Blender  V3.3
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btGeneric6DofConstraint.h File Reference
#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"

Go to the source code of this file.

Classes

class  btRotationalLimitMotor
 Rotation Limit structure for generic joints. More...
 
class  btTranslationalLimitMotor
 
struct  btGeneric6DofConstraintData
 
struct  btGeneric6DofConstraintDoubleData2
 

Macros

#define btGeneric6DofConstraintData2   btGeneric6DofConstraintData
 
#define btGeneric6DofConstraintDataName   "btGeneric6DofConstraintData"
 
#define BT_6DOF_FLAGS_AXIS_SHIFT   3
 

Enumerations

enum  bt6DofFlags { BT_6DOF_FLAGS_CFM_NORM = 1 , BT_6DOF_FLAGS_CFM_STOP = 2 , BT_6DOF_FLAGS_ERP_STOP = 4 }
 

Functions

btGeneric6DofConstraintoperator= (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...
 
 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 btTransformgetCalculatedTransformA () const
 Gets the global transform of the offset for body A. More...
 
const btTransformgetCalculatedTransformB () const
 Gets the global transform of the offset for body B. More...
 
const btTransformgetFrameOffsetA () const
 
const btTransformgetFrameOffsetB () const
 
virtual void buildJacobian ()
 performs Jacobian calculation, and also calculates angle differences and axis More...
 
virtual void getInfo1 (btConstraintInfo1 *info)
 
void getInfo1NonVirtual (btConstraintInfo1 *info)
 
virtual void getInfo2 (btConstraintInfo2 *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
 
btRotationalLimitMotorgetRotationalLimitMotor (int index)
 Retrieves the angular limit informacion. More...
 
btTranslationalLimitMotorgetTranslationalLimitMotor ()
 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)
 
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
 
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...
 

Variables

btGeneric6DofConstraint __pad0__
 btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space More...
 
btTransform m_frameInB
 
bool m_useSolveConstraintObsolete
 for backwards compatibility during the transition to 'getInfo/getInfo2' More...
 
btJacobianEntry m_jacLinear [3]
 3 orthogonal linear constraints More...
 
btJacobianEntry m_jacAng [3]
 
btTranslationalLimitMotor m_linearLimits
 
btRotationalLimitMotor m_angularLimits [3]
 
btScalar m_timeStep
 
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
 

Macro Definition Documentation

◆ BT_6DOF_FLAGS_AXIS_SHIFT

#define BT_6DOF_FLAGS_AXIS_SHIFT   3

Definition at line 228 of file btGeneric6DofConstraint.h.

◆ btGeneric6DofConstraintData2

#define btGeneric6DofConstraintData2   btGeneric6DofConstraintData

Definition at line 39 of file btGeneric6DofConstraint.h.

◆ btGeneric6DofConstraintDataName

#define btGeneric6DofConstraintDataName   "btGeneric6DofConstraintData"

Definition at line 40 of file btGeneric6DofConstraint.h.

Enumeration Type Documentation

◆ bt6DofFlags

Enumerator
BT_6DOF_FLAGS_CFM_NORM 
BT_6DOF_FLAGS_CFM_STOP 
BT_6DOF_FLAGS_ERP_STOP 

Definition at line 222 of file btGeneric6DofConstraint.h.

Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ btGeneric6DofConstraint() [1/2]

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

◆ btGeneric6DofConstraint() [2/2]

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

not providing rigidbody A means implicitly using worldspace for body A

Definition at line 37 of file btGeneric6DofConstraint.cpp.

References calculateTransforms(), btRigidBody::getCenterOfMassTransform(), m_frameInA, m_frameInB, and rbB.

◆ buildAngularJacobian()

void btGeneric6DofConstraint::buildAngularJacobian ( btJacobianEntry jacAngular,
const btVector3 jointAxisW 
)
protected

◆ buildJacobian()

virtual void buildJacobian ( )
virtual

performs Jacobian calculation, and also calculates angle differences and axis

performs Jacobian calculation, and also calculates angle differences and axis

performs Jacobian calculation, and also calculates angle differences and axis

obsolete methods

we need it for both methods

we need it for both methods

Definition at line 322 of file btGeneric6DofSpring2Constraint.h.

◆ buildLinearJacobian()

void btGeneric6DofConstraint::buildLinearJacobian ( btJacobianEntry jacLinear,
const btVector3 normalWorld,
const btVector3 pivotAInW,
const btVector3 pivotBInW 
)
protected

◆ calcAnchorPos()

void btGeneric6DofConstraint::calcAnchorPos ( void  )
virtual

◆ calculateAngleInfo()

void btGeneric6DofSpring2Constraint::calculateAngleInfo ( )
protected

calcs the euler angles between the two bodies.

Definition at line 306 of file btGeneric6DofConstraint.cpp.

References btMatrix3x3, btVector3, m_calculatedAxis, m_calculatedAxisAngleDiff, m_calculatedTransformA, m_calculatedTransformB, and matrixToEulerXYZ().

Referenced by calculateTransforms().

◆ calculateLinearInfo()

void btGeneric6DofSpring2Constraint::calculateLinearInfo ( )
protected

◆ calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const
virtual

◆ calculateTransforms() [1/2]

void btGeneric6DofSpring2Constraint::calculateTransforms ( )

◆ calculateTransforms() [2/2]

void btSliderConstraint::calculateTransforms ( const btTransform transA,
const btTransform transB 
)

Calcs global transform of the offsets.

Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.

See also
btGeneric6DofConstraint.getCalculatedTransformA , btGeneric6DofConstraint.getCalculatedTransformB, btGeneric6DofConstraint.calculateAngleInfo

Definition at line 341 of file btGeneric6DofConstraint.cpp.

References calculateAngleInfo(), calculateLinearInfo(), btRigidBody::getInvMass(), getRigidBodyA(), getRigidBodyB(), m_calculatedTransformA, m_calculatedTransformB, m_factA, m_factB, m_frameInA, m_frameInB, m_hasStaticBody, m_useOffsetForConstraintFrame, and SIMD_EPSILON.

Referenced by btGeneric6DofConstraint(), btGeneric6DofSpring2Constraint(), calculateTransforms(), getInfo2NonVirtual(), initParams(), setAxis(), and setEquilibriumPoint().

◆ get_limit_motor_info2()

int btGeneric6DofConstraint::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 
)

◆ getAngle()

btScalar getAngle ( int  axis_index) const

Get the relative Euler angle.

Precondition
btGeneric6DofConstraint::calculateTransforms() must be called previously.

Definition at line 350 of file btGeneric6DofSpring2Constraint.h.

References m_calculatedAxisAngleDiff.

Referenced by getAngle1(), and getAngle2().

◆ getAngularLowerLimit()

void getAngularLowerLimit ( btVector3 angularLower) const

Definition at line 459 of file btGeneric6DofConstraint.h.

References m_angularLimits.

◆ getAngularUpperLimit()

void getAngularUpperLimit ( btVector3 angularUpper) const

Definition at line 471 of file btGeneric6DofConstraint.h.

References m_angularLimits.

◆ getAxis()

btVector3 getAxis ( int  axis_index) const

Get the rotation axis in global coordinates.

Precondition
btGeneric6DofConstraint.buildJacobian must be called previously.

Definition at line 347 of file btGeneric6DofSpring2Constraint.h.

References m_calculatedAxis.

◆ getCalculatedTransformA()

const btTransform& getCalculatedTransformA ( ) const

Gets the global transform of the offset for body A.

See also
btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.

Definition at line 359 of file btGeneric6DofConstraint.h.

References m_calculatedTransformA.

Referenced by getInfo2NonVirtual().

◆ getCalculatedTransformB()

const btTransform& getCalculatedTransformB ( ) const

Gets the global transform of the offset for body B.

See also
btGeneric6DofConstraint.getFrameOffsetA, btGeneric6DofConstraint.getFrameOffsetB, btGeneric6DofConstraint.calculateAngleInfo.

Definition at line 368 of file btGeneric6DofConstraint.h.

References m_calculatedTransformB.

Referenced by getInfo2NonVirtual().

◆ getFlags()

virtual int getFlags ( ) const
virtual

Definition at line 543 of file btGeneric6DofConstraint.h.

References m_flags.

◆ getFrameOffsetA()

const btTransform& getFrameOffsetA ( ) const

Definition at line 373 of file btGeneric6DofConstraint.h.

References m_frameInA.

◆ getFrameOffsetB()

const btTransform& getFrameOffsetB ( ) const

Definition at line 378 of file btGeneric6DofConstraint.h.

References m_frameInB.

◆ getInfo1()

virtual void getInfo1 ( btConstraintInfo1 info)
virtual

◆ getInfo1NonVirtual()

void getInfo1NonVirtual ( btConstraintInfo1 info)

◆ getInfo2()

virtual void getInfo2 ( btConstraintInfo2 info)
virtual

◆ getInfo2NonVirtual()

void btGeneric6DofConstraint::getInfo2NonVirtual ( btConstraintInfo2 info,
const btTransform transA,
const btTransform transB,
const btVector3 linVelA,
const btVector3 linVelB,
const btVector3 angVelA,
const btVector3 angVelB 
)

◆ getLinearLowerLimit()

void getLinearLowerLimit ( btVector3 linearLower) const

◆ getLinearUpperLimit()

void getLinearUpperLimit ( btVector3 linearUpper) const

◆ getParam()

virtual btScalar getParam ( int  num,
int  axis = -1 
) const
virtual

return the local value of parameter

◆ getRelativePivotPosition()

btScalar btGeneric6DofConstraint::getRelativePivotPosition ( int  axis_index) const

Get the relative position of the constraint pivot.

Precondition
btGeneric6DofConstraint::calculateTransforms() must be called previously.

Definition at line 650 of file btGeneric6DofConstraint.cpp.

References m_calculatedLinearDiff.

◆ getRotationalLimitMotor()

btRotationalLimitMotor* getRotationalLimitMotor ( int  index)

Retrieves the angular limit informacion.

Definition at line 478 of file btGeneric6DofConstraint.h.

References m_angularLimits.

◆ getTranslationalLimitMotor()

btTranslationalLimitMotor* getTranslationalLimitMotor ( )

Retrieves the limit informacion.

Definition at line 484 of file btGeneric6DofConstraint.h.

References m_linearLimits.

◆ getUseFrameOffset()

bool getUseFrameOffset ( ) const

Definition at line 529 of file btGeneric6DofConstraint.h.

References m_useOffsetForConstraintFrame.

◆ getUseLinearReferenceFrameA()

bool getUseLinearReferenceFrameA ( ) const

Definition at line 532 of file btGeneric6DofConstraint.h.

References m_useLinearReferenceFrameA.

◆ isLimited()

bool isLimited ( int  limitIndex) const

Test limit.

  • free means upper < lower,
  • locked means upper == lower
  • limited means upper > lower
  • limitIndex: first 3 are linear, next 3 are angular

Definition at line 513 of file btGeneric6DofConstraint.h.

References btRotationalLimitMotor::isLimited(), btTranslationalLimitMotor::isLimited(), m_angularLimits, and m_linearLimits.

◆ operator=()

btGeneric6DofConstraint& operator= ( btGeneric6DofConstraint other)
protected

Definition at line 314 of file btGeneric6DofConstraint.h.

References btAssert, and void.

Referenced by ccl_try_align(), and lVector3f::operator=().

◆ serialize()

virtual const char* serialize ( void dataBuffer,
btSerializer serializer 
) const
virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

◆ setAngularLimits()

int btGeneric6DofSpring2Constraint::setAngularLimits ( btConstraintInfo2 info,
int  row_offset,
const btTransform transA,
const btTransform transB,
const btVector3 linVelA,
const btVector3 linVelB,
const btVector3 angVelA,
const btVector3 angVelB 
)
protected

◆ setAngularLowerLimit()

void setAngularLowerLimit ( const btVector3 angularLower)

◆ setAngularUpperLimit()

void setAngularUpperLimit ( const btVector3 angularUpper)

◆ setAxis()

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

◆ setFrames()

void setFrames ( const btTransform frameA,
const btTransform frameB 
)

◆ setLimit()

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

◆ setLinearLimits()

int btGeneric6DofSpring2Constraint::setLinearLimits ( btConstraintInfo2 info,
int  row,
const btTransform transA,
const btTransform transB,
const btVector3 linVelA,
const btVector3 linVelB,
const btVector3 angVelA,
const btVector3 angVelB 
)
protected

Definition at line 555 of file btGeneric6DofConstraint.cpp.

References BT_6DOF_FLAGS_AXIS_SHIFT, BT_6DOF_FLAGS_CFM_NORM, BT_6DOF_FLAGS_CFM_STOP, BT_6DOF_FLAGS_ERP_STOP, btVector3, btConstraintInfo2::cfm, btConstraintInfo2::erp, get_limit_motor_info2(), if(), m_angularLimits, btRotationalLimitMotor::m_bounce, m_calculatedTransformA, btRotationalLimitMotor::m_currentLimit, btTranslationalLimitMotor::m_currentLimit, btRotationalLimitMotor::m_currentLimitError, btTranslationalLimitMotor::m_currentLimitError, btTranslationalLimitMotor::m_currentLinearDiff, btRotationalLimitMotor::m_currentPosition, btRotationalLimitMotor::m_damping, btTranslationalLimitMotor::m_damping, btRotationalLimitMotor::m_enableMotor, btTranslationalLimitMotor::m_enableMotor, m_flags, btRotationalLimitMotor::m_hiLimit, btRotationalLimitMotor::m_limitSoftness, btTranslationalLimitMotor::m_limitSoftness, m_linearLimits, btRotationalLimitMotor::m_loLimit, btTranslationalLimitMotor::m_lowerLimit, btRotationalLimitMotor::m_maxLimitForce, btRotationalLimitMotor::m_maxMotorForce, btTranslationalLimitMotor::m_maxMotorForce, btRotationalLimitMotor::m_normalCFM, btTranslationalLimitMotor::m_normalCFM, btRotationalLimitMotor::m_stopCFM, btTranslationalLimitMotor::m_stopCFM, btRotationalLimitMotor::m_stopERP, btTranslationalLimitMotor::m_stopERP, btRotationalLimitMotor::m_targetVelocity, btTranslationalLimitMotor::m_targetVelocity, btTranslationalLimitMotor::m_upperLimit, m_useOffsetForConstraintFrame, and btTranslationalLimitMotor::needApplyForce().

Referenced by getInfo2NonVirtual().

◆ setLinearLowerLimit()

void setLinearLowerLimit ( const btVector3 linearLower)

◆ setLinearUpperLimit()

void setLinearUpperLimit ( const btVector3 linearUpper)

◆ setParam()

virtual void setParam ( int  num,
btScalar  value,
int  axis = -1 
)
virtual

override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). If no axis is provided, it uses the default axis for this constraint.

◆ setUseFrameOffset()

void setUseFrameOffset ( bool  frameOffsetOnOff)

Definition at line 530 of file btGeneric6DofConstraint.h.

References m_useOffsetForConstraintFrame.

◆ setUseLinearReferenceFrameA()

void setUseLinearReferenceFrameA ( bool  linearReferenceFrameA)

Definition at line 533 of file btGeneric6DofConstraint.h.

References m_useLinearReferenceFrameA.

◆ testAngularLimitMotor()

void btGeneric6DofSpring2Constraint::testAngularLimitMotor ( int  axis_index)

Test angular limit.

Calculates angular correction and returns true if limit needs to be corrected.

Precondition
btGeneric6DofConstraint::calculateTransforms() must be called previously.

Definition at line 391 of file btGeneric6DofConstraint.cpp.

References angle(), btAdjustAngleToLimits(), m_angularLimits, m_calculatedAxisAngleDiff, btRotationalLimitMotor::m_currentPosition, btRotationalLimitMotor::needApplyTorques(), and btRotationalLimitMotor::testLimitValue().

Referenced by getInfo2NonVirtual().

◆ updateRHS()

void updateRHS ( btScalar  timeStep)

Variable Documentation

◆ __pad0__

btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space

btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'. currently this limit supports rotational motors

  • For Linear limits, use btGeneric6DofConstraint.setLinearUpperLimit, btGeneric6DofConstraint.setLinearLowerLimit. You can set the parameters with the btTranslationalLimitMotor structure accsesible through the btGeneric6DofConstraint.getTranslationalLimitMotor method. At this moment translational motors are not supported. May be in the future.

  • For Angular limits, use the btRotationalLimitMotor structure for configuring the limit. This is accessible through btGeneric6DofConstraint.getLimitMotor method, This brings support for limit parameters and motors.

  • Angulars limits have these possible ranges:
    AXIS MIN ANGLE MAX ANGLE
    X -PI PI
    Y -PI/2 PI/2
    Z -PI PI

the constraint space w.r.t body A

Definition at line 267 of file btGeneric6DofConstraint.h.

◆ m_AnchorPos

btVector3 m_AnchorPos
protected

Definition at line 305 of file btGeneric6DofConstraint.h.

Referenced by calcAnchorPos().

◆ m_angularLimits

btRotationalLimitMotor m_angularLimits[3]

◆ m_calculatedAxis

btVector3 m_calculatedAxis[3]
protected

Definition at line 299 of file btGeneric6DofConstraint.h.

Referenced by calculateAngleInfo().

◆ m_calculatedAxisAngleDiff

btVector3 m_calculatedAxisAngleDiff
protected

◆ m_calculatedLinearDiff

btVector3 m_calculatedLinearDiff
protected

◆ m_calculatedTransformA

btTransform m_calculatedTransformA
protected

◆ m_calculatedTransformB

btTransform m_calculatedTransformB
protected

◆ m_factA

btScalar m_factA
protected

◆ m_factB

btScalar m_factB
protected

◆ m_flags

int m_flags
protected

Definition at line 310 of file btGeneric6DofConstraint.h.

Referenced by getFlags().

◆ m_frameInB

btTransform m_frameInB

◆ m_hasStaticBody

bool m_hasStaticBody
protected

◆ m_jacAng

btJacobianEntry m_jacAng[3]

3 orthogonal angular constraints

Definition at line 279 of file btGeneric6DofConstraint.h.

◆ m_jacLinear

btJacobianEntry m_jacLinear[3]

3 orthogonal linear constraints

Jacobians

Definition at line 278 of file btGeneric6DofConstraint.h.

◆ m_linearLimits

btTranslationalLimitMotor m_linearLimits

◆ m_timeStep

btScalar m_timeStep
protected

temporal variables

Definition at line 295 of file btGeneric6DofConstraint.h.

◆ m_useLinearReferenceFrameA

bool m_useLinearReferenceFrameA
protected

◆ m_useOffsetForConstraintFrame

bool m_useOffsetForConstraintFrame
protected

◆ m_useSolveConstraintObsolete

bool m_useSolveConstraintObsolete

for backwards compatibility during the transition to 'getInfo/getInfo2'

Definition at line 341 of file btGeneric6DofConstraint.h.