Public Member Functions | Protected Member Functions | Private Attributes
btConeTwistConstraint Class Reference

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

#include <btConeTwistConstraint.h>

Inheritance diagram for btConeTwistConstraint:
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List of all members.

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 btTransformgetAFrame ()
const btTransformgetBFrame ()
btScalar getFixThresh ()
const btTransformgetFrameOffsetA () const
const btTransformgetFrameOffsetB () 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 btRigidBodygetRigidBodyA () const
const btRigidBodygetRigidBodyB () 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 
)

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

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]

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

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

Implements btTypedConstraint.

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

Reimplemented from btTypedConstraint.

Definition at line 148 of file btConeTwistConstraint.h.

Reimplemented from btTypedConstraint.

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void btConeTwistConstraint::init ( ) [protected]

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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.

Definition at line 252 of file btConeTwistConstraint.h.

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.

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

Reimplemented from btTypedConstraint.


Member Data Documentation

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btJacobianEntry btConeTwistConstraint::m_jac[3] [private]

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The documentation for this class was generated from the following file:
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Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:32