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:

[legend]

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)
virtual void	getInfo2 (btConstraintInfo2 *info)
	internal method used by the constraint solver, don't use them directly
void	setDamping (int index, btScalar damping)
void	setEquilibriumPoint (int index)
void	setEquilibriumPoint ()
void	setStiffness (int index, btScalar stiffness)
Protected Member Functions
void	internalUpdateSprings (btConstraintInfo2 *info)
Protected Attributes
btScalar	m_equilibriumPoint [6]
btScalar	m_springDamping [6]
bool	m_springEnabled [6]
btScalar	m_springStiffness [6]

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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.

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Constructor & Destructor Documentation

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

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Member Function Documentation

void btGeneric6DofSpringConstraint::enableSpring	(	int	index,
		bool	onOff
	)

virtual void btGeneric6DofSpringConstraint::getInfo2

(

btConstraintInfo2 *

info

)

[virtual]

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

Reimplemented from btGeneric6DofConstraint.

void btGeneric6DofSpringConstraint::internalUpdateSprings

(

btConstraintInfo2 *

info

)

[protected]

void btGeneric6DofSpringConstraint::setDamping	(	int	index,
		btScalar	damping
	)

void btGeneric6DofSpringConstraint::setEquilibriumPoint

(

int

index

)

void btGeneric6DofSpringConstraint::setEquilibriumPoint

(

)

void btGeneric6DofSpringConstraint::setStiffness	(	int	index,
		btScalar	stiffness
	)

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Member Data Documentation

btScalar btGeneric6DofSpringConstraint::m_equilibriumPoint[6] [protected]

Definition at line 39 of file btGeneric6DofSpringConstraint.h.

btScalar btGeneric6DofSpringConstraint::m_springDamping[6] [protected]

Definition at line 41 of file btGeneric6DofSpringConstraint.h.

bool btGeneric6DofSpringConstraint::m_springEnabled[6] [protected]

Definition at line 38 of file btGeneric6DofSpringConstraint.h.

btScalar btGeneric6DofSpringConstraint::m_springStiffness[6] [protected]

Definition at line 40 of file btGeneric6DofSpringConstraint.h.

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

• btGeneric6DofSpringConstraint.h