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>
Public Member Functions | |
| btUniversalConstraint (btRigidBody &rbA, btRigidBody &rbB, btVector3 &anchor, btVector3 &axis1, btVector3 &axis2) | |
| const btVector3 & | getAnchor () |
| const btVector3 & | getAnchor2 () |
| const btVector3 & | getAxis1 () |
| const btVector3 & | getAxis2 () |
| btScalar | getAngle1 () |
| btScalar | getAngle2 () |
| void | setUpperLimit (btScalar ang1max, btScalar ang2max) |
| void | setLowerLimit (btScalar ang1min, btScalar ang2min) |
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, | |||
| btVector3 & | anchor, | |||
| btVector3 & | axis1, | |||
| btVector3 & | axis2 | |||
| ) |
Definition at line 30 of file btUniversalConstraint.cpp.
Member Function Documentation
| const btVector3& btUniversalConstraint::getAnchor | ( | ) | [inline] |
Definition at line 46 of file btUniversalConstraint.h.
| const btVector3& btUniversalConstraint::getAnchor2 | ( | ) | [inline] |
Definition at line 47 of file btUniversalConstraint.h.
| btScalar btUniversalConstraint::getAngle1 | ( | ) | [inline] |
Definition at line 50 of file btUniversalConstraint.h.
| btScalar btUniversalConstraint::getAngle2 | ( | ) | [inline] |
Definition at line 51 of file btUniversalConstraint.h.
| const btVector3& btUniversalConstraint::getAxis1 | ( | ) | [inline] |
Definition at line 48 of file btUniversalConstraint.h.
| const btVector3& btUniversalConstraint::getAxis2 | ( | ) | [inline] |
Definition at line 49 of file btUniversalConstraint.h.
Definition at line 54 of file btUniversalConstraint.h.
Definition at line 53 of file btUniversalConstraint.h.
Member Data Documentation
btVector3 btUniversalConstraint::m_anchor [protected] |
Definition at line 37 of file btUniversalConstraint.h.
btVector3 btUniversalConstraint::m_axis1 [protected] |
Definition at line 38 of file btUniversalConstraint.h.
btVector3 btUniversalConstraint::m_axis2 [protected] |
Definition at line 39 of file btUniversalConstraint.h.
The documentation for this class was generated from the following files:
