#include <btTypedConstraint.h>

Public Member Functions
	btAngularLimit ()
	Default constructor initializes limit as inactive, allowing free constraint movement.
void	fit (btScalar &angle) const
btScalar	getBiasFactor () const
	Returns limit's bias factor.
btScalar	getCorrection () const
	Returns correction value evaluated when test() was invoked.
btScalar	getError () const
	Returns correction value multiplied by sign value.
btScalar	getHalfRange () const
	Gives half of the distance between min and max limit angle.
btScalar	getHigh () const
btScalar	getLow () const
btScalar	getRelaxationFactor () const
	Returns limit's relaxation factor.
btScalar	getSign () const
	Returns sign value evaluated when test() was invoked.
btScalar	getSoftness () const
	Returns limit's softness.
bool	isLimit () const
	Returns true when the last test() invocation recognized limit violation.
void	set (btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
void	test (const btScalar angle)
Private Attributes
btScalar	m_biasFactor
btScalar	m_center
btScalar	m_correction
btScalar	m_halfRange
btScalar	m_relaxationFactor
btScalar	m_sign
btScalar	m_softness
bool	m_solveLimit

Detailed Description

Definition at line 342 of file btTypedConstraint.h.

Constructor & Destructor Documentation

btAngularLimit::btAngularLimit ( ) [inline]

Default constructor initializes limit as inactive, allowing free constraint movement.

Definition at line 359 of file btTypedConstraint.h.

Member Function Documentation

void btAngularLimit::fit ( btScalar & angle ) const

Checks given angle against limit. If limit is active and angle doesn't fit it, the angle returned is modified so it equals to the limit closest to given angle.

btScalar btAngularLimit::getBiasFactor ( ) const [inline]

Returns limit's bias factor.

Definition at line 386 of file btTypedConstraint.h.

btScalar btAngularLimit::getCorrection ( ) const [inline]

Returns correction value evaluated when test() was invoked.

Definition at line 398 of file btTypedConstraint.h.

btScalar btAngularLimit::getError ( ) const

Returns correction value multiplied by sign value.

btScalar btAngularLimit::getHalfRange ( ) const [inline]

Gives half of the distance between min and max limit angle.

Definition at line 410 of file btTypedConstraint.h.

btScalar btAngularLimit::getHigh ( ) const

btScalar btAngularLimit::getLow ( ) const

btScalar btAngularLimit::getRelaxationFactor ( ) const [inline]

Returns limit's relaxation factor.

Definition at line 392 of file btTypedConstraint.h.

btScalar btAngularLimit::getSign ( ) const [inline]

Returns sign value evaluated when test() was invoked.

Definition at line 404 of file btTypedConstraint.h.

btScalar btAngularLimit::getSoftness ( ) const [inline]

Returns limit's softness.

Definition at line 380 of file btTypedConstraint.h.

bool btAngularLimit::isLimit ( ) const [inline]

Returns true when the last test() invocation recognized limit violation.

Definition at line 416 of file btTypedConstraint.h.

void btAngularLimit::set	(	btScalar	low,
		btScalar	high,
		btScalar	_softness = `0.9f`,
		btScalar	_biasFactor = `0.3f`,
		btScalar	_relaxationFactor = `1.0f`
	)

Sets all limit's parameters. When low > high limit becomes inactive. When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit

void btAngularLimit::test ( const btScalar angle )

Checks conastaint angle against limit. If limit is active and the angle violates the limit correction is calculated.