Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF. More...

#include <btGeneric6DofSpringConstraint.h>

Inheritance diagram for btGeneric6DofSpringConstraint:

Collaboration diagram for btGeneric6DofSpringConstraint:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btGeneric6DofSpringConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)

	btGeneric6DofSpringConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB)

void	enableSpring (int index, bool onOff)

void	setStiffness (int index, btScalar stiffness)

void	setDamping (int index, btScalar damping)

void	setEquilibriumPoint ()

void	setEquilibriumPoint (int index)

void	setEquilibriumPoint (int index, btScalar val)

bool	isSpringEnabled (int index) const

btScalar	getStiffness (int index) const

btScalar	getDamping (int index) const

btScalar	getEquilibriumPoint (int index) const

virtual void	setAxis (const btVector3 &axis1, const btVector3 &axis2)

virtual void	getInfo2 (btConstraintInfo2 *info)
	internal method used by the constraint solver, don't use them directly More...

virtual int	calculateSerializeBufferSize () const

virtual const char *	serialize (void dataBuffer, btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure) More...

Public Member Functions inherited from btGeneric6DofConstraint
	BT_DECLARE_ALIGNED_ALLOCATOR ()

	btGeneric6DofConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)

	btGeneric6DofConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB)

void	calculateTransforms (const btTransform &transA, const btTransform &transB)
	Calcs global transform of the offsets. More...

void	calculateTransforms ()

const btTransform &	getCalculatedTransformA () const
	Gets the global transform of the offset for body A. More...

const btTransform &	getCalculatedTransformB () const
	Gets the global transform of the offset for body B. More...

const btTransform &	getFrameOffsetA () const

const btTransform &	getFrameOffsetB () const

btTransform &	getFrameOffsetA ()

btTransform &	getFrameOffsetB ()

virtual void	buildJacobian ()
	performs Jacobian calculation, and also calculates angle differences and axis More...

virtual void	getInfo1 (btConstraintInfo1 *info)
	internal method used by the constraint solver, don't use them directly More...

void	getInfo1NonVirtual (btConstraintInfo1 *info)

void	getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)

void	updateRHS (btScalar timeStep)

btVector3	getAxis (int axis_index) const
	Get the rotation axis in global coordinates. More...

btScalar	getAngle (int axis_index) const
	Get the relative Euler angle. More...

btScalar	getRelativePivotPosition (int axis_index) const
	Get the relative position of the constraint pivot. More...

void	setFrames (const btTransform &frameA, const btTransform &frameB)

bool	testAngularLimitMotor (int axis_index)
	Test angular limit. More...

void	setLinearLowerLimit (const btVector3 &linearLower)

void	getLinearLowerLimit (btVector3 &linearLower) const

void	setLinearUpperLimit (const btVector3 &linearUpper)

void	getLinearUpperLimit (btVector3 &linearUpper) const

void	setAngularLowerLimit (const btVector3 &angularLower)

void	getAngularLowerLimit (btVector3 &angularLower) const

void	setAngularUpperLimit (const btVector3 &angularUpper)

void	getAngularUpperLimit (btVector3 &angularUpper) const

btRotationalLimitMotor *	getRotationalLimitMotor (int index)
	Retrieves the angular limit informacion. More...

btTranslationalLimitMotor *	getTranslationalLimitMotor ()
	Retrieves the limit informacion. More...

void	setLimit (int axis, btScalar lo, btScalar hi)

bool	isLimited (int limitIndex) const
	Test limit. More...

virtual void	calcAnchorPos (void)

int	get_limit_motor_info2 (btRotationalLimitMotor limot, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB, btConstraintInfo2 info, int row, btVector3 &ax1, int rotational, int rotAllowed=false)

bool	getUseFrameOffset () const

void	setUseFrameOffset (bool frameOffsetOnOff)

bool	getUseLinearReferenceFrameA () const

void	setUseLinearReferenceFrameA (bool linearReferenceFrameA)

virtual void	setParam (int num, btScalar value, int axis=-1)
	override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). More...

virtual btScalar	getParam (int num, int axis=-1) const
	return the local value of parameter More...

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

virtual int	getFlags () const

Public Member Functions inherited from btTypedConstraint
	BT_DECLARE_ALIGNED_ALLOCATOR ()

virtual	~btTypedConstraint ()

	btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA)

	btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA, btRigidBody &rbB)

int	getOverrideNumSolverIterations () const

void	setOverrideNumSolverIterations (int overideNumIterations)
	override the number of constraint solver iterations used to solve this constraint -1 will use the default number of iterations, as specified in SolverInfo.m_numIterations More...

virtual void	setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly More...

void	internalSetAppliedImpulse (btScalar appliedImpulse)
	internal method used by the constraint solver, don't use them directly More...

btScalar	internalGetAppliedImpulse ()
	internal method used by the constraint solver, don't use them directly More...

btScalar	getBreakingImpulseThreshold () const

void	setBreakingImpulseThreshold (btScalar threshold)

bool	isEnabled () const

void	setEnabled (bool enabled)

virtual void	solveConstraintObsolete (btSolverBody &, btSolverBody &, btScalar)
	internal method used by the constraint solver, don't use them directly More...

const btRigidBody &	getRigidBodyA () const

const btRigidBody &	getRigidBodyB () const

btRigidBody &	getRigidBodyA ()

btRigidBody &	getRigidBodyB ()

int	getUserConstraintType () const

void	setUserConstraintType (int userConstraintType)

void	setUserConstraintId (int uid)

int	getUserConstraintId () const

void	setUserConstraintPtr (void *ptr)

void *	getUserConstraintPtr ()

void	setJointFeedback (btJointFeedback *jointFeedback)

const btJointFeedback *	getJointFeedback () const

btJointFeedback *	getJointFeedback ()

int	getUid () const

bool	needsFeedback () const

void	enableFeedback (bool needsFeedback)
	enableFeedback will allow to read the applied linear and angular impulse use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information More...

btScalar	getAppliedImpulse () const
	getAppliedImpulse is an estimated total applied impulse. More...

btTypedConstraintType	getConstraintType () const

void	setDbgDrawSize (btScalar dbgDrawSize)

btScalar	getDbgDrawSize ()

Public Member Functions inherited from btTypedObject
	btTypedObject (int objectType)

int	getObjectType () const

Protected Member Functions
void	init ()

void	internalUpdateSprings (btConstraintInfo2 *info)

Protected Member Functions inherited from btGeneric6DofConstraint
btGeneric6DofConstraint &	operator= (btGeneric6DofConstraint &other)

int	setAngularLimits (btConstraintInfo2 *info, int row_offset, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)

int	setLinearLimits (btConstraintInfo2 *info, int row, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)

void	buildLinearJacobian (btJacobianEntry &jacLinear, const btVector3 &normalWorld, const btVector3 &pivotAInW, const btVector3 &pivotBInW)

void	buildAngularJacobian (btJacobianEntry &jacAngular, const btVector3 &jointAxisW)

void	calculateLinearInfo ()

void	calculateAngleInfo ()
	calcs the euler angles between the two bodies. More...

Protected Member Functions inherited from btTypedConstraint
btScalar	getMotorFactor (btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
	internal method used by the constraint solver, don't use them directly More...

Protected Attributes
bool	m_springEnabled [6]

btScalar	m_equilibriumPoint [6]

btScalar	m_springStiffness [6]

btScalar	m_springDamping [6]

Protected Attributes inherited from btGeneric6DofConstraint
btTransform	m_frameInA
	relative_frames More...

btTransform	m_frameInB
	the constraint space w.r.t body B More...

btJacobianEntry	m_jacLinear [3]
	Jacobians. More...

btJacobianEntry	m_jacAng [3]
	3 orthogonal angular constraints More...

btTranslationalLimitMotor	m_linearLimits
	Linear_Limit_parameters. More...

btRotationalLimitMotor	m_angularLimits [3]
	hinge_parameters More...

btScalar	m_timeStep
	temporal variables More...

btTransform	m_calculatedTransformA

btTransform	m_calculatedTransformB

btVector3	m_calculatedAxisAngleDiff

btVector3	m_calculatedAxis [3]

btVector3	m_calculatedLinearDiff

btScalar	m_factA

btScalar	m_factB

bool	m_hasStaticBody

btVector3	m_AnchorPos

bool	m_useLinearReferenceFrameA

bool	m_useOffsetForConstraintFrame

int	m_flags

Protected Attributes inherited from btTypedConstraint
btRigidBody &	m_rbA

btRigidBody &	m_rbB

btScalar	m_appliedImpulse

btScalar	m_dbgDrawSize

btJointFeedback *	m_jointFeedback

Additional Inherited Members
Static Public Member Functions inherited from btTypedConstraint
static btRigidBody &	getFixedBody ()

Public Attributes inherited from btGeneric6DofConstraint
bool	m_useSolveConstraintObsolete
	for backwards compatibility during the transition to 'getInfo/getInfo2' More...

Public Attributes inherited from btTypedObject
int	m_objectType

Detailed Description

Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF.

DOF index used in enableSpring() and setStiffness() means: 0 : translation X 1 : translation Y 2 : translation Z 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )

Definition at line 44 of file btGeneric6DofSpringConstraint.h.

Constructor & Destructor Documentation

btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	frameInA,
		const btTransform &	frameInB,
		bool	useLinearReferenceFrameA
	)