Blender
V3.3
|
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 | |
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... | |
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 |
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 |
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) |
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 |
#define BT_6DOF_FLAGS_AXIS_SHIFT 3 |
Definition at line 228 of file btGeneric6DofConstraint.h.
#define btGeneric6DofConstraintData2 btGeneric6DofConstraintData |
Definition at line 39 of file btGeneric6DofConstraint.h.
#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintData" |
Definition at line 40 of file btGeneric6DofConstraint.h.
enum 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.
BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
btGeneric6DofConstraint::btGeneric6DofConstraint | ( | btRigidBody & | rbA, |
btRigidBody & | rbB, | ||
const btTransform & | frameInA, | ||
const btTransform & | frameInB, | ||
bool | useLinearReferenceFrameA | ||
) |
Definition at line 31 of file btGeneric6DofConstraint.cpp.
References calculateTransforms().
Referenced by debugDrawConstraint(), RB_constraint_new_6dof(), RB_constraint_new_motor(), RB_constraint_set_enable_motor(), RB_constraint_set_limits_6dof(), RB_constraint_set_max_impulse_motor(), RB_constraint_set_target_velocity_motor(), and setAngularLimits().
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.
|
protected |
Definition at line 381 of file btGeneric6DofConstraint.cpp.
References btJacobianEntry, btRigidBody::getCenterOfMassTransform(), btRigidBody::getInvInertiaDiagLocal(), m_rbA, and m_rbB.
|
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.
|
protected |
Definition at line 365 of file btGeneric6DofConstraint.cpp.
References btJacobianEntry, btRigidBody::getCenterOfMassPosition(), btRigidBody::getCenterOfMassTransform(), btRigidBody::getInvInertiaDiagLocal(), btRigidBody::getInvMass(), m_rbA, and m_rbB.
Definition at line 660 of file btGeneric6DofConstraint.cpp.
References btVector3, btRigidBody::getInvMass(), m_AnchorPos, m_calculatedTransformA, m_calculatedTransformB, m_rbA, and m_rbB.
|
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().
|
protected |
Definition at line 679 of file btGeneric6DofConstraint.cpp.
References m_calculatedLinearDiff, m_calculatedTransformA, m_calculatedTransformB, btTranslationalLimitMotor::m_currentLinearDiff, m_linearLimits, and btTranslationalLimitMotor::testLimitValue().
Referenced by calculateTransforms().
|
virtual |
void btGeneric6DofSpring2Constraint::calculateTransforms | ( | ) |
Definition at line 336 of file btGeneric6DofConstraint.cpp.
References calculateTransforms(), btRigidBody::getCenterOfMassTransform(), m_rbA, and m_rbB.
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.
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().
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 |
||
) |
Definition at line 690 of file btGeneric6DofConstraint.cpp.
References btVector3, Freestyle::c, btConstraintInfo2::cfm, btConstraintInfo2::fps, getMotorFactor(), btRotationalLimitMotor::m_bounce, m_calculatedTransformA, m_calculatedTransformB, btConstraintInfo2::m_constraintError, btRotationalLimitMotor::m_currentLimit, btRotationalLimitMotor::m_currentLimitError, btRotationalLimitMotor::m_currentPosition, btRotationalLimitMotor::m_enableMotor, m_factA, m_factB, m_hasStaticBody, btRotationalLimitMotor::m_hiLimit, btConstraintInfo2::m_J1angularAxis, btConstraintInfo2::m_J1linearAxis, btConstraintInfo2::m_J2angularAxis, btConstraintInfo2::m_J2linearAxis, btRotationalLimitMotor::m_loLimit, btConstraintInfo2::m_lowerLimit, btRotationalLimitMotor::m_maxMotorForce, btRotationalLimitMotor::m_normalCFM, btRotationalLimitMotor::m_stopCFM, btRotationalLimitMotor::m_stopERP, btRotationalLimitMotor::m_targetVelocity, btConstraintInfo2::m_upperLimit, m_useOffsetForConstraintFrame, btConstraintInfo2::rowskip, and SIMD_INFINITY.
Referenced by setAngularLimits(), and setLinearLimits().
btScalar getAngle | ( | int | axis_index | ) | const |
Get the relative Euler angle.
Definition at line 350 of file btGeneric6DofSpring2Constraint.h.
References m_calculatedAxisAngleDiff.
Referenced by getAngle1(), and getAngle2().
Definition at line 459 of file btGeneric6DofConstraint.h.
References m_angularLimits.
Definition at line 471 of file btGeneric6DofConstraint.h.
References m_angularLimits.
btVector3 getAxis | ( | int | axis_index | ) | const |
Get the rotation axis in global coordinates.
Definition at line 347 of file btGeneric6DofSpring2Constraint.h.
References m_calculatedAxis.
const btTransform& getCalculatedTransformA | ( | ) | const |
Gets the global transform of the offset for body A.
Definition at line 359 of file btGeneric6DofConstraint.h.
References m_calculatedTransformA.
Referenced by getInfo2NonVirtual().
const btTransform& getCalculatedTransformB | ( | ) | const |
Gets the global transform of the offset for body B.
Definition at line 368 of file btGeneric6DofConstraint.h.
References m_calculatedTransformB.
Referenced by getInfo2NonVirtual().
|
virtual |
Definition at line 543 of file btGeneric6DofConstraint.h.
References m_flags.
const btTransform& getFrameOffsetA | ( | ) | const |
Definition at line 373 of file btGeneric6DofConstraint.h.
References m_frameInA.
const btTransform& getFrameOffsetB | ( | ) | const |
Definition at line 378 of file btGeneric6DofConstraint.h.
References m_frameInB.
|
virtual |
void getInfo1NonVirtual | ( | btConstraintInfo1 * | info | ) |
|
virtual |
void btGeneric6DofConstraint::getInfo2NonVirtual | ( | btConstraintInfo2 * | info, |
const btTransform & | transA, | ||
const btTransform & | transB, | ||
const btVector3 & | linVelA, | ||
const btVector3 & | linVelB, | ||
const btVector3 & | angVelA, | ||
const btVector3 & | angVelB | ||
) |
Definition at line 531 of file btGeneric6DofConstraint.cpp.
References btAssert, calculateTransforms(), m_useOffsetForConstraintFrame, m_useSolveConstraintObsolete, setAngularLimits(), setLinearLimits(), and testAngularLimitMotor().
Definition at line 438 of file btGeneric6DofConstraint.h.
References m_linearLimits, and btTranslationalLimitMotor::m_lowerLimit.
Definition at line 448 of file btGeneric6DofConstraint.h.
References m_linearLimits, and btTranslationalLimitMotor::m_upperLimit.
|
virtual |
return the local value of parameter
btScalar btGeneric6DofConstraint::getRelativePivotPosition | ( | int | axis_index | ) | const |
Get the relative position of the constraint pivot.
Definition at line 650 of file btGeneric6DofConstraint.cpp.
References m_calculatedLinearDiff.
btRotationalLimitMotor* getRotationalLimitMotor | ( | int | index | ) |
Retrieves the angular limit informacion.
Definition at line 478 of file btGeneric6DofConstraint.h.
References m_angularLimits.
btTranslationalLimitMotor* getTranslationalLimitMotor | ( | ) |
Retrieves the limit informacion.
Definition at line 484 of file btGeneric6DofConstraint.h.
References m_linearLimits.
bool getUseFrameOffset | ( | ) | const |
Definition at line 529 of file btGeneric6DofConstraint.h.
References m_useOffsetForConstraintFrame.
bool getUseLinearReferenceFrameA | ( | ) | const |
Definition at line 532 of file btGeneric6DofConstraint.h.
References m_useLinearReferenceFrameA.
bool isLimited | ( | int | limitIndex | ) | const |
Test limit.
Definition at line 513 of file btGeneric6DofConstraint.h.
References btRotationalLimitMotor::isLimited(), btTranslationalLimitMotor::isLimited(), m_angularLimits, and m_linearLimits.
|
protected |
Definition at line 314 of file btGeneric6DofConstraint.h.
References btAssert, and void.
Referenced by ccl_try_align(), and lVector3f::operator=().
|
virtual |
fills the dataBuffer and returns the struct name (and 0 on failure)
|
protected |
Definition at line 601 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, btGeneric6DofConstraint(), btVector3, btConstraintInfo2::cfm, btConstraintInfo2::erp, get_limit_motor_info2(), m_angularLimits, m_flags, btRotationalLimitMotor::m_normalCFM, btRotationalLimitMotor::m_stopCFM, and btRotationalLimitMotor::m_stopERP.
Referenced by getInfo2NonVirtual().
Definition at line 453 of file btGeneric6DofConstraint.h.
References btNormalizeAngle(), and m_angularLimits.
Referenced by btHinge2Constraint(), btUniversalConstraint(), and setLowerLimit().
Definition at line 465 of file btGeneric6DofConstraint.h.
References btNormalizeAngle(), and m_angularLimits.
Referenced by btHinge2Constraint(), btUniversalConstraint(), and setUpperLimit().
Definition at line 958 of file btGeneric6DofConstraint.cpp.
References btTransform, btVector3, calculateTransforms(), btRigidBody::getCenterOfMassTransform(), m_frameInA, m_frameInB, m_rbA, and m_rbB.
void setFrames | ( | const btTransform & | frameA, |
const btTransform & | frameB | ||
) |
Definition at line 264 of file btSliderConstraint.h.
References buildJacobian(), calculateTransforms(), btRigidBody::getCenterOfMassTransform(), m_frameInA, m_frameInB, m_rbA, and m_rbB.
Definition at line 490 of file btGeneric6DofConstraint.h.
References btNormalizeAngle(), m_angularLimits, btRotationalLimitMotor::m_hiLimit, m_linearLimits, btRotationalLimitMotor::m_loLimit, btTranslationalLimitMotor::m_lowerLimit, and btTranslationalLimitMotor::m_upperLimit.
|
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().
Definition at line 433 of file btGeneric6DofConstraint.h.
References m_linearLimits, and btTranslationalLimitMotor::m_lowerLimit.
Referenced by btHinge2Constraint(), and btUniversalConstraint().
Definition at line 443 of file btGeneric6DofConstraint.h.
References m_linearLimits, and btTranslationalLimitMotor::m_upperLimit.
Referenced by btHinge2Constraint(), and btUniversalConstraint().
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.
Definition at line 530 of file btGeneric6DofConstraint.h.
References m_useOffsetForConstraintFrame.
Definition at line 533 of file btGeneric6DofConstraint.h.
References m_useLinearReferenceFrameA.
void btGeneric6DofSpring2Constraint::testAngularLimitMotor | ( | int | axis_index | ) |
Test angular limit.
Calculates angular correction and returns true if limit needs to be corrected.
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().
btGeneric6DofConstraint __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.
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.
|
protected |
Definition at line 305 of file btGeneric6DofConstraint.h.
Referenced by calcAnchorPos().
btRotationalLimitMotor m_angularLimits[3] |
hinge_parameters
Definition at line 289 of file btGeneric6DofConstraint.h.
Referenced by enableMotor(), enableSpring(), getAngularLowerLimit(), getAngularUpperLimit(), getRotationalLimitMotor(), internalUpdateSprings(), isLimited(), setAngularLimits(), setAngularLowerLimit(), setAngularUpperLimit(), setBounce(), setEquilibriumPoint(), setLimit(), setLinearLimits(), setMaxMotorForce(), setServo(), setServoTarget(), setStiffness(), setTargetVelocity(), and testAngularLimitMotor().
|
protected |
Definition at line 299 of file btGeneric6DofConstraint.h.
Referenced by calculateAngleInfo().
|
protected |
Definition at line 298 of file btGeneric6DofConstraint.h.
Referenced by calculateAngleInfo(), internalUpdateSprings(), setEquilibriumPoint(), and testAngularLimitMotor().
|
protected |
Definition at line 300 of file btGeneric6DofConstraint.h.
Referenced by calculateLinearInfo(), getRelativePivotPosition(), internalUpdateSprings(), and setEquilibriumPoint().
|
protected |
Definition at line 296 of file btGeneric6DofConstraint.h.
Referenced by calcAnchorPos(), calculateAngleInfo(), calculateJacobi(), calculateLinearInfo(), calculateTransforms(), get_limit_motor_info2(), getAnchor(), getCalculatedTransformA(), setLinearLimits(), and testAngLimits().
|
protected |
Definition at line 297 of file btGeneric6DofConstraint.h.
Referenced by calcAnchorPos(), calculateAngleInfo(), calculateJacobi(), calculateLinearInfo(), calculateTransforms(), get_limit_motor_info2(), getAnchor2(), getCalculatedTransformB(), and testAngLimits().
|
protected |
Definition at line 301 of file btGeneric6DofConstraint.h.
Referenced by calculateJacobi(), calculateTransforms(), and get_limit_motor_info2().
|
protected |
Definition at line 302 of file btGeneric6DofConstraint.h.
Referenced by calculateJacobi(), calculateTransforms(), and get_limit_motor_info2().
|
protected |
Definition at line 310 of file btGeneric6DofConstraint.h.
Referenced by getFlags().
btTransform m_frameInB |
the constraint space w.r.t body B
Definition at line 273 of file btGeneric6DofConstraint.h.
Referenced by btGeneric6DofConstraint(), btGeneric6DofSpring2Constraint(), btHinge2Constraint(), btSliderConstraint(), btUniversalConstraint(), calculateTransforms(), getAncorInB(), getFrameOffsetB(), and setAxis().
|
protected |
Definition at line 303 of file btGeneric6DofConstraint.h.
Referenced by calculateJacobi(), calculateTransforms(), and get_limit_motor_info2().
btJacobianEntry m_jacAng[3] |
3 orthogonal angular constraints
Definition at line 279 of file btGeneric6DofConstraint.h.
btJacobianEntry m_jacLinear[3] |
btTranslationalLimitMotor m_linearLimits |
Linear_Limit_parameters
Definition at line 284 of file btGeneric6DofConstraint.h.
Referenced by calculateLinearInfo(), enableMotor(), enableSpring(), getLinearLowerLimit(), getLinearUpperLimit(), getTranslationalLimitMotor(), internalUpdateSprings(), isLimited(), setBounce(), setEquilibriumPoint(), setLimit(), setLinearLimits(), setLinearLowerLimit(), setLinearUpperLimit(), setMaxMotorForce(), setServo(), setServoTarget(), setStiffness(), and setTargetVelocity().
|
protected |
temporal variables
Definition at line 295 of file btGeneric6DofConstraint.h.
|
protected |
Definition at line 307 of file btGeneric6DofConstraint.h.
Referenced by getInfo2NonVirtual(), getUseLinearReferenceFrameA(), and setUseLinearReferenceFrameA().
|
protected |
Definition at line 308 of file btGeneric6DofConstraint.h.
Referenced by calculateTransforms(), get_limit_motor_info2(), getInfo2NonVirtual(), getUseFrameOffset(), initParams(), setLinearLimits(), and setUseFrameOffset().
bool m_useSolveConstraintObsolete |
for backwards compatibility during the transition to 'getInfo/getInfo2'
Definition at line 341 of file btGeneric6DofConstraint.h.