btRotationalLimitMotor Class Reference

Rotation Limit structure for generic joints. More...

#include <btGeneric6DofConstraint.h>

List of all members.

Public Member Functions
	btRotationalLimitMotor ()
	btRotationalLimitMotor (const btRotationalLimitMotor &limot)
bool	isLimited ()
	Is limited.
bool	needApplyTorques ()
	Need apply correction.
btScalar	solveAngularLimits (btScalar timeStep, btVector3 &axis, btScalar jacDiagABInv, btRigidBody *body0, btRigidBody *body1)
	apply the correction impulses for two bodies
int	testLimitValue (btScalar test_value)
	calculates error
Public Attributes
btScalar	m_loLimit
	joint limit
btScalar	m_hiLimit
	joint limit
btScalar	m_targetVelocity
	target motor velocity
btScalar	m_maxMotorForce
	max force on motor
btScalar	m_maxLimitForce
	max force on limit
btScalar	m_damping
	Damping.
btScalar	m_limitSoftness
btScalar	m_normalCFM
	Relaxation factor.
btScalar	m_stopERP
	Error tolerance factor when joint is at limit.
btScalar	m_stopCFM
	Constraint force mixing factor when joint is at limit.
btScalar	m_bounce
	restitution factor
bool	m_enableMotor
btScalar	m_currentLimitError
btScalar	m_currentPosition
	How much is violated this limit.
int	m_currentLimit
	current value of angle
btScalar	m_accumulatedImpulse

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Detailed Description

Rotation Limit structure for generic joints.

Definition at line 40 of file btGeneric6DofConstraint.h.

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Constructor & Destructor Documentation

btRotationalLimitMotor::btRotationalLimitMotor

(

)

[inline]

Definition at line 68 of file btGeneric6DofConstraint.h.

btRotationalLimitMotor::btRotationalLimitMotor

(

const btRotationalLimitMotor &

limot

)

[inline]

Definition at line 87 of file btGeneric6DofConstraint.h.

---

Member Function Documentation

bool btRotationalLimitMotor::isLimited

(

)

[inline]

Is limited.

Definition at line 106 of file btGeneric6DofConstraint.h.

bool btRotationalLimitMotor::needApplyTorques

(

)

[inline]

Need apply correction.

Definition at line 113 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::solveAngularLimits	(	btScalar	timeStep,
		btVector3 &	axis,
		btScalar	jacDiagABInv,
		btRigidBody *	body0,
		btRigidBody *	body1
	)

apply the correction impulses for two bodies

int btRotationalLimitMotor::testLimitValue

(

btScalar

test_value

)

calculates error

calculates m_currentLimit and m_currentLimitError.

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Member Data Documentation

btScalar btRotationalLimitMotor::m_accumulatedImpulse

Definition at line 65 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_bounce

restitution factor

Definition at line 55 of file btGeneric6DofConstraint.h.

int btRotationalLimitMotor::m_currentLimit

current value of angle

0=free, 1=at lo limit, 2=at hi limit

Definition at line 64 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_currentLimitError

temp_variables

Definition at line 62 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_currentPosition

How much is violated this limit.

Definition at line 63 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_damping

Damping.

Definition at line 50 of file btGeneric6DofConstraint.h.

bool btRotationalLimitMotor::m_enableMotor

Definition at line 56 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_hiLimit

joint limit

Definition at line 46 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_limitSoftness

Definition at line 51 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_loLimit

joint limit

limit_parameters

Definition at line 45 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_maxLimitForce

max force on limit

Definition at line 49 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_maxMotorForce

max force on motor

Definition at line 48 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_normalCFM

Relaxation factor.

Constraint force mixing factor

Definition at line 52 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_stopCFM

Constraint force mixing factor when joint is at limit.

Definition at line 54 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_stopERP

Error tolerance factor when joint is at limit.

Definition at line 53 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_targetVelocity

target motor velocity

Definition at line 47 of file btGeneric6DofConstraint.h.

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The documentation for this class was generated from the following file:

• btGeneric6DofConstraint.h