Public Member Functions | Protected Member Functions | Protected Attributes

btSliderConstraint Class Reference

#include <btSliderConstraint.h>

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List of all members.

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 btSliderConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
 btSliderConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameA)
virtual void getInfo1 (btConstraintInfo1 *info)
 internal method used by the constraint solver, don't use them directly
void getInfo1NonVirtual (btConstraintInfo1 *info)
virtual void getInfo2 (btConstraintInfo2 *info)
 internal method used by the constraint solver, don't use them directly
void getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, btScalar rbAinvMass, btScalar rbBinvMass)
const btRigidBodygetRigidBodyA () const
const btRigidBodygetRigidBodyB () const
const btTransformgetCalculatedTransformA () const
const btTransformgetCalculatedTransformB () const
const btTransformgetFrameOffsetA () const
const btTransformgetFrameOffsetB () const
btTransformgetFrameOffsetA ()
btTransformgetFrameOffsetB ()
btScalar getLowerLinLimit ()
void setLowerLinLimit (btScalar lowerLimit)
btScalar getUpperLinLimit ()
void setUpperLinLimit (btScalar upperLimit)
btScalar getLowerAngLimit ()
void setLowerAngLimit (btScalar lowerLimit)
btScalar getUpperAngLimit ()
void setUpperAngLimit (btScalar upperLimit)
bool getUseLinearReferenceFrameA ()
btScalar getSoftnessDirLin ()
btScalar getRestitutionDirLin ()
btScalar getDampingDirLin ()
btScalar getSoftnessDirAng ()
btScalar getRestitutionDirAng ()
btScalar getDampingDirAng ()
btScalar getSoftnessLimLin ()
btScalar getRestitutionLimLin ()
btScalar getDampingLimLin ()
btScalar getSoftnessLimAng ()
btScalar getRestitutionLimAng ()
btScalar getDampingLimAng ()
btScalar getSoftnessOrthoLin ()
btScalar getRestitutionOrthoLin ()
btScalar getDampingOrthoLin ()
btScalar getSoftnessOrthoAng ()
btScalar getRestitutionOrthoAng ()
btScalar getDampingOrthoAng ()
void setSoftnessDirLin (btScalar softnessDirLin)
void setRestitutionDirLin (btScalar restitutionDirLin)
void setDampingDirLin (btScalar dampingDirLin)
void setSoftnessDirAng (btScalar softnessDirAng)
void setRestitutionDirAng (btScalar restitutionDirAng)
void setDampingDirAng (btScalar dampingDirAng)
void setSoftnessLimLin (btScalar softnessLimLin)
void setRestitutionLimLin (btScalar restitutionLimLin)
void setDampingLimLin (btScalar dampingLimLin)
void setSoftnessLimAng (btScalar softnessLimAng)
void setRestitutionLimAng (btScalar restitutionLimAng)
void setDampingLimAng (btScalar dampingLimAng)
void setSoftnessOrthoLin (btScalar softnessOrthoLin)
void setRestitutionOrthoLin (btScalar restitutionOrthoLin)
void setDampingOrthoLin (btScalar dampingOrthoLin)
void setSoftnessOrthoAng (btScalar softnessOrthoAng)
void setRestitutionOrthoAng (btScalar restitutionOrthoAng)
void setDampingOrthoAng (btScalar dampingOrthoAng)
void setPoweredLinMotor (bool onOff)
bool getPoweredLinMotor ()
void setTargetLinMotorVelocity (btScalar targetLinMotorVelocity)
btScalar getTargetLinMotorVelocity ()
void setMaxLinMotorForce (btScalar maxLinMotorForce)
btScalar getMaxLinMotorForce ()
void setPoweredAngMotor (bool onOff)
bool getPoweredAngMotor ()
void setTargetAngMotorVelocity (btScalar targetAngMotorVelocity)
btScalar getTargetAngMotorVelocity ()
void setMaxAngMotorForce (btScalar maxAngMotorForce)
btScalar getMaxAngMotorForce ()
btScalar getLinearPos () const
btScalar getAngularPos () const
bool getSolveLinLimit ()
btScalar getLinDepth ()
bool getSolveAngLimit ()
btScalar getAngDepth ()
void calculateTransforms (const btTransform &transA, const btTransform &transB)
void testLinLimits ()
void testAngLimits ()
btVector3 getAncorInA ()
btVector3 getAncorInB ()
bool getUseFrameOffset ()
void setUseFrameOffset (bool frameOffsetOnOff)
void setFrames (const btTransform &frameA, const btTransform &frameB)
virtual void setParam (int num, btScalar value, int axis=-1)
 override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
virtual btScalar getParam (int num, int axis=-1) const
 return the local value of parameter
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)

Protected Member Functions

void initParams ()

Protected Attributes

bool m_useSolveConstraintObsolete
 for backwards compatibility during the transition to 'getInfo/getInfo2'
bool m_useOffsetForConstraintFrame
btTransform m_frameInA
btTransform m_frameInB
bool m_useLinearReferenceFrameA
btScalar m_lowerLinLimit
btScalar m_upperLinLimit
btScalar m_lowerAngLimit
btScalar m_upperAngLimit
btScalar m_softnessDirLin
btScalar m_restitutionDirLin
btScalar m_dampingDirLin
btScalar m_cfmDirLin
btScalar m_softnessDirAng
btScalar m_restitutionDirAng
btScalar m_dampingDirAng
btScalar m_cfmDirAng
btScalar m_softnessLimLin
btScalar m_restitutionLimLin
btScalar m_dampingLimLin
btScalar m_cfmLimLin
btScalar m_softnessLimAng
btScalar m_restitutionLimAng
btScalar m_dampingLimAng
btScalar m_cfmLimAng
btScalar m_softnessOrthoLin
btScalar m_restitutionOrthoLin
btScalar m_dampingOrthoLin
btScalar m_cfmOrthoLin
btScalar m_softnessOrthoAng
btScalar m_restitutionOrthoAng
btScalar m_dampingOrthoAng
btScalar m_cfmOrthoAng
bool m_solveLinLim
bool m_solveAngLim
int m_flags
btJacobianEntry m_jacLin [3]
btScalar m_jacLinDiagABInv [3]
btJacobianEntry m_jacAng [3]
btScalar m_timeStep
btTransform m_calculatedTransformA
btTransform m_calculatedTransformB
btVector3 m_sliderAxis
btVector3 m_realPivotAInW
btVector3 m_realPivotBInW
btVector3 m_projPivotInW
btVector3 m_delta
btVector3 m_depth
btVector3 m_relPosA
btVector3 m_relPosB
btScalar m_linPos
btScalar m_angPos
btScalar m_angDepth
btScalar m_kAngle
bool m_poweredLinMotor
btScalar m_targetLinMotorVelocity
btScalar m_maxLinMotorForce
btScalar m_accumulatedLinMotorImpulse
bool m_poweredAngMotor
btScalar m_targetAngMotorVelocity
btScalar m_maxAngMotorForce
btScalar m_accumulatedAngMotorImpulse

Detailed Description

Definition at line 63 of file btSliderConstraint.h.


Constructor & Destructor Documentation

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

Definition at line 83 of file btSliderConstraint.cpp.

btSliderConstraint::btSliderConstraint ( btRigidBody rbB,
const btTransform frameInB,
bool  useLinearReferenceFrameA 
)

not providing rigidbody A means implicitly using worldspace for body A

Definition at line 95 of file btSliderConstraint.cpp.


Member Function Documentation

btSliderConstraint::BT_DECLARE_ALIGNED_ALLOCATOR (  ) 

Reimplemented from btTypedConstraint.

int btSliderConstraint::calculateSerializeBufferSize (  )  const [inline, virtual]

Reimplemented from btTypedConstraint.

Definition at line 305 of file btSliderConstraint.h.

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

Definition at line 159 of file btSliderConstraint.cpp.

btVector3 btSliderConstraint::getAncorInA ( void   ) 

Definition at line 250 of file btSliderConstraint.cpp.

btVector3 btSliderConstraint::getAncorInB ( void   ) 

Definition at line 260 of file btSliderConstraint.cpp.

btScalar btSliderConstraint::getAngDepth (  )  [inline]

Definition at line 251 of file btSliderConstraint.h.

btScalar btSliderConstraint::getAngularPos (  )  const [inline]

Definition at line 243 of file btSliderConstraint.h.

const btTransform& btSliderConstraint::getCalculatedTransformA (  )  const [inline]

Definition at line 178 of file btSliderConstraint.h.

const btTransform& btSliderConstraint::getCalculatedTransformB (  )  const [inline]

Definition at line 179 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingDirAng (  )  [inline]

Definition at line 198 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingDirLin (  )  [inline]

Definition at line 195 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingLimAng (  )  [inline]

Definition at line 204 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingLimLin (  )  [inline]

Definition at line 201 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingOrthoAng (  )  [inline]

Definition at line 210 of file btSliderConstraint.h.

btScalar btSliderConstraint::getDampingOrthoLin (  )  [inline]

Definition at line 207 of file btSliderConstraint.h.

const btTransform& btSliderConstraint::getFrameOffsetA (  )  const [inline]

Definition at line 180 of file btSliderConstraint.h.

btTransform& btSliderConstraint::getFrameOffsetA (  )  [inline]

Definition at line 182 of file btSliderConstraint.h.

const btTransform& btSliderConstraint::getFrameOffsetB (  )  const [inline]

Definition at line 181 of file btSliderConstraint.h.

btTransform& btSliderConstraint::getFrameOffsetB (  )  [inline]

Definition at line 183 of file btSliderConstraint.h.

void btSliderConstraint::getInfo1 ( btConstraintInfo1 info  )  [virtual]

internal method used by the constraint solver, don't use them directly

Implements btTypedConstraint.

Definition at line 113 of file btSliderConstraint.cpp.

void btSliderConstraint::getInfo1NonVirtual ( btConstraintInfo1 info  ) 

Definition at line 141 of file btSliderConstraint.cpp.

void btSliderConstraint::getInfo2 ( btConstraintInfo2 info  )  [virtual]

internal method used by the constraint solver, don't use them directly

Implements btTypedConstraint.

Definition at line 148 of file btSliderConstraint.cpp.

void btSliderConstraint::getInfo2NonVirtual ( btConstraintInfo2 info,
const btTransform transA,
const btTransform transB,
const btVector3 linVelA,
const btVector3 linVelB,
btScalar  rbAinvMass,
btScalar  rbBinvMass 
)

Definition at line 268 of file btSliderConstraint.cpp.

btScalar btSliderConstraint::getLinDepth (  )  [inline]

Definition at line 249 of file btSliderConstraint.h.

btScalar btSliderConstraint::getLinearPos (  )  const [inline]

Definition at line 242 of file btSliderConstraint.h.

btScalar btSliderConstraint::getLowerAngLimit (  )  [inline]

Definition at line 188 of file btSliderConstraint.h.

btScalar btSliderConstraint::getLowerLinLimit (  )  [inline]

Definition at line 184 of file btSliderConstraint.h.

btScalar btSliderConstraint::getMaxAngMotorForce (  )  [inline]

Definition at line 240 of file btSliderConstraint.h.

btScalar btSliderConstraint::getMaxLinMotorForce (  )  [inline]

Definition at line 234 of file btSliderConstraint.h.

btScalar btSliderConstraint::getParam ( int  num,
int  axis = -1 
) const [virtual]

return the local value of parameter

Implements btTypedConstraint.

Definition at line 779 of file btSliderConstraint.cpp.

bool btSliderConstraint::getPoweredAngMotor (  )  [inline]

Definition at line 236 of file btSliderConstraint.h.

bool btSliderConstraint::getPoweredLinMotor (  )  [inline]

Definition at line 230 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionDirAng (  )  [inline]

Definition at line 197 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionDirLin (  )  [inline]

Definition at line 194 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionLimAng (  )  [inline]

Definition at line 203 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionLimLin (  )  [inline]

Definition at line 200 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionOrthoAng (  )  [inline]

Definition at line 209 of file btSliderConstraint.h.

btScalar btSliderConstraint::getRestitutionOrthoLin (  )  [inline]

Definition at line 206 of file btSliderConstraint.h.

const btRigidBody& btSliderConstraint::getRigidBodyA (  )  const [inline]

Reimplemented from btTypedConstraint.

Definition at line 176 of file btSliderConstraint.h.

const btRigidBody& btSliderConstraint::getRigidBodyB (  )  const [inline]

Reimplemented from btTypedConstraint.

Definition at line 177 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessDirAng (  )  [inline]

Definition at line 196 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessDirLin (  )  [inline]

Definition at line 193 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessLimAng (  )  [inline]

Definition at line 202 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessLimLin (  )  [inline]

Definition at line 199 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessOrthoAng (  )  [inline]

Definition at line 208 of file btSliderConstraint.h.

btScalar btSliderConstraint::getSoftnessOrthoLin (  )  [inline]

Definition at line 205 of file btSliderConstraint.h.

bool btSliderConstraint::getSolveAngLimit (  )  [inline]

Definition at line 250 of file btSliderConstraint.h.

bool btSliderConstraint::getSolveLinLimit (  )  [inline]

Definition at line 248 of file btSliderConstraint.h.

btScalar btSliderConstraint::getTargetAngMotorVelocity (  )  [inline]

Definition at line 238 of file btSliderConstraint.h.

btScalar btSliderConstraint::getTargetLinMotorVelocity (  )  [inline]

Definition at line 232 of file btSliderConstraint.h.

btScalar btSliderConstraint::getUpperAngLimit (  )  [inline]

Definition at line 190 of file btSliderConstraint.h.

btScalar btSliderConstraint::getUpperLinLimit (  )  [inline]

Definition at line 186 of file btSliderConstraint.h.

bool btSliderConstraint::getUseFrameOffset (  )  [inline]

Definition at line 260 of file btSliderConstraint.h.

bool btSliderConstraint::getUseLinearReferenceFrameA (  )  [inline]

Definition at line 192 of file btSliderConstraint.h.

void btSliderConstraint::initParams (  )  [protected]

Definition at line 30 of file btSliderConstraint.cpp.

const char * btSliderConstraint::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 311 of file btSliderConstraint.h.

void btSliderConstraint::setDampingDirAng ( btScalar  dampingDirAng  )  [inline]

Definition at line 216 of file btSliderConstraint.h.

void btSliderConstraint::setDampingDirLin ( btScalar  dampingDirLin  )  [inline]

Definition at line 213 of file btSliderConstraint.h.

void btSliderConstraint::setDampingLimAng ( btScalar  dampingLimAng  )  [inline]

Definition at line 222 of file btSliderConstraint.h.

void btSliderConstraint::setDampingLimLin ( btScalar  dampingLimLin  )  [inline]

Definition at line 219 of file btSliderConstraint.h.

void btSliderConstraint::setDampingOrthoAng ( btScalar  dampingOrthoAng  )  [inline]

Definition at line 228 of file btSliderConstraint.h.

void btSliderConstraint::setDampingOrthoLin ( btScalar  dampingOrthoLin  )  [inline]

Definition at line 225 of file btSliderConstraint.h.

void btSliderConstraint::setFrames ( const btTransform frameA,
const btTransform frameB 
) [inline]

Definition at line 263 of file btSliderConstraint.h.

void btSliderConstraint::setLowerAngLimit ( btScalar  lowerLimit  )  [inline]

Definition at line 189 of file btSliderConstraint.h.

void btSliderConstraint::setLowerLinLimit ( btScalar  lowerLimit  )  [inline]

Definition at line 185 of file btSliderConstraint.h.

void btSliderConstraint::setMaxAngMotorForce ( btScalar  maxAngMotorForce  )  [inline]

Definition at line 239 of file btSliderConstraint.h.

void btSliderConstraint::setMaxLinMotorForce ( btScalar  maxLinMotorForce  )  [inline]

Definition at line 233 of file btSliderConstraint.h.

void btSliderConstraint::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 703 of file btSliderConstraint.cpp.

void btSliderConstraint::setPoweredAngMotor ( bool  onOff  )  [inline]

Definition at line 235 of file btSliderConstraint.h.

void btSliderConstraint::setPoweredLinMotor ( bool  onOff  )  [inline]

Definition at line 229 of file btSliderConstraint.h.

void btSliderConstraint::setRestitutionDirAng ( btScalar  restitutionDirAng  )  [inline]

Definition at line 215 of file btSliderConstraint.h.

void btSliderConstraint::setRestitutionDirLin ( btScalar  restitutionDirLin  )  [inline]

Definition at line 212 of file btSliderConstraint.h.

void btSliderConstraint::setRestitutionLimAng ( btScalar  restitutionLimAng  )  [inline]

Definition at line 221 of file btSliderConstraint.h.

void btSliderConstraint::setRestitutionLimLin ( btScalar  restitutionLimLin  )  [inline]

Definition at line 218 of file btSliderConstraint.h.

void btSliderConstraint::setRestitutionOrthoAng ( btScalar  restitutionOrthoAng  )  [inline]

Definition at line 227 of file btSliderConstraint.h.

void btSliderConstraint::setRestitutionOrthoLin ( btScalar  restitutionOrthoLin  )  [inline]

Definition at line 224 of file btSliderConstraint.h.

void btSliderConstraint::setSoftnessDirAng ( btScalar  softnessDirAng  )  [inline]

Definition at line 214 of file btSliderConstraint.h.

void btSliderConstraint::setSoftnessDirLin ( btScalar  softnessDirLin  )  [inline]

Definition at line 211 of file btSliderConstraint.h.

void btSliderConstraint::setSoftnessLimAng ( btScalar  softnessLimAng  )  [inline]

Definition at line 220 of file btSliderConstraint.h.

void btSliderConstraint::setSoftnessLimLin ( btScalar  softnessLimLin  )  [inline]

Definition at line 217 of file btSliderConstraint.h.

void btSliderConstraint::setSoftnessOrthoAng ( btScalar  softnessOrthoAng  )  [inline]

Definition at line 226 of file btSliderConstraint.h.

void btSliderConstraint::setSoftnessOrthoLin ( btScalar  softnessOrthoLin  )  [inline]

Definition at line 223 of file btSliderConstraint.h.

void btSliderConstraint::setTargetAngMotorVelocity ( btScalar  targetAngMotorVelocity  )  [inline]

Definition at line 237 of file btSliderConstraint.h.

void btSliderConstraint::setTargetLinMotorVelocity ( btScalar  targetLinMotorVelocity  )  [inline]

Definition at line 231 of file btSliderConstraint.h.

void btSliderConstraint::setUpperAngLimit ( btScalar  upperLimit  )  [inline]

Definition at line 191 of file btSliderConstraint.h.

void btSliderConstraint::setUpperLinLimit ( btScalar  upperLimit  )  [inline]

Definition at line 187 of file btSliderConstraint.h.

void btSliderConstraint::setUseFrameOffset ( bool  frameOffsetOnOff  )  [inline]

Definition at line 261 of file btSliderConstraint.h.

void btSliderConstraint::testAngLimits ( void   ) 

Definition at line 224 of file btSliderConstraint.cpp.

void btSliderConstraint::testLinLimits ( void   ) 

Definition at line 195 of file btSliderConstraint.cpp.


Member Data Documentation

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int btSliderConstraint::m_flags [protected]

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

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