btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) More...

#include <btConeTwistConstraint.h>

Inheritance diagram for btConeTwistConstraint:

Public Member Functions
	btConeTwistConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame)
	btConeTwistConstraint (btRigidBody &rbA, const btTransform &rbAFrame)
virtual void	buildJacobian ()
	internal method used by the constraint solver, don't use them directly
void	calcAngleInfo ()
void	calcAngleInfo2 (const btTransform &transA, const btTransform &transB, const btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
virtual int	calculateSerializeBufferSize () const
void	enableMotor (bool b)
const btTransform &	getAFrame ()
const btTransform &	getBFrame ()
btScalar	getFixThresh ()
const btTransform &	getFrameOffsetA () const
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 btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
virtual btScalar	getParam (int num, int axis=-1) const
	return the local value of parameter
btVector3	GetPointForAngle (btScalar fAngleInRadians, btScalar fLength) const
const btRigidBody &	getRigidBodyA () const
const btRigidBody &	getRigidBodyB () const
int	getSolveSwingLimit ()
int	getSolveTwistLimit ()
btScalar	getSwingSpan1 ()
btScalar	getSwingSpan2 ()
btScalar	getTwistAngle ()
btScalar	getTwistLimitSign ()
btScalar	getTwistSpan ()
bool	isPastSwingLimit ()
virtual const char *	serialize (void dataBuffer, btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
void	setAngularOnly (bool angularOnly)
void	setDamping (btScalar damping)
void	setFixThresh (btScalar fixThresh)
virtual void	setFrames (const btTransform &frameA, const btTransform &frameB)
void	setLimit (int limitIndex, btScalar limitValue)
void	setLimit (btScalar _swingSpan1, btScalar _swingSpan2, btScalar _twistSpan, btScalar _softness=1.f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
void	setMaxMotorImpulse (btScalar maxMotorImpulse)
void	setMaxMotorImpulseNormalized (btScalar maxMotorImpulse)
void	setMotorTarget (const btQuaternion &q)
void	setMotorTargetInConstraintSpace (const btQuaternion &q)
virtual void	setParam (int num, btScalar value, int axis=-1)
virtual void	solveConstraintObsolete (btRigidBody &bodyA, btRigidBody &bodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly
void	updateRHS (btScalar timeStep)
Protected Member Functions
void	adjustSwingAxisToUseEllipseNormal (btVector3 &vSwingAxis) const
void	computeConeLimitInfo (const btQuaternion &qCone, btScalar &swingAngle, btVector3 &vSwingAxis, btScalar &swingLimit)
void	computeTwistLimitInfo (const btQuaternion &qTwist, btScalar &twistAngle, btVector3 &vTwistAxis)
void	init ()
Private Attributes
btVector3	m_accMotorImpulse
btScalar	m_accSwingLimitImpulse
btScalar	m_accTwistLimitImpulse
btScalar	m_angCFM
bool	m_angularOnly
btScalar	m_biasFactor
bool	m_bMotorEnabled
bool	m_bNormalizedMotorStrength
btScalar	m_damping
btScalar	m_fixThresh
int	m_flags
btJacobianEntry	m_jac [3]
btScalar	m_kSwing
btScalar	m_kTwist
btScalar	m_limitSoftness
btScalar	m_linCFM
btScalar	m_linERP
btScalar	m_maxMotorImpulse
btQuaternion	m_qTarget
btTransform	m_rbAFrame
btTransform	m_rbBFrame
btScalar	m_relaxationFactor
bool	m_solveSwingLimit
bool	m_solveTwistLimit
btVector3	m_swingAxis
btScalar	m_swingCorrection
btScalar	m_swingLimitRatio
btScalar	m_swingSpan1
btScalar	m_swingSpan2
btScalar	m_twistAngle
btVector3	m_twistAxis
btVector3	m_twistAxisA
btScalar	m_twistCorrection
btScalar	m_twistLimitRatio
btScalar	m_twistLimitSign
btScalar	m_twistSpan
bool	m_useSolveConstraintObsolete

Detailed Description

btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)

Definition at line 53 of file btConeTwistConstraint.h.

Constructor & Destructor Documentation

btConeTwistConstraint::btConeTwistConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	rbAFrame,
		const btTransform &	rbBFrame
	)

btConeTwistConstraint::btConeTwistConstraint	(	btRigidBody &	rbA,
		const btTransform &	rbAFrame
	)

Member Function Documentation

void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal ( btVector3 & vSwingAxis ) const [protected]

virtual void btConeTwistConstraint::buildJacobian ( ) [virtual]

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

Reimplemented from btTypedConstraint.

void btConeTwistConstraint::calcAngleInfo ( )

void btConeTwistConstraint::calcAngleInfo2	(	const btTransform &	transA,
		const btTransform &	transB,
		const btMatrix3x3 &	invInertiaWorldA,
		const btMatrix3x3 &	invInertiaWorldB
	)

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

Reimplemented from btTypedConstraint.

Definition at line 318 of file btConeTwistConstraint.h.

void btConeTwistConstraint::computeConeLimitInfo	(	const btQuaternion &	qCone,
		btScalar &	swingAngle,
		btVector3 &	vSwingAxis,
		btScalar &	swingLimit
	)		`[protected]`

void btConeTwistConstraint::computeTwistLimitInfo	(	const btQuaternion &	qTwist,
		btScalar &	twistAngle,
		btVector3 &	vTwistAxis
	)		`[protected]`

void btConeTwistConstraint::enableMotor ( bool b ) [inline]

Definition at line 250 of file btConeTwistConstraint.h.

const btTransform& btConeTwistConstraint::getAFrame ( ) [inline]

Definition at line 209 of file btConeTwistConstraint.h.

const btTransform& btConeTwistConstraint::getBFrame ( ) [inline]

Definition at line 210 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getFixThresh ( ) [inline]

Definition at line 254 of file btConeTwistConstraint.h.

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

Definition at line 274 of file btConeTwistConstraint.h.

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

Definition at line 279 of file btConeTwistConstraint.h.

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

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

Implements btTypedConstraint.

void btConeTwistConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

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

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

Implements btTypedConstraint.

void btConeTwistConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btMatrix3x3 &	invInertiaWorldA,
		const btMatrix3x3 &	invInertiaWorldB
	)

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

return the local value of parameter

Implements btTypedConstraint.

btVector3 btConeTwistConstraint::GetPointForAngle	(	btScalar	fAngleInRadians,
		btScalar	fLength
	)		const

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

Reimplemented from btTypedConstraint.

Definition at line 148 of file btConeTwistConstraint.h.

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

Reimplemented from btTypedConstraint.

Definition at line 152 of file btConeTwistConstraint.h.

int btConeTwistConstraint::getSolveSwingLimit ( ) [inline]

Definition at line 217 of file btConeTwistConstraint.h.

int btConeTwistConstraint::getSolveTwistLimit ( ) [inline]

Definition at line 212 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getSwingSpan1 ( ) [inline]

Definition at line 230 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getSwingSpan2 ( ) [inline]

Definition at line 234 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getTwistAngle ( ) [inline]

Definition at line 242 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getTwistLimitSign ( ) [inline]

Definition at line 222 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getTwistSpan ( ) [inline]

Definition at line 238 of file btConeTwistConstraint.h.

void btConeTwistConstraint::init ( ) [protected]

bool btConeTwistConstraint::isPastSwingLimit ( ) [inline]

Definition at line 246 of file btConeTwistConstraint.h.

SIMD_FORCE_INLINE const char * btConeTwistConstraint::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 326 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setAngularOnly ( bool angularOnly ) [inline]

Definition at line 157 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setDamping ( btScalar damping ) [inline]

Definition at line 248 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setFixThresh ( btScalar fixThresh ) [inline]

Definition at line 255 of file btConeTwistConstraint.h.

virtual void btConeTwistConstraint::setFrames	(	const btTransform &	frameA,
		const btTransform &	frameB
	)		`[virtual]`

void btConeTwistConstraint::setLimit	(	int	limitIndex,
		btScalar	limitValue
	)		`[inline]`

Definition at line 162 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setLimit	(	btScalar	_swingSpan1,
		btScalar	_swingSpan2,
		btScalar	_twistSpan,
		btScalar	_softness = `1.f`,
		btScalar	_biasFactor = `0.3f`,
		btScalar	_relaxationFactor = `1.0f`
	)		`[inline]`

Definition at line 198 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setMaxMotorImpulse ( btScalar maxMotorImpulse ) [inline]

Definition at line 251 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setMaxMotorImpulseNormalized ( btScalar maxMotorImpulse ) [inline]

Definition at line 252 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setMotorTarget ( const btQuaternion & q )

void btConeTwistConstraint::setMotorTargetInConstraintSpace ( const btQuaternion & q )

virtual void btConeTwistConstraint::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.