btTypedConstraint Class Reference

TypedConstraint is the baseclass for Bullet constraints and vehicles. More...

#include <btTypedConstraint.h>

Inheritance diagram for btTypedConstraint:

Classes
struct	btConstraintInfo1
struct	btConstraintInfo2
Public Member Functions
	btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA, btRigidBody &rbB)
	btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA)
virtual void	buildJacobian ()
	internal method used by the constraint solver, don't use them directly
virtual int	calculateSerializeBufferSize () const
void	enableFeedback (bool needsFeedback)
btScalar	getAppliedImpulse () const
btTypedConstraintType	getConstraintType () const
btScalar	getDbgDrawSize ()
virtual void	getInfo1 (btConstraintInfo1 *info)=0
	internal method used by the constraint solver, don't use them directly
virtual void	getInfo2 (btConstraintInfo2 *info)=0
	internal method used by the constraint solver, don't use them directly
virtual btScalar	getParam (int num, int axis=-1) const =0
	return the local value of parameter
btRigidBody &	getRigidBodyA ()
const btRigidBody &	getRigidBodyA () const
btRigidBody &	getRigidBodyB ()
const btRigidBody &	getRigidBodyB () const
int	getUid () const
int	getUserConstraintId () const
int	getUserConstraintType () const
btScalar	internalGetAppliedImpulse ()
	internal method used by the constraint solver, don't use them directly
void	internalSetAppliedImpulse (btScalar appliedImpulse)
	internal method used by the constraint solver, don't use them directly
bool	needsFeedback () const
virtual const char *	serialize (void dataBuffer, btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
void	setDbgDrawSize (btScalar dbgDrawSize)
virtual void	setParam (int num, btScalar value, int axis=-1)=0
virtual void	setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly
void	setUserConstraintId (int uid)
void	setUserConstraintType (int userConstraintType)
virtual void	solveConstraintObsolete (btRigidBody &bodyA, btRigidBody &bodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly
virtual	~btTypedConstraint ()
Protected Member Functions
btScalar	getMotorFactor (btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
	internal method used by the constraint solver, don't use them directly
Static Protected Member Functions
static btRigidBody &	getFixedBody ()
Protected Attributes
btScalar	m_appliedImpulse
btScalar	m_dbgDrawSize
btRigidBody &	m_rbA
btRigidBody &	m_rbB
Private Member Functions
btTypedConstraint &	operator= (btTypedConstraint &other)
Private Attributes
bool	m_needsFeedback
int	m_userConstraintId
int	m_userConstraintType

Detailed Description

TypedConstraint is the baseclass for Bullet constraints and vehicles.

Definition at line 53 of file btTypedConstraint.h.

Constructor & Destructor Documentation

virtual btTypedConstraint::~btTypedConstraint ( ) [inline, virtual]

Definition at line 85 of file btTypedConstraint.h.

btTypedConstraint::btTypedConstraint	(	btTypedConstraintType	type,
		btRigidBody &	rbA
	)

btTypedConstraint::btTypedConstraint	(	btTypedConstraintType	type,
		btRigidBody &	rbA,
		btRigidBody &	rbB
	)

Member Function Documentation

virtual void btTypedConstraint::buildJacobian ( ) [inline, virtual]

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

Reimplemented in btConeTwistConstraint, and btGeneric6DofConstraint.

Definition at line 125 of file btTypedConstraint.h.

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

Reimplemented in btConeTwistConstraint, btGeneric6DofConstraint, and btSliderConstraint.

Definition at line 294 of file btTypedConstraint.h.

void btTypedConstraint::enableFeedback ( bool needsFeedback ) [inline]

enableFeedback will allow to read the applied linear and angular impulse use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information

Definition at line 207 of file btTypedConstraint.h.

btScalar btTypedConstraint::getAppliedImpulse ( ) const [inline]

getAppliedImpulse is an estimated total applied impulse. This feedback could be used to determine breaking constraints or playing sounds.

Definition at line 214 of file btTypedConstraint.h.

btTypedConstraintType btTypedConstraint::getConstraintType ( ) const [inline]

Definition at line 220 of file btTypedConstraint.h.

btScalar btTypedConstraint::getDbgDrawSize ( ) [inline]

Definition at line 229 of file btTypedConstraint.h.

static btRigidBody& btTypedConstraint::getFixedBody ( ) [inline, static, protected]

Definition at line 75 of file btTypedConstraint.h.

virtual void btTypedConstraint::getInfo1 ( btConstraintInfo1 * info ) [pure virtual]

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

Implemented in btConeTwistConstraint, btGeneric6DofConstraint, and btSliderConstraint.

virtual void btTypedConstraint::getInfo2 ( btConstraintInfo2 * info ) [pure virtual]

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

Implemented in btConeTwistConstraint, btGeneric6DofConstraint, btGeneric6DofSpringConstraint, and btSliderConstraint.

btScalar btTypedConstraint::getMotorFactor	(	btScalar	pos,
		btScalar	lowLim,
		btScalar	uppLim,
		btScalar	vel,
		btScalar	timeFact
	)			`[protected]`

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

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

return the local value of parameter

Implemented in btConeTwistConstraint, btGeneric6DofConstraint, and btSliderConstraint.

btRigidBody& btTypedConstraint::getRigidBodyA ( ) [inline]

Definition at line 166 of file btTypedConstraint.h.

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

Reimplemented in btConeTwistConstraint, and btSliderConstraint.

Definition at line 157 of file btTypedConstraint.h.

btRigidBody& btTypedConstraint::getRigidBodyB ( ) [inline]

Definition at line 170 of file btTypedConstraint.h.

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

Reimplemented in btConeTwistConstraint, and btSliderConstraint.

Definition at line 161 of file btTypedConstraint.h.

int btTypedConstraint::getUid ( ) const [inline]

Definition at line 195 of file btTypedConstraint.h.

int btTypedConstraint::getUserConstraintId ( ) const [inline]

Definition at line 190 of file btTypedConstraint.h.

int btTypedConstraint::getUserConstraintType ( ) const [inline]

Definition at line 175 of file btTypedConstraint.h.

btScalar btTypedConstraint::internalGetAppliedImpulse ( ) [inline]

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

Definition at line 148 of file btTypedConstraint.h.

void btTypedConstraint::internalSetAppliedImpulse ( btScalar appliedImpulse ) [inline]

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

Definition at line 143 of file btTypedConstraint.h.

bool btTypedConstraint::needsFeedback ( ) const [inline]

Definition at line 200 of file btTypedConstraint.h.

btTypedConstraint& btTypedConstraint::operator= ( btTypedConstraint & other ) [inline, private]

Definition at line 59 of file btTypedConstraint.h.

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

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

Reimplemented in btConeTwistConstraint, btGeneric6DofConstraint, and btSliderConstraint.

void btTypedConstraint::setDbgDrawSize ( btScalar dbgDrawSize ) [inline]

Definition at line 225 of file btTypedConstraint.h.

virtual void btTypedConstraint::setParam	(	int	num,
		btScalar	value,
		int	axis = `-1`
	)			`[pure 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.

Implemented in btConeTwistConstraint, btGeneric6DofConstraint, and btSliderConstraint.