TypedConstraint is the baseclass for Bullet constraints and vehicles. More...
#include <btTypedConstraint.h>
Classes | |
struct | btConstraintInfo1 |
struct | btConstraintInfo2 |
Public Member Functions | |
BT_DECLARE_ALIGNED_ALLOCATOR () | |
virtual | ~btTypedConstraint () |
btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA) | |
btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA, btRigidBody &rbB) | |
int | getOverrideNumSolverIterations () const |
void | setOverrideNumSolverIterations (int overideNumIterations) |
override the number of constraint solver iterations used to solve this constraint -1 will use the default number of iterations, as specified in SolverInfo.m_numIterations | |
virtual void | buildJacobian () |
internal method used by the constraint solver, don't use them directly | |
virtual void | setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep) |
internal method used by the constraint solver, don't use them directly | |
virtual void | getInfo1 (btConstraintInfo1 *info)=0 |
internal method used by the constraint solver, don't use them directly | |
virtual void | getInfo2 (btConstraintInfo2 *info)=0 |
internal method used by the constraint solver, don't use them directly | |
void | internalSetAppliedImpulse (btScalar appliedImpulse) |
internal method used by the constraint solver, don't use them directly | |
btScalar | internalGetAppliedImpulse () |
internal method used by the constraint solver, don't use them directly | |
btScalar | getBreakingImpulseThreshold () const |
void | setBreakingImpulseThreshold (btScalar threshold) |
bool | isEnabled () const |
void | setEnabled (bool enabled) |
virtual void | solveConstraintObsolete (btSolverBody &, btSolverBody &, btScalar) |
internal method used by the constraint solver, don't use them directly | |
const btRigidBody & | getRigidBodyA () const |
const btRigidBody & | getRigidBodyB () const |
btRigidBody & | getRigidBodyA () |
btRigidBody & | getRigidBodyB () |
int | getUserConstraintType () const |
void | setUserConstraintType (int userConstraintType) |
void | setUserConstraintId (int uid) |
int | getUserConstraintId () const |
void | setUserConstraintPtr (void *ptr) |
void * | getUserConstraintPtr () |
void | setJointFeedback (btJointFeedback *jointFeedback) |
const btJointFeedback * | getJointFeedback () const |
btJointFeedback * | getJointFeedback () |
int | getUid () const |
bool | needsFeedback () const |
void | enableFeedback (bool needsFeedback) |
enableFeedback will allow to read the applied linear and angular impulse use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information | |
btScalar | getAppliedImpulse () const |
getAppliedImpulse is an estimated total applied impulse. | |
btTypedConstraintType | getConstraintType () const |
void | setDbgDrawSize (btScalar dbgDrawSize) |
btScalar | getDbgDrawSize () |
virtual void | setParam (int num, btScalar value, int axis=-1)=0 |
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 =0 |
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) | |
Static Public Member Functions | |
static btRigidBody & | getFixedBody () |
Protected Member Functions | |
btScalar | getMotorFactor (btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact) |
internal method used by the constraint solver, don't use them directly | |
Protected Attributes | |
btRigidBody & | m_rbA |
btRigidBody & | m_rbB |
btScalar | m_appliedImpulse |
btScalar | m_dbgDrawSize |
btJointFeedback * | m_jointFeedback |
Private Member Functions | |
btTypedConstraint & | operator= (btTypedConstraint &other) |
Private Attributes | |
int | m_userConstraintType |
union { | |
int m_userConstraintId | |
void * m_userConstraintPtr | |
}; | |
btScalar | m_breakingImpulseThreshold |
bool | m_isEnabled |
bool | m_needsFeedback |
int | m_overrideNumSolverIterations |
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition at line 66 of file btTypedConstraint.h.
virtual btTypedConstraint::~btTypedConstraint | ( | ) | [inline, virtual] |
Definition at line 104 of file btTypedConstraint.h.
btTypedConstraint::btTypedConstraint | ( | btTypedConstraintType | type, | |
btRigidBody & | rbA | |||
) |
Definition at line 24 of file btTypedConstraint.cpp.
btTypedConstraint::btTypedConstraint | ( | btTypedConstraintType | type, | |
btRigidBody & | rbA, | |||
btRigidBody & | rbB | |||
) |
Definition at line 41 of file btTypedConstraint.cpp.
btTypedConstraint::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
virtual void btTypedConstraint::buildJacobian | ( | ) | [inline, virtual] |
internal method used by the constraint solver, don't use them directly
Reimplemented in btConeTwistConstraint, btContactConstraint, btGeneric6DofConstraint, btHingeConstraint, and btPoint2PointConstraint.
Definition at line 161 of file btTypedConstraint.h.
int btTypedConstraint::calculateSerializeBufferSize | ( | ) | const [inline, virtual] |
Reimplemented in btConeTwistConstraint, btGeneric6DofConstraint, btGeneric6DofSpringConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.
Definition at line 381 of file btTypedConstraint.h.
void btTypedConstraint::enableFeedback | ( | bool | needsFeedback | ) | [inline] |
enableFeedback will allow to read the applied linear and angular impulse use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
Definition at line 291 of file btTypedConstraint.h.
btScalar btTypedConstraint::getAppliedImpulse | ( | ) | const [inline] |
getAppliedImpulse is an estimated total applied impulse.
This feedback could be used to determine breaking constraints or playing sounds.
Definition at line 298 of file btTypedConstraint.h.
btScalar btTypedConstraint::getBreakingImpulseThreshold | ( | ) | const [inline] |
Definition at line 190 of file btTypedConstraint.h.
btTypedConstraintType btTypedConstraint::getConstraintType | ( | ) | const [inline] |
Definition at line 304 of file btTypedConstraint.h.
btScalar btTypedConstraint::getDbgDrawSize | ( | ) | [inline] |
Definition at line 313 of file btTypedConstraint.h.
btRigidBody & btTypedConstraint::getFixedBody | ( | ) | [static] |
Definition at line 148 of file btTypedConstraint.cpp.
virtual void btTypedConstraint::getInfo1 | ( | btConstraintInfo1 * | info | ) | [pure virtual] |
internal method used by the constraint solver, don't use them directly
Implemented in btConeTwistConstraint, btContactConstraint, btGearConstraint, btGeneric6DofConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.
virtual void btTypedConstraint::getInfo2 | ( | btConstraintInfo2 * | info | ) | [pure virtual] |
internal method used by the constraint solver, don't use them directly
Implemented in btConeTwistConstraint, btContactConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpringConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.
const btJointFeedback* btTypedConstraint::getJointFeedback | ( | ) | const [inline] |
Definition at line 268 of file btTypedConstraint.h.
btJointFeedback* btTypedConstraint::getJointFeedback | ( | ) | [inline] |
Definition at line 273 of file btTypedConstraint.h.
btScalar btTypedConstraint::getMotorFactor | ( | btScalar | pos, | |
btScalar | lowLim, | |||
btScalar | uppLim, | |||
btScalar | vel, | |||
btScalar | timeFact | |||
) | [protected] |
internal method used by the constraint solver, don't use them directly
Definition at line 60 of file btTypedConstraint.cpp.
int btTypedConstraint::getOverrideNumSolverIterations | ( | ) | const [inline] |
Definition at line 148 of file btTypedConstraint.h.
virtual btScalar btTypedConstraint::getParam | ( | int | num, | |
int | axis = -1 | |||
) | const [pure virtual] |
return the local value of parameter
Implemented in btConeTwistConstraint, btGearConstraint, btGeneric6DofConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.
const btRigidBody& btTypedConstraint::getRigidBodyA | ( | ) | const [inline] |
Reimplemented in btConeTwistConstraint, btHingeConstraint, and btSliderConstraint.
Definition at line 215 of file btTypedConstraint.h.
btRigidBody& btTypedConstraint::getRigidBodyA | ( | ) | [inline] |
Reimplemented in btHingeConstraint.
Definition at line 224 of file btTypedConstraint.h.
const btRigidBody& btTypedConstraint::getRigidBodyB | ( | ) | const [inline] |
Reimplemented in btConeTwistConstraint, btHingeConstraint, and btSliderConstraint.
Definition at line 219 of file btTypedConstraint.h.
btRigidBody& btTypedConstraint::getRigidBodyB | ( | ) | [inline] |
Reimplemented in btHingeConstraint.
Definition at line 228 of file btTypedConstraint.h.
int btTypedConstraint::getUid | ( | ) | const [inline] |
Definition at line 279 of file btTypedConstraint.h.
int btTypedConstraint::getUserConstraintId | ( | ) | const [inline] |
Definition at line 248 of file btTypedConstraint.h.
void* btTypedConstraint::getUserConstraintPtr | ( | ) | [inline] |
Definition at line 258 of file btTypedConstraint.h.
int btTypedConstraint::getUserConstraintType | ( | ) | const [inline] |
Definition at line 233 of file btTypedConstraint.h.
btScalar btTypedConstraint::internalGetAppliedImpulse | ( | ) | [inline] |
internal method used by the constraint solver, don't use them directly
Definition at line 184 of file btTypedConstraint.h.
void btTypedConstraint::internalSetAppliedImpulse | ( | btScalar | appliedImpulse | ) | [inline] |
internal method used by the constraint solver, don't use them directly
Definition at line 179 of file btTypedConstraint.h.
bool btTypedConstraint::isEnabled | ( | ) | const [inline] |
Definition at line 200 of file btTypedConstraint.h.
bool btTypedConstraint::needsFeedback | ( | ) | const [inline] |
Definition at line 284 of file btTypedConstraint.h.
btTypedConstraint& btTypedConstraint::operator= | ( | btTypedConstraint & | other | ) | [inline, private] |
Definition at line 82 of file btTypedConstraint.h.
const char * btTypedConstraint::serialize | ( | void * | dataBuffer, | |
btSerializer * | serializer | |||
) | const [virtual] |
fills the dataBuffer and returns the struct name (and 0 on failure)
Reimplemented in btConeTwistConstraint, btGeneric6DofConstraint, btGeneric6DofSpringConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.
Definition at line 110 of file btTypedConstraint.cpp.
void btTypedConstraint::setBreakingImpulseThreshold | ( | btScalar | threshold | ) | [inline] |
Definition at line 195 of file btTypedConstraint.h.
void btTypedConstraint::setDbgDrawSize | ( | btScalar | dbgDrawSize | ) | [inline] |
Definition at line 309 of file btTypedConstraint.h.
void btTypedConstraint::setEnabled | ( | bool | enabled | ) | [inline] |
Definition at line 205 of file btTypedConstraint.h.
void btTypedConstraint::setJointFeedback | ( | btJointFeedback * | jointFeedback | ) | [inline] |
Definition at line 263 of file btTypedConstraint.h.
void btTypedConstraint::setOverrideNumSolverIterations | ( | int | overideNumIterations | ) | [inline] |
override the number of constraint solver iterations used to solve this constraint -1 will use the default number of iterations, as specified in SolverInfo.m_numIterations
Definition at line 155 of file btTypedConstraint.h.
virtual void btTypedConstraint::setParam | ( | int | num, | |
btScalar | value, | |||
int | axis = -1 | |||
) | [pure 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.
Implemented in btConeTwistConstraint, btGearConstraint, btGeneric6DofConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.
virtual void btTypedConstraint::setupSolverConstraint | ( | btConstraintArray & | ca, | |
int | solverBodyA, | |||
int | solverBodyB, | |||
btScalar | timeStep | |||
) | [inline, virtual] |
internal method used by the constraint solver, don't use them directly
Definition at line 164 of file btTypedConstraint.h.
void btTypedConstraint::setUserConstraintId | ( | int | uid | ) | [inline] |
Definition at line 243 of file btTypedConstraint.h.
void btTypedConstraint::setUserConstraintPtr | ( | void * | ptr | ) | [inline] |
Definition at line 253 of file btTypedConstraint.h.
void btTypedConstraint::setUserConstraintType | ( | int | userConstraintType | ) | [inline] |
Definition at line 238 of file btTypedConstraint.h.
virtual void btTypedConstraint::solveConstraintObsolete | ( | btSolverBody & | , | |
btSolverBody & | , | |||
btScalar | ||||
) | [inline, virtual] |
internal method used by the constraint solver, don't use them directly
Reimplemented in btConeTwistConstraint.
Definition at line 212 of file btTypedConstraint.h.
union { ... } [private] |
btScalar btTypedConstraint::m_appliedImpulse [protected] |
Definition at line 92 of file btTypedConstraint.h.
Definition at line 76 of file btTypedConstraint.h.
btScalar btTypedConstraint::m_dbgDrawSize [protected] |
Definition at line 93 of file btTypedConstraint.h.
bool btTypedConstraint::m_isEnabled [private] |
Definition at line 77 of file btTypedConstraint.h.
btJointFeedback* btTypedConstraint::m_jointFeedback [protected] |
Definition at line 94 of file btTypedConstraint.h.
bool btTypedConstraint::m_needsFeedback [private] |
Definition at line 78 of file btTypedConstraint.h.
int btTypedConstraint::m_overrideNumSolverIterations [private] |
Definition at line 79 of file btTypedConstraint.h.
btRigidBody& btTypedConstraint::m_rbA [protected] |
Definition at line 90 of file btTypedConstraint.h.
btRigidBody& btTypedConstraint::m_rbB [protected] |
Definition at line 91 of file btTypedConstraint.h.
Definition at line 72 of file btTypedConstraint.h.
Definition at line 73 of file btTypedConstraint.h.
int btTypedConstraint::m_userConstraintType [private] |
Definition at line 68 of file btTypedConstraint.h.