Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF.  
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|  | BT_DECLARE_ALIGNED_ALLOCATOR () | 
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|  | btGeneric6DofSpringConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA) | 
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|  | btGeneric6DofSpringConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB) | 
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| void | enableSpring (int index, bool onOff) | 
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| void | setStiffness (int index, btScalar stiffness) | 
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| void | setDamping (int index, btScalar damping) | 
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| void | setEquilibriumPoint () | 
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| void | setEquilibriumPoint (int index) | 
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| void | setEquilibriumPoint (int index, btScalar val) | 
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| bool | isSpringEnabled (int index) const | 
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| btScalar | getStiffness (int index) const | 
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| btScalar | getDamping (int index) const | 
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| btScalar | getEquilibriumPoint (int index) const | 
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| virtual void | setAxis (const btVector3 &axis1, const btVector3 &axis2) | 
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| virtual void | getInfo2 (btConstraintInfo2 *info) | 
|  | internal method used by the constraint solver, don't use them directly  More... 
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| virtual int | calculateSerializeBufferSize () const | 
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| virtual const char * | serialize (void *dataBuffer, btSerializer *serializer) const | 
|  | fills the dataBuffer and returns the struct name (and 0 on failure)  More... 
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|  | BT_DECLARE_ALIGNED_ALLOCATOR () | 
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|  | btGeneric6DofConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA) | 
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|  | btGeneric6DofConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB) | 
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| void | calculateTransforms (const btTransform &transA, const btTransform &transB) | 
|  | Calcs global transform of the offsets.  More... 
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| void | calculateTransforms () | 
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| const btTransform & | getCalculatedTransformA () const | 
|  | Gets the global transform of the offset for body A.  More... 
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| const btTransform & | getCalculatedTransformB () const | 
|  | Gets the global transform of the offset for body B.  More... 
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| const btTransform & | getFrameOffsetA () const | 
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| const btTransform & | getFrameOffsetB () const | 
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| btTransform & | getFrameOffsetA () | 
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| btTransform & | getFrameOffsetB () | 
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| virtual void | buildJacobian () | 
|  | performs Jacobian calculation, and also calculates angle differences and axis  More... 
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| virtual void | getInfo1 (btConstraintInfo1 *info) | 
|  | internal method used by the constraint solver, don't use them directly  More... 
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| void | getInfo1NonVirtual (btConstraintInfo1 *info) | 
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| void | getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB) | 
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| void | updateRHS (btScalar timeStep) | 
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| btVector3 | getAxis (int axis_index) const | 
|  | Get the rotation axis in global coordinates.  More... 
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| btScalar | getAngle (int axis_index) const | 
|  | Get the relative Euler angle.  More... 
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| btScalar | getRelativePivotPosition (int axis_index) const | 
|  | Get the relative position of the constraint pivot.  More... 
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| void | setFrames (const btTransform &frameA, const btTransform &frameB) | 
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| bool | testAngularLimitMotor (int axis_index) | 
|  | Test angular limit.  More... 
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| void | setLinearLowerLimit (const btVector3 &linearLower) | 
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| void | getLinearLowerLimit (btVector3 &linearLower) const | 
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| void | setLinearUpperLimit (const btVector3 &linearUpper) | 
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| void | getLinearUpperLimit (btVector3 &linearUpper) const | 
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| void | setAngularLowerLimit (const btVector3 &angularLower) | 
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| void | getAngularLowerLimit (btVector3 &angularLower) const | 
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| void | setAngularUpperLimit (const btVector3 &angularUpper) | 
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| void | getAngularUpperLimit (btVector3 &angularUpper) const | 
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| btRotationalLimitMotor * | getRotationalLimitMotor (int index) | 
|  | Retrieves the angular limit informacion.  More... 
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| btTranslationalLimitMotor * | getTranslationalLimitMotor () | 
|  | Retrieves the limit informacion.  More... 
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| void | setLimit (int axis, btScalar lo, btScalar hi) | 
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| bool | isLimited (int limitIndex) const | 
|  | Test limit.  More... 
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| virtual void | calcAnchorPos (void) | 
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| int | get_limit_motor_info2 (btRotationalLimitMotor *limot, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB, btConstraintInfo2 *info, int row, btVector3 &ax1, int rotational, int rotAllowed=false) | 
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| bool | getUseFrameOffset () const | 
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| void | setUseFrameOffset (bool frameOffsetOnOff) | 
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| bool | getUseLinearReferenceFrameA () const | 
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| void | setUseLinearReferenceFrameA (bool linearReferenceFrameA) | 
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| 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... 
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| virtual btScalar | getParam (int num, int axis=-1) const | 
|  | return the local value of parameter  More... 
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| void | setAxis (const btVector3 &axis1, const btVector3 &axis2) | 
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| virtual int | getFlags () const | 
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|  | BT_DECLARE_ALIGNED_ALLOCATOR () | 
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| virtual | ~btTypedConstraint () | 
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|  | btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA) | 
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|  | btTypedConstraint (btTypedConstraintType type, btRigidBody &rbA, btRigidBody &rbB) | 
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| int | getOverrideNumSolverIterations () const | 
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| 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... 
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| virtual void | setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep) | 
|  | internal method used by the constraint solver, don't use them directly  More... 
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| void | internalSetAppliedImpulse (btScalar appliedImpulse) | 
|  | internal method used by the constraint solver, don't use them directly  More... 
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| btScalar | internalGetAppliedImpulse () | 
|  | internal method used by the constraint solver, don't use them directly  More... 
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| btScalar | getBreakingImpulseThreshold () const | 
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| void | setBreakingImpulseThreshold (btScalar threshold) | 
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| bool | isEnabled () const | 
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| void | setEnabled (bool enabled) | 
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| virtual void | solveConstraintObsolete (btSolverBody &, btSolverBody &, btScalar) | 
|  | internal method used by the constraint solver, don't use them directly  More... 
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| const btRigidBody & | getRigidBodyA () const | 
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| const btRigidBody & | getRigidBodyB () const | 
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| btRigidBody & | getRigidBodyA () | 
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| btRigidBody & | getRigidBodyB () | 
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| int | getUserConstraintType () const | 
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| void | setUserConstraintType (int userConstraintType) | 
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| void | setUserConstraintId (int uid) | 
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| int | getUserConstraintId () const | 
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| void | setUserConstraintPtr (void *ptr) | 
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| void * | getUserConstraintPtr () | 
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| void | setJointFeedback (btJointFeedback *jointFeedback) | 
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| const btJointFeedback * | getJointFeedback () const | 
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| btJointFeedback * | getJointFeedback () | 
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| int | getUid () const | 
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| bool | needsFeedback () const | 
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| 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... 
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| btScalar | getAppliedImpulse () const | 
|  | getAppliedImpulse is an estimated total applied impulse.  More... 
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| btTypedConstraintType | getConstraintType () const | 
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| void | setDbgDrawSize (btScalar dbgDrawSize) | 
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| btScalar | getDbgDrawSize () | 
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|  | btTypedObject (int objectType) | 
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| int | getObjectType () const | 
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Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF. 
DOF index used in enableSpring() and setStiffness() means: 0 : translation X 1 : translation Y 2 : translation Z 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] ) 
Definition at line 41 of file btGeneric6DofSpringConstraint.h.