Bullet Collision Detection & Physics Library
|
Go to the documentation of this file.
25 #ifndef BT_SLIDER_CONSTRAINT_H
26 #define BT_SLIDER_CONSTRAINT_H
30 #ifdef BT_USE_DOUBLE_PRECISION
31 #define btSliderConstraintData2 btSliderConstraintDoubleData
32 #define btSliderConstraintDataName "btSliderConstraintDoubleData"
34 #define btSliderConstraintData2 btSliderConstraintData
35 #define btSliderConstraintDataName "btSliderConstraintData"
36 #endif //BT_USE_DOUBLE_PRECISION
44 #define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
45 #define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
46 #define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
47 #define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
255 void testLinLimits();
256 void testAngLimits();
262 void setUseFrameOffset(
bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
268 calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
274 virtual void setParam(
int num,
btScalar value,
int axis = -1);
276 virtual btScalar getParam(
int num,
int axis = -1)
const;
349 #endif //BT_SLIDER_CONSTRAINT_H
float m_angularLowerLimit
btScalar getSoftnessDirAng()
btTypedConstraintData m_typeConstraintData
TypedConstraint is the baseclass for Bullet constraints and vehicles.
@ BT_SLIDER_FLAGS_CFM_LIMLIN
btScalar getLowerLinLimit()
void setMaxAngMotorForce(btScalar maxAngMotorForce)
void setRestitutionOrthoAng(btScalar restitutionOrthoAng)
The btRigidBody is the main class for rigid body objects.
btScalar getRestitutionOrthoLin()
btScalar getRestitutionOrthoAng()
void setUseFrameOffset(bool frameOffsetOnOff)
btScalar m_targetLinMotorVelocity
void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity)
btScalar m_softnessOrthoLin
void setDampingOrthoAng(btScalar dampingOrthoAng)
@ BT_SLIDER_FLAGS_CFM_ORTLIN
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
void setRestitutionDirLin(btScalar restitutionDirLin)
btScalar getTargetAngMotorVelocity()
double m_angularLowerLimit
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
@ BT_SLIDER_FLAGS_CFM_LIMANG
bool getUseLinearReferenceFrameA()
btScalar getSoftnessLimAng()
double m_linearLowerLimit
const btRigidBody & getRigidBodyB() const
BT_DECLARE_ALIGNED_ALLOCATOR()
double m_angularUpperLimit
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
void setMaxLinMotorForce(btScalar maxLinMotorForce)
@ BT_SLIDER_FLAGS_ERP_ORTANG
void setSoftnessDirLin(btScalar softnessDirLin)
btScalar getSoftnessLimLin()
bool m_useLinearReferenceFrameA
void setRestitutionLimAng(btScalar restitutionLimAng)
void setLowerAngLimit(btScalar lowerLimit)
btScalar getUpperAngLimit()
btScalar m_softnessDirAng
float m_angularUpperLimit
const btTransform & getFrameOffsetB() const
int m_useOffsetForConstraintFrame
const btTransform & getFrameOffsetA() const
btScalar m_softnessDirLin
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btScalar getSoftnessOrthoAng()
virtual int calculateSerializeBufferSize() const
void setSoftnessLimLin(btScalar softnessLimLin)
btTransform & getFrameOffsetA()
btScalar m_targetAngMotorVelocity
btScalar m_maxLinMotorForce
btScalar getRestitutionLimAng()
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btTransformFloatData m_rbBFrame
btScalar m_accumulatedAngMotorImpulse
btScalar m_restitutionOrthoLin
btScalar getDampingDirAng()
@ BT_SLIDER_FLAGS_ERP_DIRLIN
btScalar m_softnessLimAng
btScalar getDampingLimLin()
void setPoweredAngMotor(bool onOff)
btScalar m_maxAngMotorForce
btScalar m_dampingOrthoAng
bool getPoweredLinMotor()
btScalar btNormalizeAngle(btScalar angleInRadians)
@ BT_SLIDER_FLAGS_ERP_ORTLIN
void setDampingDirLin(btScalar dampingDirLin)
int m_useLinearReferenceFrameA
void setLowerLinLimit(btScalar lowerLimit)
void setRestitutionOrthoLin(btScalar restitutionOrthoLin)
btScalar m_dampingOrthoLin
btTransform m_calculatedTransformA
void setSoftnessDirAng(btScalar softnessDirAng)
btVector3 can be used to represent 3D points and vectors.
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
int m_useLinearReferenceFrameA
@ BT_SLIDER_FLAGS_CFM_DIRLIN
void setDampingLimLin(btScalar dampingLimLin)
btVector3 m_realPivotAInW
const btTransform & getCalculatedTransformB() const
btScalar getRestitutionDirAng()
btScalar getMaxAngMotorForce()
#define ATTRIBUTE_ALIGNED16(a)
void setDampingLimAng(btScalar dampingLimAng)
@ BT_SLIDER_FLAGS_ERP_DIRANG
btScalar m_accumulatedLinMotorImpulse
#define btSliderConstraintDataName
void setUpperAngLimit(btScalar upperLimit)
btTransformFloatData m_rbAFrame
const btTransform & getCalculatedTransformA() const
void setRestitutionLimLin(btScalar restitutionLimLin)
btScalar m_restitutionLimAng
#define SIMD_FORCE_INLINE
double m_linearUpperLimit
btScalar m_restitutionDirAng
btTransform & getFrameOffsetB()
#define btSliderConstraintData2
btVector3 m_realPivotBInW
btScalar m_softnessOrthoAng
btScalar getRestitutionLimLin()
btScalar m_restitutionDirLin
btScalar m_restitutionOrthoAng
btTypedConstraintDoubleData m_typeConstraintData
this structure is not used, except for loading pre-2.82 .bullet files
@ BT_SLIDER_FLAGS_CFM_ORTANG
btScalar getUpperLinLimit()
btScalar getTargetLinMotorVelocity()
btTransform m_calculatedTransformB
void setSoftnessOrthoLin(btScalar softnessOrthoLin)
bool m_useOffsetForConstraintFrame
@ BT_SLIDER_FLAGS_ERP_LIMLIN
btScalar getLinearPos() const
bool getPoweredAngMotor()
btScalar getDampingDirLin()
btTransformDoubleData m_rbAFrame
btScalar getAngularPos() const
@ BT_SLIDER_FLAGS_ERP_LIMANG
btScalar getSoftnessOrthoLin()
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
void setPoweredLinMotor(bool onOff)
btScalar m_softnessLimLin
void setRestitutionDirAng(btScalar restitutionDirAng)
void setFrames(const btTransform &frameA, const btTransform &frameB)
btScalar getDampingOrthoLin()
btScalar getDampingOrthoAng()
void setUpperLinLimit(btScalar upperLimit)
@ BT_SLIDER_FLAGS_CFM_DIRANG
int m_useOffsetForConstraintFrame
void setDampingOrthoLin(btScalar dampingOrthoLin)
void setSoftnessOrthoAng(btScalar softnessOrthoAng)
const btRigidBody & getRigidBodyA() const
void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity)
btScalar getDampingLimAng()
virtual int calculateSerializeBufferSize() const
btScalar getMaxLinMotorForce()
btTransformDoubleData m_rbBFrame
virtual int getFlags() const
void setDampingDirAng(btScalar dampingDirAng)
void setSoftnessLimAng(btScalar softnessLimAng)
btScalar getSoftnessDirLin()
btScalar getLowerAngLimit()
btScalar m_restitutionLimLin
btScalar getRestitutionDirLin()