btSliderConstraint Class Reference

#include <btSliderConstraint.h>

Inheritance diagram for btSliderConstraint:

Public Member Functions
	btSliderConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameA)
	btSliderConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
virtual int	calculateSerializeBufferSize () const
void	calculateTransforms (const btTransform &transA, const btTransform &transB)
btVector3	getAncorInA ()
btVector3	getAncorInB ()
btScalar	getAngDepth ()
const btTransform &	getCalculatedTransformA () const
const btTransform &	getCalculatedTransformB () const
btScalar	getDampingDirAng ()
btScalar	getDampingDirLin ()
btScalar	getDampingLimAng ()
btScalar	getDampingLimLin ()
btScalar	getDampingOrthoAng ()
btScalar	getDampingOrthoLin ()
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, btScalar rbAinvMass, btScalar rbBinvMass)
btScalar	getLinDepth ()
btScalar	getLinearPos ()
btScalar	getLowerAngLimit ()
btScalar	getLowerLinLimit ()
btScalar	getMaxAngMotorForce ()
btScalar	getMaxLinMotorForce ()
virtual btScalar	getParam (int num, int axis=-1) const
	return the local value of parameter
bool	getPoweredAngMotor ()
bool	getPoweredLinMotor ()
btScalar	getRestitutionDirAng ()
btScalar	getRestitutionDirLin ()
btScalar	getRestitutionLimAng ()
btScalar	getRestitutionLimLin ()
btScalar	getRestitutionOrthoAng ()
btScalar	getRestitutionOrthoLin ()
const btRigidBody &	getRigidBodyA () const
const btRigidBody &	getRigidBodyB () const
btScalar	getSoftnessDirAng ()
btScalar	getSoftnessDirLin ()
btScalar	getSoftnessLimAng ()
btScalar	getSoftnessLimLin ()
btScalar	getSoftnessOrthoAng ()
btScalar	getSoftnessOrthoLin ()
bool	getSolveAngLimit ()
bool	getSolveLinLimit ()
btScalar	getTargetAngMotorVelocity ()
btScalar	getTargetLinMotorVelocity ()
btScalar	getUpperAngLimit ()
btScalar	getUpperLinLimit ()
bool	getUseFrameOffset ()
bool	getUseLinearReferenceFrameA ()
virtual const char *	serialize (void dataBuffer, btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
void	setDampingDirAng (btScalar dampingDirAng)
void	setDampingDirLin (btScalar dampingDirLin)
void	setDampingLimAng (btScalar dampingLimAng)
void	setDampingLimLin (btScalar dampingLimLin)
void	setDampingOrthoAng (btScalar dampingOrthoAng)
void	setDampingOrthoLin (btScalar dampingOrthoLin)
void	setLowerAngLimit (btScalar lowerLimit)
void	setLowerLinLimit (btScalar lowerLimit)
void	setMaxAngMotorForce (btScalar maxAngMotorForce)
void	setMaxLinMotorForce (btScalar maxLinMotorForce)
virtual void	setParam (int num, btScalar value, int axis=-1)
void	setPoweredAngMotor (bool onOff)
void	setPoweredLinMotor (bool onOff)
void	setRestitutionDirAng (btScalar restitutionDirAng)
void	setRestitutionDirLin (btScalar restitutionDirLin)
void	setRestitutionLimAng (btScalar restitutionLimAng)
void	setRestitutionLimLin (btScalar restitutionLimLin)
void	setRestitutionOrthoAng (btScalar restitutionOrthoAng)
void	setRestitutionOrthoLin (btScalar restitutionOrthoLin)
void	setSoftnessDirAng (btScalar softnessDirAng)
void	setSoftnessDirLin (btScalar softnessDirLin)
void	setSoftnessLimAng (btScalar softnessLimAng)
void	setSoftnessLimLin (btScalar softnessLimLin)
void	setSoftnessOrthoAng (btScalar softnessOrthoAng)
void	setSoftnessOrthoLin (btScalar softnessOrthoLin)
void	setTargetAngMotorVelocity (btScalar targetAngMotorVelocity)
void	setTargetLinMotorVelocity (btScalar targetLinMotorVelocity)
void	setUpperAngLimit (btScalar upperLimit)
void	setUpperLinLimit (btScalar upperLimit)
void	setUseFrameOffset (bool frameOffsetOnOff)
void	testAngLimits ()
void	testLinLimits ()
Protected Member Functions
void	initParams ()
Protected Attributes
btScalar	m_accumulatedAngMotorImpulse
btScalar	m_accumulatedLinMotorImpulse
btScalar	m_angDepth
btScalar	m_angPos
btTransform	m_calculatedTransformA
btTransform	m_calculatedTransformB
btScalar	m_cfmDirAng
btScalar	m_cfmDirLin
btScalar	m_cfmLimAng
btScalar	m_cfmLimLin
btScalar	m_cfmOrthoAng
btScalar	m_cfmOrthoLin
btScalar	m_dampingDirAng
btScalar	m_dampingDirLin
btScalar	m_dampingLimAng
btScalar	m_dampingLimLin
btScalar	m_dampingOrthoAng
btScalar	m_dampingOrthoLin
btVector3	m_delta
btVector3	m_depth
int	m_flags
btTransform	m_frameInA
btTransform	m_frameInB
btJacobianEntry	m_jacAng [3]
btJacobianEntry	m_jacLin [3]
btScalar	m_jacLinDiagABInv [3]
btScalar	m_kAngle
btScalar	m_linPos
btScalar	m_lowerAngLimit
btScalar	m_lowerLinLimit
btScalar	m_maxAngMotorForce
btScalar	m_maxLinMotorForce
bool	m_poweredAngMotor
bool	m_poweredLinMotor
btVector3	m_projPivotInW
btVector3	m_realPivotAInW
btVector3	m_realPivotBInW
btVector3	m_relPosA
btVector3	m_relPosB
btScalar	m_restitutionDirAng
btScalar	m_restitutionDirLin
btScalar	m_restitutionLimAng
btScalar	m_restitutionLimLin
btScalar	m_restitutionOrthoAng
btScalar	m_restitutionOrthoLin
btVector3	m_sliderAxis
btScalar	m_softnessDirAng
btScalar	m_softnessDirLin
btScalar	m_softnessLimAng
btScalar	m_softnessLimLin
btScalar	m_softnessOrthoAng
btScalar	m_softnessOrthoLin
bool	m_solveAngLim
bool	m_solveLinLim
btScalar	m_targetAngMotorVelocity
btScalar	m_targetLinMotorVelocity
btScalar	m_timeStep
btScalar	m_upperAngLimit
btScalar	m_upperLinLimit
bool	m_useLinearReferenceFrameA
bool	m_useOffsetForConstraintFrame
bool	m_useSolveConstraintObsolete
	for backwards compatibility during the transition to 'getInfo/getInfo2'

Detailed Description

Definition at line 63 of file btSliderConstraint.h.

Constructor & Destructor Documentation

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

btSliderConstraint::btSliderConstraint	(	btRigidBody &	rbB,
		const btTransform &	frameInB,
		bool	useLinearReferenceFrameA
	)

Member Function Documentation

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

Reimplemented from btTypedConstraint.

Definition at line 291 of file btSliderConstraint.h.

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

btVector3 btSliderConstraint::getAncorInA ( )

btVector3 btSliderConstraint::getAncorInB ( )

btScalar btSliderConstraint::getAngDepth ( ) [inline]

Definition at line 246 of file btSliderConstraint.h.

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

Definition at line 176 of file btSliderConstraint.h.

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

Definition at line 177 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingDirAng ( ) [inline]

Definition at line 196 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingDirLin ( ) [inline]

Definition at line 193 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingLimAng ( ) [inline]

Definition at line 202 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingLimLin ( ) [inline]

Definition at line 199 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingOrthoAng ( ) [inline]

Definition at line 208 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingOrthoLin ( ) [inline]

Definition at line 205 of file btSliderConstraint.h.

btTransform& btSliderConstraint::getFrameOffsetA ( ) [inline]

Definition at line 180 of file btSliderConstraint.h.

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

Definition at line 178 of file btSliderConstraint.h.

btTransform& btSliderConstraint::getFrameOffsetB ( ) [inline]

Definition at line 181 of file btSliderConstraint.h.

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

Definition at line 179 of file btSliderConstraint.h.

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

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

Implements btTypedConstraint.

void btSliderConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

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

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

Implements btTypedConstraint.

void btSliderConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btVector3 &	linVelA,
		const btVector3 &	linVelB,
		btScalar	rbAinvMass,
		btScalar	rbBinvMass
	)

btScalar btSliderConstraint::getLinDepth ( ) [inline]

Definition at line 244 of file btSliderConstraint.h.

btScalar btSliderConstraint::getLinearPos ( ) [inline]

Definition at line 239 of file btSliderConstraint.h.

btScalar btSliderConstraint::getLowerAngLimit ( ) [inline]

Definition at line 186 of file btSliderConstraint.h.

btScalar btSliderConstraint::getLowerLinLimit ( ) [inline]

Definition at line 182 of file btSliderConstraint.h.

btScalar btSliderConstraint::getMaxAngMotorForce ( ) [inline]

Definition at line 238 of file btSliderConstraint.h.

btScalar btSliderConstraint::getMaxLinMotorForce ( ) [inline]

Definition at line 232 of file btSliderConstraint.h.

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

return the local value of parameter

Implements btTypedConstraint.

bool btSliderConstraint::getPoweredAngMotor ( ) [inline]

Definition at line 234 of file btSliderConstraint.h.

bool btSliderConstraint::getPoweredLinMotor ( ) [inline]

Definition at line 228 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionDirAng ( ) [inline]

Definition at line 195 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionDirLin ( ) [inline]

Definition at line 192 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionLimAng ( ) [inline]

Definition at line 201 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionLimLin ( ) [inline]

Definition at line 198 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionOrthoAng ( ) [inline]

Definition at line 207 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionOrthoLin ( ) [inline]

Definition at line 204 of file btSliderConstraint.h.

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

Reimplemented from btTypedConstraint.

Definition at line 174 of file btSliderConstraint.h.

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

Reimplemented from btTypedConstraint.

Definition at line 175 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessDirAng ( ) [inline]

Definition at line 194 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessDirLin ( ) [inline]

Definition at line 191 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessLimAng ( ) [inline]

Definition at line 200 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessLimLin ( ) [inline]

Definition at line 197 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessOrthoAng ( ) [inline]

Definition at line 206 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessOrthoLin ( ) [inline]

Definition at line 203 of file btSliderConstraint.h.

bool btSliderConstraint::getSolveAngLimit ( ) [inline]

Definition at line 245 of file btSliderConstraint.h.

bool btSliderConstraint::getSolveLinLimit ( ) [inline]

Definition at line 243 of file btSliderConstraint.h.

btScalar btSliderConstraint::getTargetAngMotorVelocity ( ) [inline]

Definition at line 236 of file btSliderConstraint.h.

btScalar btSliderConstraint::getTargetLinMotorVelocity ( ) [inline]

Definition at line 230 of file btSliderConstraint.h.

btScalar btSliderConstraint::getUpperAngLimit ( ) [inline]

Definition at line 188 of file btSliderConstraint.h.

btScalar btSliderConstraint::getUpperLinLimit ( ) [inline]

Definition at line 184 of file btSliderConstraint.h.

bool btSliderConstraint::getUseFrameOffset ( ) [inline]

Definition at line 255 of file btSliderConstraint.h.

bool btSliderConstraint::getUseLinearReferenceFrameA ( ) [inline]

Definition at line 190 of file btSliderConstraint.h.

void btSliderConstraint::initParams ( ) [protected]

SIMD_FORCE_INLINE const char * btSliderConstraint::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 297 of file btSliderConstraint.h.

void btSliderConstraint::setDampingDirAng ( btScalar dampingDirAng ) [inline]

Definition at line 214 of file btSliderConstraint.h.

void btSliderConstraint::setDampingDirLin ( btScalar dampingDirLin ) [inline]

Definition at line 211 of file btSliderConstraint.h.

void btSliderConstraint::setDampingLimAng ( btScalar dampingLimAng ) [inline]

Definition at line 220 of file btSliderConstraint.h.

void btSliderConstraint::setDampingLimLin ( btScalar dampingLimLin ) [inline]

Definition at line 217 of file btSliderConstraint.h.

void btSliderConstraint::setDampingOrthoAng ( btScalar dampingOrthoAng ) [inline]

Definition at line 226 of file btSliderConstraint.h.

void btSliderConstraint::setDampingOrthoLin ( btScalar dampingOrthoLin ) [inline]

Definition at line 223 of file btSliderConstraint.h.

void btSliderConstraint::setLowerAngLimit ( btScalar lowerLimit ) [inline]

Definition at line 187 of file btSliderConstraint.h.

void btSliderConstraint::setLowerLinLimit ( btScalar lowerLimit ) [inline]

Definition at line 183 of file btSliderConstraint.h.

void btSliderConstraint::setMaxAngMotorForce ( btScalar maxAngMotorForce ) [inline]

Definition at line 237 of file btSliderConstraint.h.

void btSliderConstraint::setMaxLinMotorForce ( btScalar maxLinMotorForce ) [inline]

Definition at line 231 of file btSliderConstraint.h.

virtual void btSliderConstraint::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 btSliderConstraint::setPoweredAngMotor ( bool onOff ) [inline]

Definition at line 233 of file btSliderConstraint.h.

void btSliderConstraint::setPoweredLinMotor ( bool onOff ) [inline]

Definition at line 227 of file btSliderConstraint.h.

void btSliderConstraint::setRestitutionDirAng ( btScalar restitutionDirAng ) [inline]

Definition at line 213 of file btSliderConstraint.h.

void btSliderConstraint::setRestitutionDirLin ( btScalar restitutionDirLin ) [inline]

Definition at line 210 of file btSliderConstraint.h.

void btSliderConstraint::setRestitutionLimAng ( btScalar restitutionLimAng ) [inline]

Definition at line 219 of file btSliderConstraint.h.

void btSliderConstraint::setRestitutionLimLin ( btScalar restitutionLimLin ) [inline]