Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF. More...

#include <btGeneric6DofSpringConstraint.h>

Inheritance diagram for btGeneric6DofSpringConstraint:

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Collaboration diagram for btGeneric6DofSpringConstraint:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btGeneric6DofSpringConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
	btGeneric6DofSpringConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB)
void	enableSpring (int index, bool onOff)
void	setStiffness (int index, btScalar stiffness)
void	setDamping (int index, btScalar damping)
void	setEquilibriumPoint ()
void	setEquilibriumPoint (int index)
void	setEquilibriumPoint (int index, btScalar val)
bool	isSpringEnabled (int index) const
btScalar	getStiffness (int index) const
btScalar	getDamping (int index) const
btScalar	getEquilibriumPoint (int index) const
virtual void	setAxis (const btVector3 &axis1, const btVector3 &axis2)
virtual void	getInfo2 (btConstraintInfo2 *info)
	internal method used by the constraint solver, don't use them directly
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)
Public Member Functions inherited from btGeneric6DofConstraint
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btGeneric6DofConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
	btGeneric6DofConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB)
void	calculateTransforms (const btTransform &transA, const btTransform &transB)
	Calcs global transform of the offsets.
void	calculateTransforms ()
const btTransform &	getCalculatedTransformA () const
	Gets the global transform of the offset for body A.
const btTransform &	getCalculatedTransformB () const
	Gets the global transform of the offset for body B.
const btTransform &	getFrameOffsetA () const
const btTransform &	getFrameOffsetB () const
btTransform &	getFrameOffsetA ()
btTransform &	getFrameOffsetB ()
virtual void	buildJacobian ()
	performs Jacobian calculation, and also calculates angle differences and axis
virtual void	getInfo1 (btConstraintInfo1 *info)
	internal method used by the constraint solver, don't use them directly
void	getInfo1NonVirtual (btConstraintInfo1 *info)
void	getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)
void	updateRHS (btScalar timeStep)
btVector3	getAxis (int axis_index) const
	Get the rotation axis in global coordinates.
btScalar	getAngle (int axis_index) const
	Get the relative Euler angle.
btScalar	getRelativePivotPosition (int axis_index) const
	Get the relative position of the constraint pivot.
void	setFrames (const btTransform &frameA, const btTransform &frameB)
bool	testAngularLimitMotor (int axis_index)
	Test angular limit.
void	setLinearLowerLimit (const btVector3 &linearLower)
void	getLinearLowerLimit (btVector3 &linearLower) const
void	setLinearUpperLimit (const btVector3 &linearUpper)
void	getLinearUpperLimit (btVector3 &linearUpper) const
void	setAngularLowerLimit (const btVector3 &angularLower)
void	getAngularLowerLimit (btVector3 &angularLower) const
void	setAngularUpperLimit (const btVector3 &angularUpper)
void	getAngularUpperLimit (btVector3 &angularUpper) const
btRotationalLimitMotor *	getRotationalLimitMotor (int index)
	Retrieves the angular limit informacion.
btTranslationalLimitMotor *	getTranslationalLimitMotor ()
	Retrieves the limit informacion.
void	setLimit (int axis, btScalar lo, btScalar hi)
bool	isLimited (int limitIndex) const
	Test limit.
virtual void	calcAnchorPos (void)
int	get_limit_motor_info2 (btRotationalLimitMotor limot, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB, btConstraintInfo2 info, int row, btVector3 &ax1, int rotational, int rotAllowed=false)
bool	getUseFrameOffset () const
void	setUseFrameOffset (bool frameOffsetOnOff)
bool	getUseLinearReferenceFrameA () const
void	setUseLinearReferenceFrameA (bool linearReferenceFrameA)
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
void	setAxis (const btVector3 &axis1, const btVector3 &axis2)
virtual int	getFlags () const
Public Member Functions inherited from btTypedConstraint
	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	setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
	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 ()
Public Member Functions inherited from btTypedObject
	btTypedObject (int objectType)
int	getObjectType () const

Protected Member Functions
void	init ()
void	internalUpdateSprings (btConstraintInfo2 *info)
Protected Member Functions inherited from btGeneric6DofConstraint
btGeneric6DofConstraint &	operator= (btGeneric6DofConstraint &other)
int	setAngularLimits (btConstraintInfo2 *info, int row_offset, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)
int	setLinearLimits (btConstraintInfo2 *info, int row, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)
void	buildLinearJacobian (btJacobianEntry &jacLinear, const btVector3 &normalWorld, const btVector3 &pivotAInW, const btVector3 &pivotBInW)
void	buildAngularJacobian (btJacobianEntry &jacAngular, const btVector3 &jointAxisW)
void	calculateLinearInfo ()
void	calculateAngleInfo ()
	calcs the euler angles between the two bodies.
Protected Member Functions inherited from btTypedConstraint
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
bool	m_springEnabled [6]
btScalar	m_equilibriumPoint [6]
btScalar	m_springStiffness [6]
btScalar	m_springDamping [6]
Protected Attributes inherited from btGeneric6DofConstraint
btTransform	m_frameInA
	the constraint space w.r.t body A
btTransform	m_frameInB
	the constraint space w.r.t body B
btJacobianEntry	m_jacLinear [3]
	3 orthogonal linear constraints
btJacobianEntry	m_jacAng [3]
	3 orthogonal angular constraints
btTranslationalLimitMotor	m_linearLimits
btRotationalLimitMotor	m_angularLimits [3]
btScalar	m_timeStep
btTransform	m_calculatedTransformA
btTransform	m_calculatedTransformB
btVector3	m_calculatedAxisAngleDiff
btVector3	m_calculatedAxis [3]
btVector3	m_calculatedLinearDiff
btScalar	m_factA
btScalar	m_factB
bool	m_hasStaticBody
btVector3	m_AnchorPos
bool	m_useLinearReferenceFrameA
bool	m_useOffsetForConstraintFrame
int	m_flags
Protected Attributes inherited from btTypedConstraint
btRigidBody &	m_rbA
btRigidBody &	m_rbB
btScalar	m_appliedImpulse
btScalar	m_dbgDrawSize
btJointFeedback *	m_jointFeedback

Additional Inherited Members
Static Public Member Functions inherited from btTypedConstraint
static btRigidBody &	getFixedBody ()
Public Attributes inherited from btGeneric6DofConstraint
bool	m_useSolveConstraintObsolete
	for backwards compatibility during the transition to 'getInfo/getInfo2'
Public Attributes inherited from btTypedObject
int	m_objectType

Detailed Description

Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF.

DOF index used in enableSpring() and setStiffness() means: 0 : translation X 1 : translation Y 2 : translation Z 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )

Definition at line 41 of file btGeneric6DofSpringConstraint.h.

Constructor & Destructor Documentation

◆ btGeneric6DofSpringConstraint() [1/2]

btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	frameInA,
		const btTransform &	frameInB,
		bool	useLinearReferenceFrameA )