Public Member Functions

btRotationalLimitMotor Class Reference

Rotation Limit structure for generic joints. More...

#include <btGeneric6DofConstraint.h>

List of all members.

Public Member Functions

 btRotationalLimitMotor ()
 btRotationalLimitMotor (const btRotationalLimitMotor &limot)
bool isLimited ()
 Is limited.
bool needApplyTorques ()
 Need apply correction.
int testLimitValue (btScalar test_value)
 calculates error
btScalar solveAngularLimits (btScalar timeStep, btVector3 &axis, btScalar jacDiagABInv, btRigidBody *body0, btRigidBody *body1)
 apply the correction impulses for two bodies

Public Attributes

btScalar m_loLimit
 limit_parameters
btScalar m_hiLimit
 joint limit
btScalar m_targetVelocity
 target motor velocity
btScalar m_maxMotorForce
 max force on motor
btScalar m_maxLimitForce
 max force on limit
btScalar m_damping
 Damping.
btScalar m_limitSoftness
btScalar m_normalCFM
 Relaxation factor.
btScalar m_stopERP
 Error tolerance factor when joint is at limit.
btScalar m_stopCFM
 Constraint force mixing factor when joint is at limit.
btScalar m_bounce
 restitution factor
bool m_enableMotor

btScalar m_currentLimitError
 temp_variables
btScalar m_currentPosition
 How much is violated this limit.
int m_currentLimit
 current value of angle
btScalar m_accumulatedImpulse

Detailed Description

Rotation Limit structure for generic joints.

Definition at line 40 of file btGeneric6DofConstraint.h.


Constructor & Destructor Documentation

btRotationalLimitMotor::btRotationalLimitMotor (  )  [inline]

Definition at line 68 of file btGeneric6DofConstraint.h.

btRotationalLimitMotor::btRotationalLimitMotor ( const btRotationalLimitMotor limot  )  [inline]

Definition at line 87 of file btGeneric6DofConstraint.h.


Member Function Documentation

bool btRotationalLimitMotor::isLimited (  )  [inline]

Is limited.

Definition at line 106 of file btGeneric6DofConstraint.h.

bool btRotationalLimitMotor::needApplyTorques (  )  [inline]

Need apply correction.

Definition at line 113 of file btGeneric6DofConstraint.h.

btScalar btRotationalLimitMotor::solveAngularLimits ( btScalar  timeStep,
btVector3 axis,
btScalar  jacDiagABInv,
btRigidBody body0,
btRigidBody body1 
)

apply the correction impulses for two bodies

Definition at line 157 of file btGeneric6DofConstraint.cpp.

int btRotationalLimitMotor::testLimitValue ( btScalar  test_value  ) 

calculates error

calculates m_currentLimit and m_currentLimitError.

Definition at line 122 of file btGeneric6DofConstraint.cpp.


Member Data Documentation

Definition at line 65 of file btGeneric6DofConstraint.h.

restitution factor

Definition at line 55 of file btGeneric6DofConstraint.h.

current value of angle

0=free, 1=at lo limit, 2=at hi limit

Definition at line 64 of file btGeneric6DofConstraint.h.

temp_variables

Definition at line 62 of file btGeneric6DofConstraint.h.

How much is violated this limit.

Definition at line 63 of file btGeneric6DofConstraint.h.

Damping.

Definition at line 50 of file btGeneric6DofConstraint.h.

Definition at line 56 of file btGeneric6DofConstraint.h.

joint limit

Definition at line 46 of file btGeneric6DofConstraint.h.

Definition at line 51 of file btGeneric6DofConstraint.h.

limit_parameters

joint limit

Definition at line 45 of file btGeneric6DofConstraint.h.

max force on limit

Definition at line 49 of file btGeneric6DofConstraint.h.

max force on motor

Definition at line 48 of file btGeneric6DofConstraint.h.

Relaxation factor.

Constraint force mixing factor

Definition at line 52 of file btGeneric6DofConstraint.h.

Constraint force mixing factor when joint is at limit.

Definition at line 54 of file btGeneric6DofConstraint.h.

Error tolerance factor when joint is at limit.

Definition at line 53 of file btGeneric6DofConstraint.h.

target motor velocity

Definition at line 47 of file btGeneric6DofConstraint.h.


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