Public Member Functions | Public Attributes
btTranslationalLimitMotor Class Reference

#include <btGeneric6DofConstraint.h>

List of all members.

Public Member Functions

 btTranslationalLimitMotor ()
 btTranslationalLimitMotor (const btTranslationalLimitMotor &other)
bool isLimited (int limitIndex)
 Test limit.
bool needApplyForce (int limitIndex)
btScalar solveLinearAxis (btScalar timeStep, btScalar jacDiagABInv, btRigidBody &body1, const btVector3 &pointInA, btRigidBody &body2, const btVector3 &pointInB, int limit_index, const btVector3 &axis_normal_on_a, const btVector3 &anchorPos)
int testLimitValue (int limitIndex, btScalar test_value)

Public Attributes

btVector3 m_accumulatedImpulse
int m_currentLimit [3]
 Current relative offset of constraint frames.
btVector3 m_currentLimitError
btVector3 m_currentLinearDiff
 How much is violated this limit.
bool m_enableMotor [3]
btVector3 m_lowerLimit
 the constraint lower limits
btVector3 m_maxMotorForce
 max force on motor
btVector3 m_targetVelocity
 target motor velocity
btVector3 m_upperLimit
 the constraint upper limits
btScalar m_limitSoftness
 Softness for linear limit.
btScalar m_damping
 Damping for linear limit.
btScalar m_restitution
btVector3 m_normalCFM
 Bounce parameter for linear limit.
btVector3 m_stopERP
 Error tolerance factor when joint is at limit.
btVector3 m_stopCFM

Detailed Description

Definition at line 132 of file btGeneric6DofConstraint.h.


Constructor & Destructor Documentation

Definition at line 154 of file btGeneric6DofConstraint.h.

Definition at line 174 of file btGeneric6DofConstraint.h.


Member Function Documentation

bool btTranslationalLimitMotor::isLimited ( int  limitIndex) [inline]

Test limit.

  • free means upper < lower,
  • locked means upper == lower
  • limited means upper > lower
  • limitIndex: first 3 are linear, next 3 are angular

Definition at line 202 of file btGeneric6DofConstraint.h.

bool btTranslationalLimitMotor::needApplyForce ( int  limitIndex) [inline]

Definition at line 206 of file btGeneric6DofConstraint.h.

btScalar btTranslationalLimitMotor::solveLinearAxis ( btScalar  timeStep,
btScalar  jacDiagABInv,
btRigidBody body1,
const btVector3 &  pointInA,
btRigidBody body2,
const btVector3 &  pointInB,
int  limit_index,
const btVector3 &  axis_normal_on_a,
const btVector3 &  anchorPos 
)
int btTranslationalLimitMotor::testLimitValue ( int  limitIndex,
btScalar  test_value 
)

Member Data Documentation

Definition at line 137 of file btGeneric6DofConstraint.h.

Current relative offset of constraint frames.

0=free, 1=at lower limit, 2=at upper limit

Definition at line 152 of file btGeneric6DofConstraint.h.

Definition at line 150 of file btGeneric6DofConstraint.h.

How much is violated this limit.

Definition at line 151 of file btGeneric6DofConstraint.h.

Damping for linear limit.

Definition at line 141 of file btGeneric6DofConstraint.h.

Definition at line 147 of file btGeneric6DofConstraint.h.

Softness for linear limit.

Linear_Limit_parameters

Definition at line 140 of file btGeneric6DofConstraint.h.

the constraint lower limits

Definition at line 135 of file btGeneric6DofConstraint.h.

max force on motor

Definition at line 149 of file btGeneric6DofConstraint.h.

Bounce parameter for linear limit.

Constraint force mixing factor

Definition at line 143 of file btGeneric6DofConstraint.h.

Definition at line 142 of file btGeneric6DofConstraint.h.

Constraint force mixing factor when joint is at limit

Definition at line 145 of file btGeneric6DofConstraint.h.

Error tolerance factor when joint is at limit.

Definition at line 144 of file btGeneric6DofConstraint.h.

target motor velocity

Definition at line 148 of file btGeneric6DofConstraint.h.

the constraint upper limits

Definition at line 136 of file btGeneric6DofConstraint.h.


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 07:54:33