16 #ifndef BT_UNIVERSAL_CONSTRAINT_H
17 #define BT_UNIVERSAL_CONSTRAINT_H
btFixedConstraint btRigidBody & rbB
btScalar getAngle(int axis_index) const
Get the relative Euler angle.
void setAngularUpperLimit(const btVector3 &angularUpper)
btTransform m_calculatedTransformB
btGeneric6DofConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
btTransform m_calculatedTransformA
void setAngularLowerLimit(const btVector3 &angularLower)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
BT_DECLARE_ALIGNED_ALLOCATOR()
const btVector3 & getAxis2()
void setLowerLimit(btScalar ang1min, btScalar ang2min)
const btVector3 & getAxis1()
void setAxis(const btVector3 &axis1, const btVector3 &axis2)
btUniversalConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &anchor, const btVector3 &axis1, const btVector3 &axis2)
void setUpperLimit(btScalar ang1max, btScalar ang2max)
const btVector3 & getAnchor2()
const btVector3 & getAnchor()
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...