btConeTwistConstraint Class Reference

btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) More...

#include <btConeTwistConstraint.h>

Inheritance diagram for btConeTwistConstraint:

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Collaboration diagram for btConeTwistConstraint:

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List of all members.

Public Member Functions
	btConeTwistConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame)
	btConeTwistConstraint (btRigidBody &rbA, const btTransform &rbAFrame)
virtual void	buildJacobian ()
	internal method used by the constraint solver, don't use them directly
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 btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
virtual void	solveConstraintObsolete (btRigidBody &bodyA, btRigidBody &bodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly
void	updateRHS (btScalar timeStep)
const btRigidBody &	getRigidBodyA () const
const btRigidBody &	getRigidBodyB () const
void	setAngularOnly (bool angularOnly)
void	setLimit (int limitIndex, btScalar limitValue)
void	setLimit (btScalar _swingSpan1, btScalar _swingSpan2, btScalar _twistSpan, btScalar _softness=1.f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
const btTransform &	getAFrame ()
const btTransform &	getBFrame ()
int	getSolveTwistLimit ()
int	getSolveSwingLimit ()
btScalar	getTwistLimitSign ()
void	calcAngleInfo ()
void	calcAngleInfo2 (const btTransform &transA, const btTransform &transB, const btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
btScalar	getSwingSpan1 ()
btScalar	getSwingSpan2 ()
btScalar	getTwistSpan ()
btScalar	getTwistAngle ()
bool	isPastSwingLimit ()
void	setDamping (btScalar damping)
void	enableMotor (bool b)
void	setMaxMotorImpulse (btScalar maxMotorImpulse)
void	setMaxMotorImpulseNormalized (btScalar maxMotorImpulse)
btScalar	getFixThresh ()
void	setFixThresh (btScalar fixThresh)
void	setMotorTarget (const btQuaternion &q)
void	setMotorTargetInConstraintSpace (const btQuaternion &q)
btVector3	GetPointForAngle (btScalar fAngleInRadians, btScalar fLength) const
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	init ()
void	computeConeLimitInfo (const btQuaternion &qCone, btScalar &swingAngle, btVector3 &vSwingAxis, btScalar &swingLimit)
void	computeTwistLimitInfo (const btQuaternion &qTwist, btScalar &twistAngle, btVector3 &vTwistAxis)
void	adjustSwingAxisToUseEllipseNormal (btVector3 &vSwingAxis) const
Private Attributes
btJacobianEntry	m_jac [3]
btTransform	m_rbAFrame
btTransform	m_rbBFrame
btScalar	m_limitSoftness
btScalar	m_biasFactor
btScalar	m_relaxationFactor
btScalar	m_damping
btScalar	m_swingSpan1
btScalar	m_swingSpan2
btScalar	m_twistSpan
btScalar	m_fixThresh
btVector3	m_swingAxis
btVector3	m_twistAxis
btScalar	m_kSwing
btScalar	m_kTwist
btScalar	m_twistLimitSign
btScalar	m_swingCorrection
btScalar	m_twistCorrection
btScalar	m_twistAngle
btScalar	m_accSwingLimitImpulse
btScalar	m_accTwistLimitImpulse
bool	m_angularOnly
bool	m_solveTwistLimit
bool	m_solveSwingLimit
bool	m_useSolveConstraintObsolete
btScalar	m_swingLimitRatio
btScalar	m_twistLimitRatio
btVector3	m_twistAxisA
bool	m_bMotorEnabled
bool	m_bNormalizedMotorStrength
btQuaternion	m_qTarget
btScalar	m_maxMotorImpulse
btVector3	m_accMotorImpulse
int	m_flags
btScalar	m_linCFM
btScalar	m_linERP
btScalar	m_angCFM

Detailed Description

btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)

Definition at line 53 of file btConeTwistConstraint.h.

Constructor & Destructor Documentation

btConeTwistConstraint::btConeTwistConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	rbAFrame,
		const btTransform &	rbBFrame
	)

Definition at line 41 of file btConeTwistConstraint.cpp.

btConeTwistConstraint::btConeTwistConstraint	(	btRigidBody &	rbA,
		const btTransform &	rbAFrame
	)

Definition at line 50 of file btConeTwistConstraint.cpp.

Member Function Documentation

void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal ( btVector3 & vSwingAxis ) const [protected]

Definition at line 936 of file btConeTwistConstraint.cpp.

void btConeTwistConstraint::buildJacobian ( ) [virtual]

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

Reimplemented from btTypedConstraint.

Definition at line 259 of file btConeTwistConstraint.cpp.

void btConeTwistConstraint::calcAngleInfo ( )

Definition at line 532 of file btConeTwistConstraint.cpp.

void btConeTwistConstraint::calcAngleInfo2	(	const btTransform &	transA,
		const btTransform &	transB,
		const btMatrix3x3 &	invInertiaWorldA,
		const btMatrix3x3 &	invInertiaWorldB
	)

Definition at line 623 of file btConeTwistConstraint.cpp.

SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize ( ) const [virtual]

Reimplemented from btTypedConstraint.

Definition at line 304 of file btConeTwistConstraint.h.

void btConeTwistConstraint::computeConeLimitInfo	(	const btQuaternion &	qCone,
		btScalar &	swingAngle,
		btVector3 &	vSwingAxis,
		btScalar &	swingLimit
	)			`[protected]`

Definition at line 816 of file btConeTwistConstraint.cpp.

void btConeTwistConstraint::computeTwistLimitInfo	(	const btQuaternion &	qTwist,
		btScalar &	twistAngle,
		btVector3 &	vTwistAxis
	)			`[protected]`

Definition at line 912 of file btConeTwistConstraint.cpp.

void btConeTwistConstraint::enableMotor ( bool b ) [inline]

Definition at line 250 of file btConeTwistConstraint.h.

const btTransform& btConeTwistConstraint::getAFrame ( ) [inline]

Definition at line 208 of file btConeTwistConstraint.h.

const btTransform& btConeTwistConstraint::getBFrame ( ) [inline]

Definition at line 209 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getFixThresh ( ) [inline]

Definition at line 254 of file btConeTwistConstraint.h.

void btConeTwistConstraint::getInfo1 ( btConstraintInfo1 * info ) [virtual]

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

Implements btTypedConstraint.

Definition at line 78 of file btConeTwistConstraint.cpp.

void btConeTwistConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

Definition at line 108 of file btConeTwistConstraint.cpp.

void btConeTwistConstraint::getInfo2 ( btConstraintInfo2 * info ) [virtual]

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

Implements btTypedConstraint.

Definition at line 117 of file btConeTwistConstraint.cpp.

void btConeTwistConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btMatrix3x3 &	invInertiaWorldA,
		const btMatrix3x3 &	invInertiaWorldB
	)

Definition at line 122 of file btConeTwistConstraint.cpp.

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

return the local value of parameter

Implements btTypedConstraint.

Definition at line 1072 of file btConeTwistConstraint.cpp.

btVector3 btConeTwistConstraint::GetPointForAngle	(	btScalar	fAngleInRadians,
		btScalar	fLength
	)			const

Definition at line 879 of file btConeTwistConstraint.cpp.

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

Reimplemented from btTypedConstraint.

Definition at line 147 of file btConeTwistConstraint.h.

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

Reimplemented from btTypedConstraint.

Definition at line 151 of file btConeTwistConstraint.h.

int btConeTwistConstraint::getSolveSwingLimit ( ) [inline]

Definition at line 216 of file btConeTwistConstraint.h.

int btConeTwistConstraint::getSolveTwistLimit ( ) [inline]

Definition at line 211 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getSwingSpan1 ( ) [inline]

Definition at line 229 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getSwingSpan2 ( ) [inline]

Definition at line 233 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getTwistAngle ( ) [inline]

Definition at line 241 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getTwistLimitSign ( ) [inline]

Definition at line 221 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getTwistSpan ( ) [inline]

Definition at line 237 of file btConeTwistConstraint.h.

void btConeTwistConstraint::init ( ) [protected]

Definition at line 60 of file btConeTwistConstraint.cpp.

bool btConeTwistConstraint::isPastSwingLimit ( ) [inline]

Definition at line 245 of file btConeTwistConstraint.h.

SIMD_FORCE_INLINE const char * btConeTwistConstraint::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)			const `[virtual]`

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented from btTypedConstraint.

Definition at line 312 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setAngularOnly ( bool angularOnly ) [inline]

Definition at line 156 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setDamping ( btScalar damping ) [inline]

Definition at line 248 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setFixThresh ( btScalar fixThresh ) [inline]

Definition at line 255 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setLimit	(	btScalar	_swingSpan1,
		btScalar	_swingSpan2,
		btScalar	_twistSpan,
		btScalar	_softness = `1.f`,
		btScalar	_biasFactor = `0.3f`,
		btScalar	_relaxationFactor = `1.0f`
	)			`[inline]`