Bullet Collision Detection & Physics Library
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btRotationalLimitMotor Class Reference

Rotation Limit structure for generic joints. More...

#include <btGeneric6DofConstraint.h>

Public Member Functions

 btRotationalLimitMotor ()
 btRotationalLimitMotor (const btRotationalLimitMotor &limot)
bool isLimited () const
 Is limited. More...
bool needApplyTorques () const
 Need apply correction. More...
int testLimitValue (btScalar test_value)
 calculates error More...
btScalar solveAngularLimits (btScalar timeStep, btVector3 &axis, btScalar jacDiagABInv, btRigidBody *body0, btRigidBody *body1)
 apply the correction impulses for two bodies More...

Public Attributes

btScalar m_loLimit
 limit_parameters More...
btScalar m_hiLimit
 joint limit More...
btScalar m_targetVelocity
 target motor velocity More...
btScalar m_maxMotorForce
 max force on motor More...
btScalar m_maxLimitForce
 max force on limit More...
btScalar m_damping
 Damping. More...
btScalar m_limitSoftness
btScalar m_normalCFM
 Relaxation factor. More...
btScalar m_stopERP
 Error tolerance factor when joint is at limit. More...
btScalar m_stopCFM
 Constraint force mixing factor when joint is at limit. More...
btScalar m_bounce
 restitution factor More...
bool m_enableMotor
btScalar m_currentLimitError
 temp_variables More...
btScalar m_currentPosition
 How much is violated this limit. More...
int m_currentLimit
 current value of angle More...
btScalar m_accumulatedImpulse

Detailed Description

Rotation Limit structure for generic joints.

Definition at line 48 of file btGeneric6DofConstraint.h.

Constructor & Destructor Documentation

btRotationalLimitMotor::btRotationalLimitMotor ( )

Definition at line 76 of file btGeneric6DofConstraint.h.

btRotationalLimitMotor::btRotationalLimitMotor ( const btRotationalLimitMotor limot)

Definition at line 95 of file btGeneric6DofConstraint.h.

Member Function Documentation

bool btRotationalLimitMotor::isLimited ( ) const

Is limited.

Definition at line 114 of file btGeneric6DofConstraint.h.

bool btRotationalLimitMotor::needApplyTorques ( ) const

Need apply correction.

Definition at line 121 of file btGeneric6DofConstraint.h.

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

apply the correction impulses for two bodies

Definition at line 157 of file btGeneric6DofConstraint.cpp.

int btRotationalLimitMotor::testLimitValue ( btScalar  test_value)

calculates error

calculates m_currentLimit and m_currentLimitError.

Definition at line 122 of file btGeneric6DofConstraint.cpp.

Member Data Documentation

btScalar btRotationalLimitMotor::m_accumulatedImpulse

Definition at line 73 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_bounce

restitution factor

Definition at line 63 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 72 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_currentLimitError


Definition at line 70 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_currentPosition

How much is violated this limit.

Definition at line 71 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_damping


Definition at line 58 of file btGeneric6DofConstraint.h.

bool btRotationalLimitMotor::m_enableMotor

Definition at line 64 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_hiLimit

joint limit

Definition at line 54 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_limitSoftness

Definition at line 59 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_loLimit


joint limit

Definition at line 53 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_maxLimitForce

max force on limit

Definition at line 57 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_maxMotorForce

max force on motor

Definition at line 56 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_normalCFM

Relaxation factor.

Constraint force mixing factor

Definition at line 60 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_stopCFM

Constraint force mixing factor when joint is at limit.

Definition at line 62 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_stopERP

Error tolerance factor when joint is at limit.

Definition at line 61 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::m_targetVelocity

target motor velocity

Definition at line 55 of file btGeneric6DofConstraint.h.

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