Public Member Functions | Protected Attributes

btUniversalConstraint Class Reference

Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) and Y (axis 2) Description from ODE manual : "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. More...

#include <btUniversalConstraint.h>

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List of all members.

Public Member Functions

 BT_DECLARE_ALIGNED_ALLOCATOR ()
 btUniversalConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &anchor, const btVector3 &axis1, const btVector3 &axis2)
const btVector3getAnchor ()
const btVector3getAnchor2 ()
const btVector3getAxis1 ()
const btVector3getAxis2 ()
btScalar getAngle1 ()
btScalar getAngle2 ()
void setUpperLimit (btScalar ang1max, btScalar ang2max)
void setLowerLimit (btScalar ang1min, btScalar ang2min)
void setAxis (const btVector3 &axis1, const btVector3 &axis2)

Protected Attributes

btVector3 m_anchor
btVector3 m_axis1
btVector3 m_axis2

Detailed Description

Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) and Y (axis 2) Description from ODE manual : "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.

In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."

Definition at line 34 of file btUniversalConstraint.h.


Constructor & Destructor Documentation

btUniversalConstraint::btUniversalConstraint ( btRigidBody rbA,
btRigidBody rbB,
const btVector3 anchor,
const btVector3 axis1,
const btVector3 axis2 
)

Definition at line 30 of file btUniversalConstraint.cpp.


Member Function Documentation

btUniversalConstraint::BT_DECLARE_ALIGNED_ALLOCATOR (  ) 

Reimplemented from btGeneric6DofConstraint.

const btVector3& btUniversalConstraint::getAnchor (  )  [inline]

Definition at line 49 of file btUniversalConstraint.h.

const btVector3& btUniversalConstraint::getAnchor2 (  )  [inline]

Definition at line 50 of file btUniversalConstraint.h.

btScalar btUniversalConstraint::getAngle1 (  )  [inline]

Definition at line 53 of file btUniversalConstraint.h.

btScalar btUniversalConstraint::getAngle2 (  )  [inline]

Definition at line 54 of file btUniversalConstraint.h.

const btVector3& btUniversalConstraint::getAxis1 (  )  [inline]

Definition at line 51 of file btUniversalConstraint.h.

const btVector3& btUniversalConstraint::getAxis2 (  )  [inline]

Definition at line 52 of file btUniversalConstraint.h.

void btUniversalConstraint::setAxis ( const btVector3 axis1,
const btVector3 axis2 
)

Reimplemented from btGeneric6DofConstraint.

Definition at line 64 of file btUniversalConstraint.cpp.

void btUniversalConstraint::setLowerLimit ( btScalar  ang1min,
btScalar  ang2min 
) [inline]

Definition at line 57 of file btUniversalConstraint.h.

void btUniversalConstraint::setUpperLimit ( btScalar  ang1max,
btScalar  ang2max 
) [inline]

Definition at line 56 of file btUniversalConstraint.h.


Member Data Documentation

Definition at line 37 of file btUniversalConstraint.h.

Definition at line 38 of file btUniversalConstraint.h.

Definition at line 39 of file btUniversalConstraint.h.


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