| Bullet Collision Detection & Physics Library
    | 
 
 
 
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   20 #define DEFAULT_DEBUGDRAW_SIZE btScalar(0.05f) 
   24           m_userConstraintType(-1),
 
   25           m_userConstraintPtr((void*)-1),
 
   28           m_needsFeedback(false),
 
   29           m_overrideNumSolverIterations(-1),
 
   31           m_rbB(getFixedBody()),
 
   40           m_userConstraintType(-1),
 
   41           m_userConstraintPtr((void*)-1),
 
   44           m_needsFeedback(false),
 
   45           m_overrideNumSolverIterations(-1),
 
   60         else if (lowLim == uppLim)
 
   68                 if ((pos >= lowLim) && (pos < (lowLim - delta_max)))
 
   70                         lim_fact = (lowLim - pos) / delta_max;
 
   72                 else if (pos < lowLim)
 
   83                 if ((pos <= uppLim) && (pos > (uppLim - delta_max)))
 
   85                         lim_fact = (uppLim - pos) / delta_max;
 
   87                 else if (pos > uppLim)
 
  129         tcd->m_disableCollisionsBetweenLinkedBodies = 
false;
 
  134                         tcd->m_disableCollisionsBetweenLinkedBodies = 
true;
 
  137                         tcd->m_disableCollisionsBetweenLinkedBodies = 
true;
 
  194                         if (relativeAngle > 0.0f)
 
  
The btRigidBody is the main class for rigid body objects.
void test(const btScalar angle)
Checks conastaint angle against limit.
btScalar m_relaxationFactor
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
int getNumConstraintRefs() const
virtual void * getUniquePointer(void *oldPtr)=0
virtual const char * findNameForPointer(const void *ptr) const =0
#define DEFAULT_DEBUGDRAW_SIZE
#define btTypedConstraintDataName
void set(btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
Sets all limit's parameters.
int m_overrideNumSolverIterations
btScalar btNormalizeAngle(btScalar angleInRadians)
btScalar m_breakingImpulseThreshold
btVector3 can be used to represent 3D points and vectors.
void fit(btScalar &angle) const
Checks given angle against limit.
virtual void serializeName(const char *ptr)=0
btScalar m_appliedImpulse
bool btEqual(btScalar a, btScalar eps)
void setMassProps(btScalar mass, const btVector3 &inertia)
rudimentary class to provide type info
btScalar getError() const
Returns correction value multiplied by sign value.
static btRigidBody & getFixedBody()
btTypedConstraint * getConstraintRef(int index)
#define btTypedConstraintData2
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
internal method used by the constraint solver, don't use them directly
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)