TypedConstraint is the baseclass for Bullet constraints and vehicles. More...

#include <btTypedConstraint.h>

Inheritance diagram for btTypedConstraint:

Collaboration diagram for btTypedConstraint:

Classes
struct	btConstraintInfo1

struct	btConstraintInfo2

Public Member Functions
	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 More...

virtual void	buildJacobian ()
	internal method used by the constraint solver, don't use them directly More...

virtual void	setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly More...

virtual void	getInfo1 (btConstraintInfo1 *info)=0
	internal method used by the constraint solver, don't use them directly More...

virtual void	getInfo2 (btConstraintInfo2 *info)=0
	internal method used by the constraint solver, don't use them directly More...

void	internalSetAppliedImpulse (btScalar appliedImpulse)
	internal method used by the constraint solver, don't use them directly More...

btScalar	internalGetAppliedImpulse ()
	internal method used by the constraint solver, don't use them directly More...

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 More...

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 More...

btScalar	getAppliedImpulse () const
	getAppliedImpulse is an estimated total applied impulse. More...

btTypedConstraintType	getConstraintType () const

void	setDbgDrawSize (btScalar dbgDrawSize)

btScalar	getDbgDrawSize ()

virtual void	setParam (int num, btScalar value, int axis=-1)=0
	override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). More...

virtual btScalar	getParam (int num, int axis=-1) const =0
	return the local value of parameter More...

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) More...

Public Member Functions inherited from btTypedObject
	btTypedObject (int objectType)

int	getObjectType () const

Static Public Member Functions
static btRigidBody &	getFixedBody ()

Protected Member Functions
btScalar	getMotorFactor (btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
	internal method used by the constraint solver, don't use them directly More...

Protected Attributes
btRigidBody &	m_rbA

btRigidBody &	m_rbB

btScalar	m_appliedImpulse

btScalar	m_dbgDrawSize

btJointFeedback *	m_jointFeedback

Private Member Functions
btTypedConstraint &	operator= (btTypedConstraint &other)

Private Attributes
int	m_userConstraintType

union {
int m_userConstraintId

void * m_userConstraintPtr

};

btScalar	m_breakingImpulseThreshold

bool	m_isEnabled

bool	m_needsFeedback

int	m_overrideNumSolverIterations

Additional Inherited Members
Public Attributes inherited from btTypedObject
int	m_objectType

Detailed Description

TypedConstraint is the baseclass for Bullet constraints and vehicles.

Definition at line 66 of file btTypedConstraint.h.

Constructor & Destructor Documentation

virtual btTypedConstraint::~btTypedConstraint ( )

inlinevirtual

Definition at line 104 of file btTypedConstraint.h.

btTypedConstraint::btTypedConstraint	(	btTypedConstraintType	type,
		btRigidBody &	rbA
	)

Definition at line 24 of file btTypedConstraint.cpp.

btTypedConstraint::btTypedConstraint	(	btTypedConstraintType	type,
		btRigidBody &	rbA,
		btRigidBody &	rbB
	)

Definition at line 41 of file btTypedConstraint.cpp.

Member Function Documentation

btTypedConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

virtual void btTypedConstraint::buildJacobian ( )

inlinevirtual

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

Reimplemented in btGeneric6DofConstraint, btConeTwistConstraint, btHingeConstraint, btPoint2PointConstraint, and btContactConstraint.

Definition at line 161 of file btTypedConstraint.h.

int btTypedConstraint::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented in btGeneric6DofConstraint, btHingeConstraint, btConeTwistConstraint, btSliderConstraint, btPoint2PointConstraint, and btGeneric6DofSpringConstraint.

Definition at line 381 of file btTypedConstraint.h.

void btTypedConstraint::enableFeedback ( bool needsFeedback)

inline

enableFeedback will allow to read the applied linear and angular impulse use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information

Definition at line 291 of file btTypedConstraint.h.

btScalar btTypedConstraint::getAppliedImpulse ( ) const

inline

getAppliedImpulse is an estimated total applied impulse.

This feedback could be used to determine breaking constraints or playing sounds.

Definition at line 298 of file btTypedConstraint.h.

btScalar btTypedConstraint::getBreakingImpulseThreshold ( ) const

inline

Definition at line 190 of file btTypedConstraint.h.

btTypedConstraintType btTypedConstraint::getConstraintType ( ) const

inline

Definition at line 304 of file btTypedConstraint.h.

btScalar btTypedConstraint::getDbgDrawSize ( )

inline

Definition at line 313 of file btTypedConstraint.h.

btRigidBody & btTypedConstraint::getFixedBody ( )

static

Definition at line 148 of file btTypedConstraint.cpp.

virtual void btTypedConstraint::getInfo1 ( btConstraintInfo1 * info)

pure virtual

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

Implemented in btGeneric6DofConstraint, btSliderConstraint, btConeTwistConstraint, btHingeConstraint, btPoint2PointConstraint, btContactConstraint, and btGearConstraint.

virtual void btTypedConstraint::getInfo2 ( btConstraintInfo2 * info)

pure virtual

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

Implemented in btGeneric6DofConstraint, btSliderConstraint, btConeTwistConstraint, btHingeConstraint, btPoint2PointConstraint, btGeneric6DofSpringConstraint, btContactConstraint, and btGearConstraint.

const btJointFeedback* btTypedConstraint::getJointFeedback ( ) const

inline

Definition at line 268 of file btTypedConstraint.h.

btJointFeedback* btTypedConstraint::getJointFeedback ( )

inline

Definition at line 273 of file btTypedConstraint.h.

btScalar btTypedConstraint::getMotorFactor	(	btScalar	pos,
		btScalar	lowLim,
		btScalar	uppLim,
		btScalar	vel,
		btScalar	timeFact
	)

protected

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

Definition at line 60 of file btTypedConstraint.cpp.

int btTypedConstraint::getOverrideNumSolverIterations ( ) const

inline

Definition at line 148 of file btTypedConstraint.h.

virtual btScalar btTypedConstraint::getParam	(	int	num,
		int	axis = `-1`
	)		const

pure virtual

return the local value of parameter

Implemented in btGeneric6DofConstraint, btHingeConstraint, btConeTwistConstraint, btSliderConstraint, btPoint2PointConstraint, and btGearConstraint.

const btRigidBody& btTypedConstraint::getRigidBodyA ( ) const

inline

Definition at line 215 of file btTypedConstraint.h.

btRigidBody& btTypedConstraint::getRigidBodyA ( )

inline

Definition at line 224 of file btTypedConstraint.h.

const btRigidBody& btTypedConstraint::getRigidBodyB ( ) const

inline

Definition at line 219 of file btTypedConstraint.h.

btRigidBody& btTypedConstraint::getRigidBodyB ( )

inline

Definition at line 228 of file btTypedConstraint.h.

int btTypedConstraint::getUid ( ) const

inline

Definition at line 279 of file btTypedConstraint.h.

int btTypedConstraint::getUserConstraintId ( ) const

inline

Definition at line 248 of file btTypedConstraint.h.

void* btTypedConstraint::getUserConstraintPtr ( )

inline

Definition at line 258 of file btTypedConstraint.h.

int btTypedConstraint::getUserConstraintType ( ) const

inline

Definition at line 233 of file btTypedConstraint.h.

btScalar btTypedConstraint::internalGetAppliedImpulse ( )

inline

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

Definition at line 184 of file btTypedConstraint.h.

void btTypedConstraint::internalSetAppliedImpulse ( btScalar appliedImpulse)

inline

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

Definition at line 179 of file btTypedConstraint.h.

bool btTypedConstraint::isEnabled ( ) const

inline

Definition at line 200 of file btTypedConstraint.h.

bool btTypedConstraint::needsFeedback ( ) const

inline

Definition at line 284 of file btTypedConstraint.h.

btTypedConstraint& btTypedConstraint::operator= ( btTypedConstraint & other)

inlineprivate

Definition at line 82 of file btTypedConstraint.h.

const char * btTypedConstraint::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)		const

virtual

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

Reimplemented in btGeneric6DofConstraint, btHingeConstraint, btConeTwistConstraint, btSliderConstraint, btPoint2PointConstraint, and btGeneric6DofSpringConstraint.

Definition at line 110 of file btTypedConstraint.cpp.

void btTypedConstraint::setBreakingImpulseThreshold ( btScalar threshold)

inline

Definition at line 195 of file btTypedConstraint.h.

void btTypedConstraint::setDbgDrawSize ( btScalar dbgDrawSize)

inline

Definition at line 309 of file btTypedConstraint.h.

void btTypedConstraint::setEnabled ( bool enabled)

inline

Definition at line 205 of file btTypedConstraint.h.

void btTypedConstraint::setJointFeedback ( btJointFeedback * jointFeedback)

inline

Definition at line 263 of file btTypedConstraint.h.

void btTypedConstraint::setOverrideNumSolverIterations ( int overideNumIterations)

inline

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

Definition at line 155 of file btTypedConstraint.h.

virtual void btTypedConstraint::setParam	(	int	num,
		btScalar	value,
		int	axis = `-1`
	)

pure virtual

override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).

If no axis is provided, it uses the default axis for this constraint.

Implemented in btGeneric6DofConstraint, btHingeConstraint, btSliderConstraint, btConeTwistConstraint, btPoint2PointConstraint, and btGearConstraint.

virtual void btTypedConstraint::setupSolverConstraint	(	btConstraintArray &	ca,
		int	solverBodyA,
		int	solverBodyB,
		btScalar	timeStep
	)

inlinevirtual

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

Definition at line 164 of file btTypedConstraint.h.

void btTypedConstraint::setUserConstraintId ( int uid)

inline

Definition at line 243 of file btTypedConstraint.h.

void btTypedConstraint::setUserConstraintPtr ( void * ptr)

inline

Definition at line 253 of file btTypedConstraint.h.

void btTypedConstraint::setUserConstraintType ( int userConstraintType)

inline

Definition at line 238 of file btTypedConstraint.h.

virtual void btTypedConstraint::solveConstraintObsolete	(	btSolverBody &	,
		btSolverBody &	,
		btScalar
	)

inlinevirtual

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

Reimplemented in btConeTwistConstraint.

Definition at line 212 of file btTypedConstraint.h.

Member Data Documentation

union { ... }

btScalar btTypedConstraint::m_appliedImpulse

protected

Definition at line 92 of file btTypedConstraint.h.

btScalar btTypedConstraint::m_breakingImpulseThreshold

private

Definition at line 76 of file btTypedConstraint.h.

btScalar btTypedConstraint::m_dbgDrawSize

protected

Definition at line 93 of file btTypedConstraint.h.

bool btTypedConstraint::m_isEnabled

private

Definition at line 77 of file btTypedConstraint.h.

btJointFeedback* btTypedConstraint::m_jointFeedback

protected

Definition at line 94 of file btTypedConstraint.h.

bool btTypedConstraint::m_needsFeedback

private

Definition at line 78 of file btTypedConstraint.h.

int btTypedConstraint::m_overrideNumSolverIterations

private

Definition at line 79 of file btTypedConstraint.h.

btRigidBody& btTypedConstraint::m_rbA

protected

Definition at line 90 of file btTypedConstraint.h.

btRigidBody& btTypedConstraint::m_rbB

protected

Definition at line 91 of file btTypedConstraint.h.

int btTypedConstraint::m_userConstraintId

Definition at line 72 of file btTypedConstraint.h.

void* btTypedConstraint::m_userConstraintPtr

Definition at line 73 of file btTypedConstraint.h.

int btTypedConstraint::m_userConstraintType

private

Definition at line 68 of file btTypedConstraint.h.

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation