btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) More...
#include <btConeTwistConstraint.h>
btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
Definition at line 53 of file btConeTwistConstraint.h.
btConeTwistConstraint::btConeTwistConstraint | ( | btRigidBody & | rbA, | |
btRigidBody & | rbB, | |||
const btTransform & | rbAFrame, | |||
const btTransform & | rbBFrame | |||
) |
Definition at line 41 of file btConeTwistConstraint.cpp.
btConeTwistConstraint::btConeTwistConstraint | ( | btRigidBody & | rbA, | |
const btTransform & | rbAFrame | |||
) |
Definition at line 50 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal | ( | btVector3 & | vSwingAxis | ) | const [protected] |
Definition at line 947 of file btConeTwistConstraint.cpp.
btConeTwistConstraint::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
Reimplemented from btTypedConstraint.
void btConeTwistConstraint::buildJacobian | ( | ) | [virtual] |
internal method used by the constraint solver, don't use them directly
Reimplemented from btTypedConstraint.
Definition at line 260 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::calcAngleInfo | ( | ) |
Definition at line 533 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::calcAngleInfo2 | ( | const btTransform & | transA, | |
const btTransform & | transB, | |||
const btMatrix3x3 & | invInertiaWorldA, | |||
const btMatrix3x3 & | invInertiaWorldB | |||
) |
Definition at line 624 of file btConeTwistConstraint.cpp.
int btConeTwistConstraint::calculateSerializeBufferSize | ( | ) | const [inline, virtual] |
Reimplemented from btTypedConstraint.
Definition at line 321 of file btConeTwistConstraint.h.
void btConeTwistConstraint::computeConeLimitInfo | ( | const btQuaternion & | qCone, | |
btScalar & | swingAngle, | |||
btVector3 & | vSwingAxis, | |||
btScalar & | swingLimit | |||
) | [protected] |
Definition at line 824 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::computeTwistLimitInfo | ( | const btQuaternion & | qTwist, | |
btScalar & | twistAngle, | |||
btVector3 & | vTwistAxis | |||
) | [protected] |
Definition at line 921 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::enableMotor | ( | bool | b | ) | [inline] |
Definition at line 253 of file btConeTwistConstraint.h.
const btTransform& btConeTwistConstraint::getAFrame | ( | ) | [inline] |
Definition at line 212 of file btConeTwistConstraint.h.
const btTransform& btConeTwistConstraint::getBFrame | ( | ) | [inline] |
Definition at line 213 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::getFixThresh | ( | ) | [inline] |
Definition at line 257 of file btConeTwistConstraint.h.
const btTransform& btConeTwistConstraint::getFrameOffsetA | ( | ) | const [inline] |
Definition at line 277 of file btConeTwistConstraint.h.
const btTransform& btConeTwistConstraint::getFrameOffsetB | ( | ) | const [inline] |
Definition at line 282 of file btConeTwistConstraint.h.
void btConeTwistConstraint::getInfo1 | ( | btConstraintInfo1 * | info | ) | [virtual] |
internal method used by the constraint solver, don't use them directly
Implements btTypedConstraint.
Definition at line 79 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::getInfo1NonVirtual | ( | btConstraintInfo1 * | info | ) |
Definition at line 109 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::getInfo2 | ( | btConstraintInfo2 * | info | ) | [virtual] |
internal method used by the constraint solver, don't use them directly
Implements btTypedConstraint.
Definition at line 118 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::getInfo2NonVirtual | ( | btConstraintInfo2 * | info, | |
const btTransform & | transA, | |||
const btTransform & | transB, | |||
const btMatrix3x3 & | invInertiaWorldA, | |||
const btMatrix3x3 & | invInertiaWorldB | |||
) |
Definition at line 123 of file btConeTwistConstraint.cpp.
btScalar btConeTwistConstraint::getParam | ( | int | num, | |
int | axis = -1 | |||
) | const [virtual] |
return the local value of parameter
Implements btTypedConstraint.
Definition at line 1083 of file btConeTwistConstraint.cpp.
btVector3 btConeTwistConstraint::GetPointForAngle | ( | btScalar | fAngleInRadians, | |
btScalar | fLength | |||
) | const |
Definition at line 888 of file btConeTwistConstraint.cpp.
const btRigidBody& btConeTwistConstraint::getRigidBodyA | ( | ) | const [inline] |
Reimplemented from btTypedConstraint.
Definition at line 151 of file btConeTwistConstraint.h.
const btRigidBody& btConeTwistConstraint::getRigidBodyB | ( | ) | const [inline] |
Reimplemented from btTypedConstraint.
Definition at line 155 of file btConeTwistConstraint.h.
int btConeTwistConstraint::getSolveSwingLimit | ( | ) | [inline] |
Definition at line 220 of file btConeTwistConstraint.h.
int btConeTwistConstraint::getSolveTwistLimit | ( | ) | [inline] |
Definition at line 215 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::getSwingSpan1 | ( | ) | [inline] |
Definition at line 233 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::getSwingSpan2 | ( | ) | [inline] |
Definition at line 237 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::getTwistAngle | ( | ) | [inline] |
Definition at line 245 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::getTwistLimitSign | ( | ) | [inline] |
Definition at line 225 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::getTwistSpan | ( | ) | [inline] |
Definition at line 241 of file btConeTwistConstraint.h.
void btConeTwistConstraint::init | ( | ) | [protected] |
Definition at line 61 of file btConeTwistConstraint.cpp.
bool btConeTwistConstraint::isPastSwingLimit | ( | ) | [inline] |
Definition at line 249 of file btConeTwistConstraint.h.
const char * btConeTwistConstraint::serialize | ( | void * | dataBuffer, | |
btSerializer * | serializer | |||
) | const [inline, virtual] |
fills the dataBuffer and returns the struct name (and 0 on failure)
Reimplemented from btTypedConstraint.
Definition at line 329 of file btConeTwistConstraint.h.
void btConeTwistConstraint::setAngularOnly | ( | bool | angularOnly | ) | [inline] |
Definition at line 160 of file btConeTwistConstraint.h.
void btConeTwistConstraint::setDamping | ( | btScalar | damping | ) | [inline] |
Definition at line 251 of file btConeTwistConstraint.h.
void btConeTwistConstraint::setFixThresh | ( | btScalar | fixThresh | ) | [inline] |
Definition at line 258 of file btConeTwistConstraint.h.
void btConeTwistConstraint::setFrames | ( | const btTransform & | frameA, | |
const btTransform & | frameB | |||
) | [virtual] |
Definition at line 1128 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::setLimit | ( | int | limitIndex, | |
btScalar | limitValue | |||
) | [inline] |
Definition at line 165 of file btConeTwistConstraint.h.
void btConeTwistConstraint::setLimit | ( | btScalar | _swingSpan1, | |
btScalar | _swingSpan2, | |||
btScalar | _twistSpan, | |||
btScalar | _softness = 1.f , |
|||
btScalar | _biasFactor = 0.3f , |
|||
btScalar | _relaxationFactor = 1.0f | |||
) | [inline] |
Definition at line 201 of file btConeTwistConstraint.h.
void btConeTwistConstraint::setMaxMotorImpulse | ( | btScalar | maxMotorImpulse | ) | [inline] |
Definition at line 254 of file btConeTwistConstraint.h.
void btConeTwistConstraint::setMaxMotorImpulseNormalized | ( | btScalar | maxMotorImpulse | ) | [inline] |
Definition at line 255 of file btConeTwistConstraint.h.
void btConeTwistConstraint::setMotorTarget | ( | const btQuaternion & | q | ) |
Definition at line 981 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::setMotorTargetInConstraintSpace | ( | const btQuaternion & | q | ) |
Definition at line 995 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::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.
Implements btTypedConstraint.
Definition at line 1047 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::solveConstraintObsolete | ( | btSolverBody & | , | |
btSolverBody & | , | |||
btScalar | ||||
) | [virtual] |
internal method used by the constraint solver, don't use them directly
solve angular part
Reimplemented from btTypedConstraint.
Definition at line 308 of file btConeTwistConstraint.cpp.
void btConeTwistConstraint::updateRHS | ( | btScalar | timeStep | ) |
Definition at line 525 of file btConeTwistConstraint.cpp.
Definition at line 106 of file btConeTwistConstraint.h.
Definition at line 87 of file btConeTwistConstraint.h.
Definition at line 88 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_angCFM [private] |
Definition at line 112 of file btConeTwistConstraint.h.
bool btConeTwistConstraint::m_angularOnly [private] |
Definition at line 90 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_biasFactor [private] |
Definition at line 64 of file btConeTwistConstraint.h.
bool btConeTwistConstraint::m_bMotorEnabled [private] |
Definition at line 102 of file btConeTwistConstraint.h.
bool btConeTwistConstraint::m_bNormalizedMotorStrength [private] |
Definition at line 103 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_damping [private] |
Definition at line 67 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_fixThresh [private] |
Definition at line 73 of file btConeTwistConstraint.h.
int btConeTwistConstraint::m_flags [private] |
Definition at line 109 of file btConeTwistConstraint.h.
btJacobianEntry btConeTwistConstraint::m_jac[3] [private] |
Definition at line 58 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_kSwing [private] |
Definition at line 78 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_kTwist [private] |
Definition at line 79 of file btConeTwistConstraint.h.
Definition at line 63 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_linCFM [private] |
Definition at line 110 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_linERP [private] |
Definition at line 111 of file btConeTwistConstraint.h.
Definition at line 105 of file btConeTwistConstraint.h.
btQuaternion btConeTwistConstraint::m_qTarget [private] |
Definition at line 104 of file btConeTwistConstraint.h.
btTransform btConeTwistConstraint::m_rbAFrame [private] |
Definition at line 60 of file btConeTwistConstraint.h.
btTransform btConeTwistConstraint::m_rbBFrame [private] |
Definition at line 61 of file btConeTwistConstraint.h.
Definition at line 65 of file btConeTwistConstraint.h.
bool btConeTwistConstraint::m_solveSwingLimit [private] |
Definition at line 92 of file btConeTwistConstraint.h.
bool btConeTwistConstraint::m_solveTwistLimit [private] |
Definition at line 91 of file btConeTwistConstraint.h.
btVector3 btConeTwistConstraint::m_swingAxis [private] |
Definition at line 75 of file btConeTwistConstraint.h.
Definition at line 82 of file btConeTwistConstraint.h.
Definition at line 97 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_swingSpan1 [private] |
Definition at line 69 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_swingSpan2 [private] |
Definition at line 70 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_twistAngle [private] |
Definition at line 85 of file btConeTwistConstraint.h.
btVector3 btConeTwistConstraint::m_twistAxis [private] |
Definition at line 76 of file btConeTwistConstraint.h.
btVector3 btConeTwistConstraint::m_twistAxisA [private] |
Definition at line 99 of file btConeTwistConstraint.h.
Definition at line 83 of file btConeTwistConstraint.h.
Definition at line 98 of file btConeTwistConstraint.h.
Definition at line 81 of file btConeTwistConstraint.h.
btScalar btConeTwistConstraint::m_twistSpan [private] |
Definition at line 71 of file btConeTwistConstraint.h.
bool btConeTwistConstraint::m_useSolveConstraintObsolete [private] |
Definition at line 94 of file btConeTwistConstraint.h.