Public Member Functions | Private Attributes

btAngularLimit Class Reference

#include <btTypedConstraint.h>

List of all members.

Public Member Functions

 btAngularLimit ()
 Default constructor initializes limit as inactive, allowing free constraint movement.
void set (btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
 Sets all limit's parameters.
void test (const btScalar angle)
 Checks conastaint angle against limit.
btScalar getSoftness () const
 Returns limit's softness.
btScalar getBiasFactor () const
 Returns limit's bias factor.
btScalar getRelaxationFactor () const
 Returns limit's relaxation factor.
btScalar getCorrection () const
 Returns correction value evaluated when test() was invoked.
btScalar getSign () const
 Returns sign value evaluated when test() was invoked.
btScalar getHalfRange () const
 Gives half of the distance between min and max limit angle.
bool isLimit () const
 Returns true when the last test() invocation recognized limit violation.
void fit (btScalar &angle) const
 Checks given angle against limit.
btScalar getError () const
 Returns correction value multiplied by sign value.
btScalar getLow () const
btScalar getHigh () const

Private Attributes

btScalar m_center
btScalar m_halfRange
btScalar m_softness
btScalar m_biasFactor
btScalar m_relaxationFactor
btScalar m_correction
btScalar m_sign
bool m_solveLimit

Detailed Description

Definition at line 388 of file btTypedConstraint.h.


Constructor & Destructor Documentation

btAngularLimit::btAngularLimit (  )  [inline]

Default constructor initializes limit as inactive, allowing free constraint movement.

Definition at line 405 of file btTypedConstraint.h.


Member Function Documentation

void btAngularLimit::fit ( btScalar angle  )  const

Checks given angle against limit.

If limit is active and angle doesn't fit it, the angle returned is modified so it equals to the limit closest to given angle.

Definition at line 195 of file btTypedConstraint.cpp.

btScalar btAngularLimit::getBiasFactor (  )  const [inline]

Returns limit's bias factor.

Definition at line 432 of file btTypedConstraint.h.

btScalar btAngularLimit::getCorrection (  )  const [inline]

Returns correction value evaluated when test() was invoked.

Definition at line 444 of file btTypedConstraint.h.

btScalar btAngularLimit::getError (  )  const

Returns correction value multiplied by sign value.

Definition at line 190 of file btTypedConstraint.cpp.

btScalar btAngularLimit::getHalfRange (  )  const [inline]

Gives half of the distance between min and max limit angle.

Definition at line 456 of file btTypedConstraint.h.

btScalar btAngularLimit::getHigh (  )  const

Definition at line 219 of file btTypedConstraint.cpp.

btScalar btAngularLimit::getLow (  )  const

Definition at line 214 of file btTypedConstraint.cpp.

btScalar btAngularLimit::getRelaxationFactor (  )  const [inline]

Returns limit's relaxation factor.

Definition at line 438 of file btTypedConstraint.h.

btScalar btAngularLimit::getSign (  )  const [inline]

Returns sign value evaluated when test() was invoked.

Definition at line 450 of file btTypedConstraint.h.

btScalar btAngularLimit::getSoftness (  )  const [inline]

Returns limit's softness.

Definition at line 426 of file btTypedConstraint.h.

bool btAngularLimit::isLimit (  )  const [inline]

Returns true when the last test() invocation recognized limit violation.

Definition at line 462 of file btTypedConstraint.h.

void btAngularLimit::set ( btScalar  low,
btScalar  high,
btScalar  _softness = 0.9f,
btScalar  _biasFactor = 0.3f,
btScalar  _relaxationFactor = 1.0f 
)

Sets all limit's parameters.

When low > high limit becomes inactive. When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit

Definition at line 156 of file btTypedConstraint.cpp.

void btAngularLimit::test ( const btScalar  angle  ) 

Checks conastaint angle against limit.

If limit is active and the angle violates the limit correction is calculated.

Definition at line 165 of file btTypedConstraint.cpp.


Member Data Documentation

Definition at line 392 of file btTypedConstraint.h.

Definition at line 392 of file btTypedConstraint.h.

Definition at line 392 of file btTypedConstraint.h.

Definition at line 392 of file btTypedConstraint.h.

Definition at line 392 of file btTypedConstraint.h.

Definition at line 392 of file btTypedConstraint.h.

Definition at line 392 of file btTypedConstraint.h.

Definition at line 401 of file btTypedConstraint.h.


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