constraints.cpp File Reference

#include <btBulletDynamicsCommon.h>

Include dependency graph for constraints.cpp:

Go to the source code of this file.

Functions
void	deleteConstraint (btTypedConstraint *constraint)
void	enableAngularMotor (btHingeConstraint *hinge, bool enableMotor, double targetVelocity, double maxMotorImpulse)
void	enableMotor (btHingeConstraint *hinge, bool enableMotor)
bool	getAngularOnly (btHingeConstraint *hinge)
double	getDampingDirAng (btSliderConstraint *slider)
double	getDampingDirLin (btSliderConstraint *slider)
double	getDampingLimAng (btSliderConstraint *slider)
double	getDampingLimLin (btSliderConstraint *slider)
double	getDampingOrthoAng (btSliderConstraint *slider)
double	getDampingOrthoLin (btSliderConstraint *slider)
bool	getEnableMotor (btHingeConstraint *hinge)
double	getHingeAngle (btHingeConstraint *hinge)
double	getLinearPos (btSliderConstraint *slider)
double	getLowerAngLimit (btSliderConstraint *slider)
double	getLowerLimit (btHingeConstraint *hinge)
double	getLowerLinLimit (btSliderConstraint *slider)
double	getMaxAngMotorForce (btSliderConstraint *slider)
double	getMaxLinMotorForce (btSliderConstraint *slider)
double	getMaxMotorImpulse (btHingeConstraint *hinge)
double	getMotorTargetVelocity (btHingeConstraint *hinge)
bool	getPoweredAngMotor (btSliderConstraint *slider)
bool	getPoweredLinMotor (btSliderConstraint *slider)
double	getRestitutionDirAng (btSliderConstraint *slider)
double	getRestitutionDirLin (btSliderConstraint *slider)
double	getRestitutionLimAng (btSliderConstraint *slider)
double	getRestitutionLimLin (btSliderConstraint *slider)
double	getRestitutionOrthoAng (btSliderConstraint *slider)
double	getRestitutionOrthoLin (btSliderConstraint *slider)
double	getSoftnessDirAng (btSliderConstraint *slider)
double	getSoftnessDirLin (btSliderConstraint *slider)
double	getSoftnessLimAng (btSliderConstraint *slider)
double	getSoftnessLimLin (btSliderConstraint *slider)
double	getSoftnessOrthoAng (btSliderConstraint *slider)
double	getSoftnessOrthoLin (btSliderConstraint *slider)
double	getTargetAngMotorVelocity (btSliderConstraint *slider)
double	getTargetLinMotorVelocity (btSliderConstraint *slider)
double	getUpperAngLimit (btSliderConstraint *slider)
double	getUpperLimit (btHingeConstraint *hinge)
double	getUpperLinLimit (btSliderConstraint *slider)
bool	isHingeConstraint (const btTypedConstraint *ptr)
bool	isPoint2PointConstraint (const btTypedConstraint *ptr)
bool	isSliderConstraint (const btTypedConstraint *ptr)
btTypedConstraint *	newHingeConstraint (btRigidBody *rbA, btRigidBody *rbB, const double *frameInA, const double *frameInB)
btTypedConstraint *	newPoint2PointConstraint (btRigidBody *rbA, btRigidBody *rbB, const double *pivotInA, const double *pivotInB)
btTypedConstraint *	newSliderConstraint (btRigidBody *rbA, btRigidBody *rbB, const double *frameInA, const double *frameInB)
void	setAngularOnly (btHingeConstraint *hinge, bool angularOnly)
void	setDampingDirAng (btSliderConstraint *slider, double dampingDirAng)
void	setDampingDirLin (btSliderConstraint *slider, double dampingDirLin)
void	setDampingLimAng (btSliderConstraint *slider, double dampingLimAng)
void	setDampingLimLin (btSliderConstraint *slider, double dampingLimLin)
void	setDampingOrthoAng (btSliderConstraint *slider, double dampingOrthoAng)
void	setDampingOrthoLin (btSliderConstraint *slider, double dampingOrthoLin)
void	setLimit (btHingeConstraint *hinge, double low, double high)
void	setLimitComplex (btHingeConstraint *hinge, double low, double high, double softness, double biasFactor, double relaxationFactor)
void	setLowerAngLimit (btSliderConstraint *slider, double lowerLimit)
void	setLowerLinLimit (btSliderConstraint *slider, double lowerLimit)
void	setMaxAngMotorForce (btSliderConstraint *slider, double maxAngMotorForce)
void	setMaxLinMotorForce (btSliderConstraint *slider, double maxLinMotorForce)
void	setMaxMotorImpulse (btHingeConstraint *hinge, double maxMotorImpulse)
void	setMotorTarget (btHingeConstraint *hinge, double targetAngle, double dt)
void	setPoweredAngMotor (btSliderConstraint *slider, bool onOff)
void	setPoweredLinMotor (btSliderConstraint *slider, bool onOff)
void	setRestitutionDirAng (btSliderConstraint *slider, double restitutionDirAng)
void	setRestitutionDirLin (btSliderConstraint *slider, double restitutionDirLin)
void	setRestitutionLimAng (btSliderConstraint *slider, double restitutionLimAng)
void	setRestitutionLimLin (btSliderConstraint *slider, double restitutionLimLin)
void	setRestitutionOrthoAng (btSliderConstraint *slider, double restitutionOrthoAng)
void	setRestitutionOrthoLin (btSliderConstraint *slider, double restitutionOrthoLin)
void	setSoftnessDirAng (btSliderConstraint *slider, double softnessDirAng)
void	setSoftnessDirLin (btSliderConstraint *slider, double softnessDirLin)
void	setSoftnessLimAng (btSliderConstraint *slider, double softnessLimAng)
void	setSoftnessLimLin (btSliderConstraint *slider, double softnessLimLin)
void	setSoftnessOrthoAng (btSliderConstraint *slider, double softnessOrthoAng)
void	setSoftnessOrthoLin (btSliderConstraint *slider, double softnessOrthoLin)
void	setTargetAngMotorVelocity (btSliderConstraint *slider, double targetAngMotorVelocity)
void	setTargetLinMotorVelocity (btSliderConstraint *slider, double targetLinMotorVelocity)
void	setUpperAngLimit (btSliderConstraint *slider, double lowerLimit)
void	setUpperLinLimit (btSliderConstraint *slider, double lowerLimit)
Variables
double	bulletWorldScalingFactor

---

Function Documentation

void deleteConstraint

(

btTypedConstraint *

constraint

)

Definition at line 38 of file constraints.cpp.

void enableAngularMotor	(	btHingeConstraint *	hinge,
		bool	enableMotor,
		double	targetVelocity,
		double	maxMotorImpulse
	)

Definition at line 100 of file constraints.cpp.

void enableMotor	(	btHingeConstraint *	hinge,
		bool	enableMotor
	)

Definition at line 106 of file constraints.cpp.

bool getAngularOnly

(

btHingeConstraint *

hinge

)

Definition at line 95 of file constraints.cpp.

double getDampingDirAng

(

btSliderConstraint *

slider

)

Definition at line 252 of file constraints.cpp.

double getDampingDirLin

(

btSliderConstraint *

slider

)

Definition at line 237 of file constraints.cpp.

double getDampingLimAng

(

btSliderConstraint *

slider

)

Definition at line 282 of file constraints.cpp.

double getDampingLimLin

(

btSliderConstraint *

slider

)

Definition at line 267 of file constraints.cpp.

double getDampingOrthoAng

(

btSliderConstraint *

slider

)

Definition at line 312 of file constraints.cpp.

double getDampingOrthoLin

(

btSliderConstraint *

slider

)

Definition at line 297 of file constraints.cpp.

bool getEnableMotor

(

btHingeConstraint *

hinge

)

Definition at line 111 of file constraints.cpp.

double getHingeAngle

(

btHingeConstraint *

hinge

)

Definition at line 148 of file constraints.cpp.

double getLinearPos

(

btSliderConstraint *

slider

)

Definition at line 467 of file constraints.cpp.

double getLowerAngLimit

(

btSliderConstraint *

slider

)

Definition at line 207 of file constraints.cpp.

double getLowerLimit

(

btHingeConstraint *

hinge

)

Definition at line 153 of file constraints.cpp.

double getLowerLinLimit

(

btSliderConstraint *

slider

)

Definition at line 187 of file constraints.cpp.

double getMaxAngMotorForce

(

btSliderConstraint *

slider

)

Definition at line 462 of file constraints.cpp.

double getMaxLinMotorForce

(

btSliderConstraint *

slider

)

Definition at line 432 of file constraints.cpp.

double getMaxMotorImpulse

(

btHingeConstraint *

hinge

)

Definition at line 121 of file constraints.cpp.

double getMotorTargetVelocity

(

btHingeConstraint *

hinge

)

Definition at line 126 of file constraints.cpp.

bool getPoweredAngMotor

(

btSliderConstraint *

slider

)

Definition at line 442 of file constraints.cpp.

bool getPoweredLinMotor

(

btSliderConstraint *

slider

)

Definition at line 412 of file constraints.cpp.

double getRestitutionDirAng

(

btSliderConstraint *

slider

)

Definition at line 247 of file constraints.cpp.

double getRestitutionDirLin

(

btSliderConstraint *

slider

)

Definition at line 232 of file constraints.cpp.

double getRestitutionLimAng

(

btSliderConstraint *

slider

)

Definition at line 277 of file constraints.cpp.

double getRestitutionLimLin

(

btSliderConstraint *

slider

)

Definition at line 262 of file constraints.cpp.

double getRestitutionOrthoAng

(

btSliderConstraint *

slider

)

Definition at line 307 of file constraints.cpp.

double getRestitutionOrthoLin

(

btSliderConstraint *

slider

)

Definition at line 292 of file constraints.cpp.

double getSoftnessDirAng

(

btSliderConstraint *

slider

)

Definition at line 242 of file constraints.cpp.

double getSoftnessDirLin

(

btSliderConstraint *

slider

)

Definition at line 227 of file constraints.cpp.

double getSoftnessLimAng

(

btSliderConstraint *

slider

)

Definition at line 272 of file constraints.cpp.

double getSoftnessLimLin

(

btSliderConstraint *

slider

)

Definition at line 257 of file constraints.cpp.

double getSoftnessOrthoAng

(

btSliderConstraint *

slider

)

Definition at line 302 of file constraints.cpp.

double getSoftnessOrthoLin

(

btSliderConstraint *

slider

)

Definition at line 287 of file constraints.cpp.

double getTargetAngMotorVelocity

(

btSliderConstraint *

slider

)

Definition at line 452 of file constraints.cpp.

double getTargetLinMotorVelocity

(

btSliderConstraint *

slider

)

Definition at line 422 of file constraints.cpp.

double getUpperAngLimit

(

btSliderConstraint *

slider

)

Definition at line 217 of file constraints.cpp.

double getUpperLimit

(

btHingeConstraint *

hinge

)

Definition at line 158 of file constraints.cpp.

double getUpperLinLimit

(

btSliderConstraint *

slider

)

Definition at line 197 of file constraints.cpp.

bool isHingeConstraint

(

const btTypedConstraint *

ptr

)

Definition at line 85 of file constraints.cpp.

bool isPoint2PointConstraint

(

const btTypedConstraint *

ptr

)

Definition at line 59 of file constraints.cpp.

bool isSliderConstraint

(

const btTypedConstraint *

ptr

)

Definition at line 182 of file constraints.cpp.

btTypedConstraint* newHingeConstraint	(	btRigidBody *	rbA,
		btRigidBody *	rbB,
		const double *	frameInA,
		const double *	frameInB
	)

HingeConstraint

Definition at line 67 of file constraints.cpp.

btTypedConstraint* newPoint2PointConstraint	(	btRigidBody *	rbA,
		btRigidBody *	rbB,
		const double *	pivotInA,
		const double *	pivotInB
	)

Point2PointConstraint

Definition at line 46 of file constraints.cpp.

btTypedConstraint* newSliderConstraint	(	btRigidBody *	rbA,
		btRigidBody *	rbB,
		const double *	frameInA,
		const double *	frameInB
	)

SliderConstraint

Definition at line 166 of file constraints.cpp.

void setAngularOnly	(	btHingeConstraint *	hinge,
		bool	angularOnly
	)

Definition at line 90 of file constraints.cpp.

void setDampingDirAng	(	btSliderConstraint *	slider,
		double	dampingDirAng
	)

Definition at line 342 of file constraints.cpp.

void setDampingDirLin	(	btSliderConstraint *	slider,
		double	dampingDirLin
	)

Definition at line 327 of file constraints.cpp.

void setDampingLimAng	(	btSliderConstraint *	slider,
		double	dampingLimAng
	)

Definition at line 372 of file constraints.cpp.

void setDampingLimLin	(	btSliderConstraint *	slider,
		double	dampingLimLin
	)

Definition at line 357 of file constraints.cpp.

void setDampingOrthoAng	(	btSliderConstraint *	slider,
		double	dampingOrthoAng
	)

Definition at line 402 of file constraints.cpp.

void setDampingOrthoLin	(	btSliderConstraint *	slider,
		double	dampingOrthoLin
	)

Definition at line 387 of file constraints.cpp.

void setLimit	(	btHingeConstraint *	hinge,
		double	low,
		double	high
	)

Definition at line 136 of file constraints.cpp.

void setLimitComplex	(	btHingeConstraint *	hinge,
		double	low,
		double	high,
		double	softness,
		double	biasFactor,
		double	relaxationFactor
	)

Definition at line 141 of file constraints.cpp.

void setLowerAngLimit	(	btSliderConstraint *	slider,
		double	lowerLimit
	)

Definition at line 212 of file constraints.cpp.

void setLowerLinLimit	(	btSliderConstraint *	slider,
		double	lowerLimit
	)

Definition at line 192 of file constraints.cpp.

void setMaxAngMotorForce	(	btSliderConstraint *	slider,
		double	maxAngMotorForce
	)

Definition at line 457 of file constraints.cpp.

void setMaxLinMotorForce	(	btSliderConstraint *	slider,
		double	maxLinMotorForce
	)

Definition at line 427 of file constraints.cpp.

void setMaxMotorImpulse	(	btHingeConstraint *	hinge,
		double	maxMotorImpulse
	)

Definition at line 116 of file constraints.cpp.

void setMotorTarget	(	btHingeConstraint *	hinge,
		double	targetAngle,
		double	dt
	)

Definition at line 131 of file constraints.cpp.

void setPoweredAngMotor	(	btSliderConstraint *	slider,
		bool	onOff
	)

Definition at line 437 of file constraints.cpp.

void setPoweredLinMotor	(	btSliderConstraint *	slider,
		bool	onOff
	)

Definition at line 407 of file constraints.cpp.

void setRestitutionDirAng	(	btSliderConstraint *	slider,
		double	restitutionDirAng
	)

Definition at line 337 of file constraints.cpp.

void setRestitutionDirLin	(	btSliderConstraint *	slider,
		double	restitutionDirLin
	)

Definition at line 322 of file constraints.cpp.

void setRestitutionLimAng	(	btSliderConstraint *	slider,
		double	restitutionLimAng
	)

Definition at line 367 of file constraints.cpp.

void setRestitutionLimLin	(	btSliderConstraint *	slider,
		double	restitutionLimLin
	)

Definition at line 352 of file constraints.cpp.

void setRestitutionOrthoAng	(	btSliderConstraint *	slider,
		double	restitutionOrthoAng
	)

Definition at line 397 of file constraints.cpp.

void setRestitutionOrthoLin	(	btSliderConstraint *	slider,
		double	restitutionOrthoLin
	)

Definition at line 382 of file constraints.cpp.

void setSoftnessDirAng	(	btSliderConstraint *	slider,
		double	softnessDirAng
	)

Definition at line 332 of file constraints.cpp.

void setSoftnessDirLin	(	btSliderConstraint *	slider,
		double	softnessDirLin
	)

Definition at line 317 of file constraints.cpp.

void setSoftnessLimAng	(	btSliderConstraint *	slider,
		double	softnessLimAng
	)

Definition at line 362 of file constraints.cpp.

void setSoftnessLimLin	(	btSliderConstraint *	slider,
		double	softnessLimLin
	)

Definition at line 347 of file constraints.cpp.

void setSoftnessOrthoAng	(	btSliderConstraint *	slider,
		double	softnessOrthoAng
	)

Definition at line 392 of file constraints.cpp.

void setSoftnessOrthoLin	(	btSliderConstraint *	slider,
		double	softnessOrthoLin
	)

Definition at line 377 of file constraints.cpp.

void setTargetAngMotorVelocity	(	btSliderConstraint *	slider,
		double	targetAngMotorVelocity
	)

Definition at line 447 of file constraints.cpp.

void setTargetLinMotorVelocity	(	btSliderConstraint *	slider,
		double	targetLinMotorVelocity
	)

Definition at line 417 of file constraints.cpp.

void setUpperAngLimit	(	btSliderConstraint *	slider,
		double	lowerLimit
	)

Definition at line 222 of file constraints.cpp.

void setUpperLinLimit	(	btSliderConstraint *	slider,
		double	lowerLimit
	)

Definition at line 202 of file constraints.cpp.

---

Variable Documentation

double bulletWorldScalingFactor

Copyright (c) 2010, Lorenz Moesenlechner <moesenle@in.tum.de> All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of the Intelligent Autonomous Systems Group/ Technische Universitaet Muenchen nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition at line 42 of file dynamics_world.cpp.