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

#include <btTypedConstraint.h>

Inheritance diagram for btTypedConstraint:

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Collaboration diagram for btTypedConstraint:

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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
virtual void	buildJacobian ()
	internal method used by the constraint solver, don't use them directly
virtual void	setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly
virtual void	getInfo1 (btConstraintInfo1 *info)=0
	internal method used by the constraint solver, don't use them directly
virtual void	getInfo2 (btConstraintInfo2 *info)=0
	internal method used by the constraint solver, don't use them directly
void	internalSetAppliedImpulse (btScalar appliedImpulse)
	internal method used by the constraint solver, don't use them directly
btScalar	internalGetAppliedImpulse ()
	internal method used by the constraint solver, don't use them directly
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
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
btScalar	getAppliedImpulse () const
	getAppliedImpulse is an estimated total applied impulse.
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).
virtual btScalar	getParam (int num, int axis=-1) const =0
	return the local value of parameter
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)
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

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 78 of file btTypedConstraint.h.

Constructor & Destructor Documentation

◆ ~btTypedConstraint()

virtual btTypedConstraint::~btTypedConstraint ( )

inlinevirtual

Definition at line 116 of file btTypedConstraint.h.

◆ btTypedConstraint() [1/2]

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

Definition at line 24 of file btTypedConstraint.cpp.

◆ btTypedConstraint() [2/2]

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

Definition at line 41 of file btTypedConstraint.cpp.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btTypedConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ buildJacobian()

virtual void btTypedConstraint::buildJacobian ( )

inlinevirtual

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

Reimplemented in btConeTwistConstraint, btContactConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btHingeConstraint, and btPoint2PointConstraint.

Definition at line 168 of file btTypedConstraint.h.

◆ calculateSerializeBufferSize()

int btTypedConstraint::calculateSerializeBufferSize ( ) const

inlinevirtual

Reimplemented in btConeTwistConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btGeneric6DofSpringConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

Definition at line 440 of file btTypedConstraint.h.

◆ enableFeedback()

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 298 of file btTypedConstraint.h.

◆ getAppliedImpulse()

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 305 of file btTypedConstraint.h.

◆ getBreakingImpulseThreshold()

btScalar btTypedConstraint::getBreakingImpulseThreshold ( ) const

inline

Definition at line 197 of file btTypedConstraint.h.

◆ getConstraintType()

btTypedConstraintType btTypedConstraint::getConstraintType ( ) const

inline

Definition at line 311 of file btTypedConstraint.h.

◆ getDbgDrawSize()

btScalar btTypedConstraint::getDbgDrawSize ( )

inline

Definition at line 320 of file btTypedConstraint.h.

◆ getFixedBody()

btRigidBody & btTypedConstraint::getFixedBody ( )

static

Definition at line 148 of file btTypedConstraint.cpp.

◆ getInfo1()

virtual void btTypedConstraint::getInfo1 ( btConstraintInfo1 * info )

pure virtual

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

Implemented in btConeTwistConstraint, btContactConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btHingeAccumulatedAngleConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

◆ getInfo2()

virtual void btTypedConstraint::getInfo2 ( btConstraintInfo2 * info )

pure virtual

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

Implemented in btConeTwistConstraint, btContactConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btGeneric6DofSpringConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

◆ getJointFeedback() [1/2]

btJointFeedback * btTypedConstraint::getJointFeedback ( )

inline

Definition at line 280 of file btTypedConstraint.h.

◆ getJointFeedback() [2/2]

const btJointFeedback * btTypedConstraint::getJointFeedback ( ) const

inline

Definition at line 275 of file btTypedConstraint.h.

◆ getMotorFactor()

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.

◆ getOverrideNumSolverIterations()

int btTypedConstraint::getOverrideNumSolverIterations ( ) const

inline

Definition at line 155 of file btTypedConstraint.h.

◆ getParam()

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

pure virtual

return the local value of parameter

Implemented in btConeTwistConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

◆ getRigidBodyA() [1/2]

btRigidBody & btTypedConstraint::getRigidBodyA ( )

inline

Definition at line 231 of file btTypedConstraint.h.

◆ getRigidBodyA() [2/2]

const btRigidBody & btTypedConstraint::getRigidBodyA ( ) const

inline

Definition at line 222 of file btTypedConstraint.h.

◆ getRigidBodyB() [1/2]

btRigidBody & btTypedConstraint::getRigidBodyB ( )

inline

Definition at line 235 of file btTypedConstraint.h.

◆ getRigidBodyB() [2/2]

const btRigidBody & btTypedConstraint::getRigidBodyB ( ) const

inline

Definition at line 226 of file btTypedConstraint.h.

◆ getUid()

int btTypedConstraint::getUid ( ) const

inline

Definition at line 286 of file btTypedConstraint.h.

◆ getUserConstraintId()

int btTypedConstraint::getUserConstraintId ( ) const

inline

Definition at line 255 of file btTypedConstraint.h.

◆ getUserConstraintPtr()

void * btTypedConstraint::getUserConstraintPtr ( )

inline

Definition at line 265 of file btTypedConstraint.h.

◆ getUserConstraintType()

int btTypedConstraint::getUserConstraintType ( ) const

inline

Definition at line 240 of file btTypedConstraint.h.

◆ internalGetAppliedImpulse()

btScalar btTypedConstraint::internalGetAppliedImpulse ( )

inline

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

Definition at line 191 of file btTypedConstraint.h.

◆ internalSetAppliedImpulse()

void btTypedConstraint::internalSetAppliedImpulse ( btScalar appliedImpulse )

inline

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

Definition at line 186 of file btTypedConstraint.h.

◆ isEnabled()

bool btTypedConstraint::isEnabled ( ) const

inline

Definition at line 207 of file btTypedConstraint.h.

◆ needsFeedback()

bool btTypedConstraint::needsFeedback ( ) const

inline

Definition at line 291 of file btTypedConstraint.h.

◆ operator=()

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

inlineprivate

Definition at line 94 of file btTypedConstraint.h.

◆ serialize()

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

virtual

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

Reimplemented in btConeTwistConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btGeneric6DofSpringConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

Definition at line 110 of file btTypedConstraint.cpp.

◆ setBreakingImpulseThreshold()

void btTypedConstraint::setBreakingImpulseThreshold ( btScalar threshold )

inline

Definition at line 202 of file btTypedConstraint.h.

◆ setDbgDrawSize()

void btTypedConstraint::setDbgDrawSize ( btScalar dbgDrawSize )

inline

Definition at line 316 of file btTypedConstraint.h.

◆ setEnabled()

void btTypedConstraint::setEnabled ( bool enabled )

inline

Definition at line 212 of file btTypedConstraint.h.

◆ setJointFeedback()

void btTypedConstraint::setJointFeedback ( btJointFeedback * jointFeedback )

inline

Definition at line 270 of file btTypedConstraint.h.

◆ setOverrideNumSolverIterations()

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 162 of file btTypedConstraint.h.

◆ setParam()

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 btConeTwistConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

◆ setupSolverConstraint()

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 171 of file btTypedConstraint.h.

◆ setUserConstraintId()

void btTypedConstraint::setUserConstraintId ( int uid )

inline

Definition at line 250 of file btTypedConstraint.h.

◆ setUserConstraintPtr()

void btTypedConstraint::setUserConstraintPtr ( void * ptr )

inline

Definition at line 260 of file btTypedConstraint.h.

◆ setUserConstraintType()

void btTypedConstraint::setUserConstraintType ( int userConstraintType )

inline

Definition at line 245 of file btTypedConstraint.h.

◆ solveConstraintObsolete()

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 219 of file btTypedConstraint.h.

Member Data Documentation

◆ [union]

union { ... } btTypedConstraint

◆ m_appliedImpulse

btScalar btTypedConstraint::m_appliedImpulse

protected

Definition at line 104 of file btTypedConstraint.h.

◆ m_breakingImpulseThreshold

btScalar btTypedConstraint::m_breakingImpulseThreshold

private

Definition at line 88 of file btTypedConstraint.h.

◆ m_dbgDrawSize

btScalar btTypedConstraint::m_dbgDrawSize

protected

Definition at line 105 of file btTypedConstraint.h.

◆ m_isEnabled

bool btTypedConstraint::m_isEnabled

private

Definition at line 89 of file btTypedConstraint.h.

◆ m_jointFeedback

btJointFeedback* btTypedConstraint::m_jointFeedback

protected

Definition at line 106 of file btTypedConstraint.h.

◆ m_needsFeedback

bool btTypedConstraint::m_needsFeedback

private

Definition at line 90 of file btTypedConstraint.h.

◆ m_overrideNumSolverIterations

int btTypedConstraint::m_overrideNumSolverIterations

private

Definition at line 91 of file btTypedConstraint.h.

◆ m_rbA

btRigidBody& btTypedConstraint::m_rbA

protected

Definition at line 102 of file btTypedConstraint.h.

◆ m_rbB

btRigidBody& btTypedConstraint::m_rbB

protected

Definition at line 103 of file btTypedConstraint.h.

◆ m_userConstraintId

int btTypedConstraint::m_userConstraintId

Definition at line 84 of file btTypedConstraint.h.

◆ m_userConstraintPtr

void* btTypedConstraint::m_userConstraintPtr

Definition at line 85 of file btTypedConstraint.h.

◆ m_userConstraintType

int btTypedConstraint::m_userConstraintType

private

Definition at line 80 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

◆ ~btTypedConstraint()

◆ btTypedConstraint() [1/2]

◆ btTypedConstraint() [2/2]

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ buildJacobian()

◆ calculateSerializeBufferSize()

◆ enableFeedback()

◆ getAppliedImpulse()

◆ getBreakingImpulseThreshold()

◆ getConstraintType()

◆ getDbgDrawSize()

◆ getFixedBody()

◆ getInfo1()

◆ getInfo2()

◆ getJointFeedback() [1/2]

◆ getJointFeedback() [2/2]

◆ getMotorFactor()

◆ getOverrideNumSolverIterations()

◆ getParam()

◆ getRigidBodyA() [1/2]

◆ getRigidBodyA() [2/2]

◆ getRigidBodyB() [1/2]

◆ getRigidBodyB() [2/2]

◆ getUid()

◆ getUserConstraintId()

◆ getUserConstraintPtr()

◆ getUserConstraintType()

◆ internalGetAppliedImpulse()

◆ internalSetAppliedImpulse()

◆ isEnabled()

◆ needsFeedback()

◆ operator=()

◆ serialize()

◆ setBreakingImpulseThreshold()

◆ setDbgDrawSize()

◆ setEnabled()

◆ setJointFeedback()

◆ setOverrideNumSolverIterations()

◆ setParam()

◆ setupSolverConstraint()

◆ setUserConstraintId()

◆ setUserConstraintPtr()

◆ setUserConstraintType()

◆ solveConstraintObsolete()

Member Data Documentation

◆ [union]

◆ m_appliedImpulse

◆ m_breakingImpulseThreshold

◆ m_dbgDrawSize

◆ m_isEnabled

◆ m_jointFeedback

◆ m_needsFeedback

◆ m_overrideNumSolverIterations

◆ m_rbA

◆ m_rbB

◆ m_userConstraintId

◆ m_userConstraintPtr

◆ m_userConstraintType