btGeneric6DofConstraint.h.

virtual void btGeneric6DofConstraint::getInfo1 ( btConstraintInfo1 * info ) [virtual]

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

Implements btTypedConstraint.

void btGeneric6DofConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

virtual void btGeneric6DofConstraint::getInfo2 ( btConstraintInfo2 * info ) [virtual]

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

Implements btTypedConstraint.

Reimplemented in btGeneric6DofSpringConstraint.

void btGeneric6DofConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	linVelA,
		const btVector3 &	linVelB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)

virtual btScalar btGeneric6DofConstraint::getParam	(	int	num,
		int	axis = `-1`
	)			const `[virtual]`

return the local value of parameter

Implements btTypedConstraint.

btScalar btGeneric6DofConstraint::getRelativePivotPosition ( int axis_index ) const

Get the relative position of the constraint pivot.

Precondition:: btGeneric6DofConstraint::calculateTransforms() must be called previously.

btRotationalLimitMotor* btGeneric6DofConstraint::getRotationalLimitMotor ( int index ) [inline]

Retrieves the angular limit informacion.

Definition at line 467 of file btGeneric6DofConstraint.h.

btTranslationalLimitMotor* btGeneric6DofConstraint::getTranslationalLimitMotor ( ) [inline]

Retrieves the limit informacion.

Definition at line 473 of file btGeneric6DofConstraint.h.

bool btGeneric6DofConstraint::getUseFrameOffset ( ) [inline]

Definition at line 519 of file btGeneric6DofConstraint.h.

bool btGeneric6DofConstraint::isLimited ( int limitIndex ) [inline]

Test limit.

free means upper < lower,
locked means upper == lower
limited means upper > lower
limitIndex: first 3 are linear, next 3 are angular

Definition at line 502 of file btGeneric6DofConstraint.h.

btGeneric6DofConstraint& btGeneric6DofConstraint::operator= ( btGeneric6DofConstraint & other ) [inline, protected]

Definition at line 321 of file btGeneric6DofConstraint.h.

SIMD_FORCE_INLINE const char * btGeneric6DofConstraint::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 559 of file btGeneric6DofConstraint.h.

int btGeneric6DofConstraint::setAngularLimits	(	btConstraintInfo2 *	info,
		int	row_offset,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	linVelA,
		const btVector3 &	linVelB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)			`[protected]`

void btGeneric6DofConstraint::setAngularLowerLimit ( const btVector3 & angularLower ) [inline]

Definition at line 454 of file btGeneric6DofConstraint.h.

void btGeneric6DofConstraint::setAngularUpperLimit ( const btVector3 & angularUpper ) [inline]

Definition at line 460 of file btGeneric6DofConstraint.h.

void btGeneric6DofConstraint::setLimit	(	int	axis,
		btScalar	lo,
		btScalar	hi
	)			`[inline]`

Definition at line 479 of file btGeneric6DofConstraint.h.

int btGeneric6DofConstraint::setLinearLimits	(	btConstraintInfo2 *	info,
		int	row,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	linVelA,
		const btVector3 &	linVelB,
		const btVector3 &	angVelA,
		const btVector3 &	angVelB
	)			`[protected]`

void btGeneric6DofConstraint::setLinearLowerLimit ( const btVector3 & linearLower ) [inline]

Definition at line 444 of file btGeneric6DofConstraint.h.

void btGeneric6DofConstraint::setLinearUpperLimit ( const btVector3 & linearUpper ) [inline]

Definition at line 449 of file btGeneric6DofConstraint.h.

virtual void btGeneric6DofConstraint::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.

void btGeneric6DofConstraint::setUseFrameOffset ( bool frameOffsetOnOff ) [inline]

Definition at line 520 of file btGeneric6DofConstraint.h.

bool btGeneric6DofConstraint::testAngularLimitMotor ( int axis_index )

Test angular limit.

Calculates angular correction and returns true if limit needs to be corrected.