btUniversalConstraint Class Reference

#include <btUniversalConstraint.h>

Inheritance diagram for btUniversalConstraint:

List of all members.

Public Member Functions
	btUniversalConstraint (btRigidBody &rbA, btRigidBody &rbB, btVector3 &anchor, btVector3 &axis1, btVector3 &axis2)
const btVector3 &	getAnchor ()
const btVector3 &	getAnchor2 ()
btScalar	getAngle1 ()
btScalar	getAngle2 ()
const btVector3 &	getAxis1 ()
const btVector3 &	getAxis2 ()
void	setAxis (const btVector3 &axis1, const btVector3 &axis2)
void	setLowerLimit (btScalar ang1min, btScalar ang2min)
void	setUpperLimit (btScalar ang1max, btScalar ang2max)
Protected Attributes
btVector3	m_anchor
btVector3	m_axis1
btVector3	m_axis2

---

Detailed Description

Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) and Y (axis 2) Description from ODE manual : "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."

Definition at line 34 of file btUniversalConstraint.h.

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Constructor & Destructor Documentation

btUniversalConstraint::btUniversalConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		btVector3 &	anchor,
		btVector3 &	axis1,
		btVector3 &	axis2
	)

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Member Function Documentation

const btVector3& btUniversalConstraint::getAnchor

(

)

[inline]

Definition at line 46 of file btUniversalConstraint.h.

const btVector3& btUniversalConstraint::getAnchor2

(

)

[inline]

Definition at line 47 of file btUniversalConstraint.h.

btScalar btUniversalConstraint::getAngle1

(

)

[inline]

Definition at line 50 of file btUniversalConstraint.h.

btScalar btUniversalConstraint::getAngle2

(

)

[inline]

Definition at line 51 of file btUniversalConstraint.h.

const btVector3& btUniversalConstraint::getAxis1

(

)

[inline]

Definition at line 48 of file btUniversalConstraint.h.

const btVector3& btUniversalConstraint::getAxis2

(

)

[inline]

Definition at line 49 of file btUniversalConstraint.h.

void btUniversalConstraint::setAxis	(	const btVector3 &	axis1,
		const btVector3 &	axis2
	)

Reimplemented from btGeneric6DofConstraint.

void btUniversalConstraint::setLowerLimit	(	btScalar	ang1min,
		btScalar	ang2min
	)		[inline]

Definition at line 54 of file btUniversalConstraint.h.

void btUniversalConstraint::setUpperLimit	(	btScalar	ang1max,
		btScalar	ang2max
	)		[inline]

Definition at line 53 of file btUniversalConstraint.h.

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Member Data Documentation

btVector3 btUniversalConstraint::m_anchor [protected]

Definition at line 37 of file btUniversalConstraint.h.

btVector3 btUniversalConstraint::m_axis1 [protected]

Definition at line 38 of file btUniversalConstraint.h.

btVector3 btUniversalConstraint::m_axis2 [protected]

Definition at line 39 of file btUniversalConstraint.h.

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

• btUniversalConstraint.h