36 #ifndef BT_CONETWISTCONSTRAINT_H 37 #define BT_CONETWISTCONSTRAINT_H 43 #ifdef BT_USE_DOUBLE_PRECISION 44 #define btConeTwistConstraintData2 btConeTwistConstraintDoubleData 45 #define btConeTwistConstraintDataName "btConeTwistConstraintDoubleData" 47 #define btConeTwistConstraintData2 btConeTwistConstraintData 48 #define btConeTwistConstraintDataName "btConeTwistConstraintData" 49 #endif //BT_USE_DOUBLE_PRECISION 64 #ifdef IN_PARALLELL_SOLVER 133 void adjustSwingAxisToUseEllipseNormal(
btVector3& vSwingAxis)
const;
144 virtual void buildJacobian();
171 m_angularOnly = angularOnly;
176 return m_angularOnly;
185 m_twistSpan = limitValue;
190 m_swingSpan2 = limitValue;
195 m_swingSpan1 = limitValue;
225 btAssert(0 &&
"Invalid limitIndex specified for btConeTwistConstraint");
244 m_swingSpan1 = _swingSpan1;
245 m_swingSpan2 = _swingSpan2;
246 m_twistSpan = _twistSpan;
248 m_limitSoftness = _softness;
249 m_biasFactor = _biasFactor;
250 m_relaxationFactor = _relaxationFactor;
258 return m_solveTwistLimit;
263 return m_solveSwingLimit;
268 return m_twistLimitSign;
271 void calcAngleInfo();
288 return m_limitSoftness;
296 return m_relaxationFactor;
325 void setMotorTargetInConstraintSpace(
const btQuaternion &q);
331 virtual void setParam(
int num,
btScalar value,
int axis = -1);
347 virtual btScalar getParam(
int num,
int axis = -1)
const;
383 #ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION 404 #endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION 435 #endif //BT_CONETWISTCONSTRAINT_H
const btRigidBody & getRigidBodyA() const
void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse)
void setLimit(int limitIndex, btScalar limitValue)
btTransformDoubleData m_rbAFrame
btScalar m_maxMotorImpulse
btTransformFloatData m_rbAFrame
btScalar m_swingCorrection
btTypedConstraintDoubleData m_typeConstraintData
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
#define btConeTwistConstraintData2
btScalar getTwistLimitSign()
btScalar getMaxMotorImpulse() const
void setMaxMotorImpulse(btScalar maxMotorImpulse)
const btRigidBody & getRigidBodyB() const
btScalar getDamping() const
virtual int calculateSerializeBufferSize() const
#define SIMD_FORCE_INLINE
void setDamping(btScalar damping)
btTransformFloatData m_rbBFrame
btScalar m_twistLimitRatio
double m_relaxationFactor
const btTransform & getAFrame() const
btScalar m_relaxationFactor
btScalar getTwistAngle() const
void setLimit(btScalar _swingSpan1, btScalar _swingSpan2, btScalar _twistSpan, btScalar _softness=1.f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
btScalar getLimit(int limitIndex) const
btScalar getSwingSpan1() const
btScalar m_twistLimitSign
btTypedConstraintData m_typeConstraintData
btVector3 m_accMotorImpulse
The btRigidBody is the main class for rigid body objects.
bool m_useSolveConstraintObsolete
const btQuaternion & getMotorTarget() const
btScalar m_twistCorrection
this structure is not used, except for loading pre-2.82 .bullet files
bool isMotorEnabled() const
void setAngularOnly(bool angularOnly)
btTransformDoubleData m_rbBFrame
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
btScalar getSwingSpan2() const
btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
void setFixThresh(btScalar fixThresh)
The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packe...
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
bool getAngularOnly() const
TypedConstraint is the baseclass for Bullet constraints and vehicles.
btScalar getBiasFactor() const
const btTransform & getFrameOffsetA() const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
btScalar m_accSwingLimitImpulse
btScalar getRelaxationFactor() const
virtual int calculateSerializeBufferSize() const
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
this structure is not used, except for loading pre-2.82 .bullet files
btScalar getTwistSpan() const
btScalar m_swingLimitRatio
btScalar m_accTwistLimitImpulse
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
const btTransform & getFrameOffsetB() const
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
bool isMaxMotorImpulseNormalized() const
bool m_bNormalizedMotorStrength
btScalar getLimitSoftness() const
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
const btTransform & getBFrame() const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define btConeTwistConstraintDataName