Bullet Collision Detection & Physics Library: btPoint2PointConstraint Class Reference

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btPoint2PointConstraint Class Reference

point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space More...

`#include <btPoint2PointConstraint.h>`

Inheritance diagram for btPoint2PointConstraint:
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Collaboration diagram for btPoint2PointConstraint:
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## Public Member Functions
| BT_DECLARE_ALIGNED_ALLOCATOR ()
| btPoint2PointConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)
| btPoint2PointConstraint (btRigidBody &rbA, const btVector3 &pivotInA)
virtual void | buildJacobian ()
| internal method used by the constraint solver, don't use them directly More...
virtual void | getInfo1 (btConstraintInfo1 *info)
| internal method used by the constraint solver, don't use them directly More...
void | getInfo1NonVirtual (btConstraintInfo1 *info)
virtual void | getInfo2 (btConstraintInfo2 *info)
| internal method used by the constraint solver, don't use them directly More...
void | getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &body0_trans, const btTransform &body1_trans)
void | updateRHS (btScalar timeStep)
void | setPivotA (const btVector3 &pivotA)
void | setPivotB (const btVector3 &pivotB)
const btVector3 & | getPivotInA () const
const btVector3 & | getPivotInB () 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). More...
virtual btScalar | getParam (int num, int axis=-1) const
| return the local value of parameter More...
virtual int | getFlags () const
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 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 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...
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 ()
Public Member Functions inherited from btTypedObject
| btTypedObject (int objectType)
int | getObjectType () const

## Public Attributes
bool | m_useSolveConstraintObsolete
| for backwards compatibility during the transition to 'getInfo/getInfo2' More...
btConstraintSetting | m_setting
Public Attributes inherited from btTypedObject
int | m_objectType

## Private Attributes
btJacobianEntry | m_jac [3]
btVector3 | m_pivotInA
btVector3 | m_pivotInB
int | m_flags
btScalar | m_erp
btScalar | m_cfm

## Additional Inherited Members
Static Public Member Functions inherited from btTypedConstraint
static btRigidBody & | getFixedBody ()
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 More...
Protected Attributes inherited from btTypedConstraint
btRigidBody & | m_rbA
btRigidBody & | m_rbB
btScalar | m_appliedImpulse
btScalar | m_dbgDrawSize
btJointFeedback * | m_jointFeedback

## Detailed Description

point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space

Definition at line 54 of file btPoint2PointConstraint.h.

## Constructor & Destructor Documentation

btPoint2PointConstraint::btPoint2PointConstraint | ( | btRigidBody & | rbA,
|  | btRigidBody & | rbB,
|  | const btVector3 & | pivotInA,
|  | const btVector3 & | pivotInB
| ) |  |

Definition at line 25 of file btPoint2PointConstraint.cpp.

btPoint2PointConstraint::btPoint2PointConstraint | ( | btRigidBody & | rbA,
|  | const btVector3 & | pivotInA
| ) |  |

Definition at line 34 of file btPoint2PointConstraint.cpp.

## Member Function Documentation

btPoint2PointConstraint::BT_DECLARE_ALIGNED_ALLOCATOR | ( |  | ) |

void btPoint2PointConstraint::buildJacobian | ( |  | ) |
| virtual

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

we need it for both methods

Reimplemented from btTypedConstraint.

Definition at line 42 of file btPoint2PointConstraint.cpp.

int btPoint2PointConstraint::calculateSerializeBufferSize | ( |  | ) | const
| inlinevirtual

Reimplemented from btTypedConstraint.

Definition at line 162 of file btPoint2PointConstraint.h.

virtual int btPoint2PointConstraint::getFlags | ( |  | ) | const
| inlinevirtual

Definition at line 120 of file btPoint2PointConstraint.h.

void btPoint2PointConstraint::getInfo1 | ( | btConstraintInfo1 * | info | ) |
| virtual

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

Implements btTypedConstraint.

Definition at line 71 of file btPoint2PointConstraint.cpp.

void btPoint2PointConstraint::getInfo1NonVirtual | ( | btConstraintInfo1 * | info | ) |

Definition at line 76 of file btPoint2PointConstraint.cpp.

void btPoint2PointConstraint::getInfo2 | ( | btConstraintInfo2 * | info | ) |
| virtual

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

Implements btTypedConstraint.

Definition at line 92 of file btPoint2PointConstraint.cpp.

void btPoint2PointConstraint::getInfo2NonVirtual | ( | btConstraintInfo2 * | info,
|  | const btTransform & | body0_trans,
|  | const btTransform & | body1_trans
| ) |  |

Definition at line 97 of file btPoint2PointConstraint.cpp.

btScalar btPoint2PointConstraint::getParam | ( | int | num,
|  | int | axis = `-1`
| ) |  | const
| virtual

return the local value of parameter

Implements btTypedConstraint.

Definition at line 202 of file btPoint2PointConstraint.cpp.

const btVector3& btPoint2PointConstraint::getPivotInA | ( |  | ) | const
| inline

Definition at line 104 of file btPoint2PointConstraint.h.

const btVector3& btPoint2PointConstraint::getPivotInB | ( |  | ) | const
| inline

Definition at line 109 of file btPoint2PointConstraint.h.

const char * btPoint2PointConstraint::serialize | ( | void * | dataBuffer,
|  | btSerializer * | serializer
| ) |  | const
| inlinevirtual

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

Reimplemented from btTypedConstraint.

Definition at line 169 of file btPoint2PointConstraint.h.

void btPoint2PointConstraint::setParam | ( | int | num,
|  | btScalar | value,
|  | int | axis = `-1`
| ) |  |
| 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.

Implements btTypedConstraint.

Definition at line 175 of file btPoint2PointConstraint.cpp.

void btPoint2PointConstraint::setPivotA | ( | const btVector3 & | pivotA | ) |
| inline

Definition at line 94 of file btPoint2PointConstraint.h.

void btPoint2PointConstraint::setPivotB | ( | const btVector3 & | pivotB | ) |
| inline

Definition at line 99 of file btPoint2PointConstraint.h.

void btPoint2PointConstraint::updateRHS | ( | btScalar | timeStep | ) |

Definition at line 167 of file btPoint2PointConstraint.cpp.

## Member Data Documentation

btScalar btPoint2PointConstraint::m_cfm
| private

Definition at line 66 of file btPoint2PointConstraint.h.

btScalar btPoint2PointConstraint::m_erp
| private

Definition at line 65 of file btPoint2PointConstraint.h.

int btPoint2PointConstraint::m_flags
| private

Definition at line 64 of file btPoint2PointConstraint.h.

btJacobianEntry btPoint2PointConstraint::m_jac[3]
| private

Definition at line 59 of file btPoint2PointConstraint.h.

btVector3 btPoint2PointConstraint::m_pivotInA
| private

Definition at line 61 of file btPoint2PointConstraint.h.

btVector3 btPoint2PointConstraint::m_pivotInB
| private

Definition at line 62 of file btPoint2PointConstraint.h.

btConstraintSetting btPoint2PointConstraint::m_setting

Definition at line 75 of file btPoint2PointConstraint.h.

bool btPoint2PointConstraint::m_useSolveConstraintObsolete

for backwards compatibility during the transition to 'getInfo/getInfo2'

Definition at line 73 of file btPoint2PointConstraint.h.

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

- btPoint2PointConstraint.h
- btPoint2PointConstraint.cpp