btHingeAccumulatedAngleConstraint Class Reference

The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account. More...

#include <btHingeConstraint.h>

Inheritance diagram for btHingeAccumulatedAngleConstraint:

Collaboration diagram for btHingeAccumulatedAngleConstraint:

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btHingeAccumulatedAngleConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btVector3 &axisInA, const btVector3 &axisInB, bool useReferenceFrameA=false)
	btHingeAccumulatedAngleConstraint (btRigidBody &rbA, const btVector3 &pivotInA, const btVector3 &axisInA, bool useReferenceFrameA=false)
	btHingeAccumulatedAngleConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)
	btHingeAccumulatedAngleConstraint (btRigidBody &rbA, const btTransform &rbAFrame, bool useReferenceFrameA=false)
btScalar	getAccumulatedHingeAngle ()
void	setAccumulatedHingeAngle (btScalar accAngle)
virtual void	getInfo1 (btConstraintInfo1 *info)
	internal method used by the constraint solver, don't use them directly
Public Member Functions inherited from btHingeConstraint
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btVector3 &axisInA, const btVector3 &axisInB, bool useReferenceFrameA=false)
	btHingeConstraint (btRigidBody &rbA, const btVector3 &pivotInA, const btVector3 &axisInA, bool useReferenceFrameA=false)
	btHingeConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)
	btHingeConstraint (btRigidBody &rbA, const btTransform &rbAFrame, bool useReferenceFrameA=false)
virtual void	buildJacobian ()
	internal method used by the constraint solver, don't use them directly
void	getInfo1NonVirtual (btConstraintInfo1 *info)
virtual void	getInfo2 (btConstraintInfo2 *info)
	internal method used by the constraint solver, don't use them directly
void	getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)
void	getInfo2Internal (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)
void	getInfo2InternalUsingFrameOffset (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btVector3 &angVelA, const btVector3 &angVelB)
void	updateRHS (btScalar timeStep)
const btRigidBody &	getRigidBodyA () const
const btRigidBody &	getRigidBodyB () const
btRigidBody &	getRigidBodyA ()
btRigidBody &	getRigidBodyB ()
btTransform &	getFrameOffsetA ()
btTransform &	getFrameOffsetB ()
void	setFrames (const btTransform &frameA, const btTransform &frameB)
void	setAngularOnly (bool angularOnly)
void	enableAngularMotor (bool enableMotor, btScalar targetVelocity, btScalar maxMotorImpulse)
void	enableMotor (bool enableMotor)
void	setMaxMotorImpulse (btScalar maxMotorImpulse)
void	setMotorTargetVelocity (btScalar motorTargetVelocity)
void	setMotorTarget (const btQuaternion &qAinB, btScalar dt)
void	setMotorTarget (btScalar targetAngle, btScalar dt)
void	setLimit (btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
btScalar	getLimitSoftness () const
btScalar	getLimitBiasFactor () const
btScalar	getLimitRelaxationFactor () const
void	setAxis (btVector3 &axisInA)
bool	hasLimit () const
btScalar	getLowerLimit () const
btScalar	getUpperLimit () const
btScalar	getHingeAngle ()
	The getHingeAngle gives the hinge angle in range [-PI,PI].
btScalar	getHingeAngle (const btTransform &transA, const btTransform &transB)
void	testLimit (const btTransform &transA, const btTransform &transB)
const btTransform &	getAFrame () const
const btTransform &	getBFrame () const
btTransform &	getAFrame ()
btTransform &	getBFrame ()
int	getSolveLimit ()
btScalar	getLimitSign ()
bool	getAngularOnly ()
bool	getEnableAngularMotor ()
btScalar	getMotorTargetVelocity ()
btScalar	getMaxMotorImpulse ()
bool	getUseFrameOffset ()
void	setUseFrameOffset (bool frameOffsetOnOff)
bool	getUseReferenceFrameA () const
void	setUseReferenceFrameA (bool useReferenceFrameA)
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).
virtual btScalar	getParam (int num, int axis=-1) const
	return the local value of parameter
virtual int	getFlags () const
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 btTypedConstraint
	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	setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
	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 ()
Public Member Functions inherited from btTypedObject
	btTypedObject (int objectType)
int	getObjectType () const

Protected Attributes
btScalar	m_accumulatedAngle
Protected Attributes inherited from btTypedConstraint
btRigidBody &	m_rbA
btRigidBody &	m_rbB
btScalar	m_appliedImpulse
btScalar	m_dbgDrawSize
btJointFeedback *	m_jointFeedback

Additional Inherited Members
Static Public Member Functions inherited from btTypedConstraint
static btRigidBody &	getFixedBody ()
Public Attributes inherited from btTypedObject
int	m_objectType
Protected Member Functions inherited from btTypedConstraint
btScalar	getMotorFactor (btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
	internal method used by the constraint solver, don't use them directly

Detailed Description

The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account.

Definition at line 360 of file btHingeConstraint.h.

Constructor & Destructor Documentation

btHingeAccumulatedAngleConstraint() [1/4]

btHingeAccumulatedAngleConstraint::btHingeAccumulatedAngleConstraint ( btRigidBody & rbA, btRigidBody & rbB, const btVector3 & pivotInA, const btVector3 & pivotInB, const btVector3 & axisInA, const btVector3 & axisInB, bool useReferenceFrameA = false )

inline

Definition at line 369 of file btHingeConstraint.h.

btHingeAccumulatedAngleConstraint() [2/4]

btHingeAccumulatedAngleConstraint::btHingeAccumulatedAngleConstraint ( btRigidBody & rbA, const btVector3 & pivotInA, const btVector3 & axisInA, bool useReferenceFrameA = false )

inline

Definition at line 375 of file btHingeConstraint.h.

btHingeAccumulatedAngleConstraint() [3/4]

btHingeAccumulatedAngleConstraint::btHingeAccumulatedAngleConstraint ( btRigidBody & rbA, btRigidBody & rbB, const btTransform & rbAFrame, const btTransform & rbBFrame, bool useReferenceFrameA = false )

inline

Definition at line 381 of file btHingeConstraint.h.

btHingeAccumulatedAngleConstraint() [4/4]

btHingeAccumulatedAngleConstraint::btHingeAccumulatedAngleConstraint ( btRigidBody & rbA, const btTransform & rbAFrame, bool useReferenceFrameA = false )

inline

Definition at line 387 of file btHingeConstraint.h.

Member Function Documentation

BT_DECLARE_ALIGNED_ALLOCATOR()

btHingeAccumulatedAngleConstraint::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

getAccumulatedHingeAngle()

btScalar btHingeAccumulatedAngleConstraint::getAccumulatedHingeAngle

(

)

Definition at line 315 of file btHingeConstraint.cpp.

getInfo1()

void btHingeAccumulatedAngleConstraint::getInfo1 ( btConstraintInfo1 * info )

virtual

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

Reimplemented from btHingeConstraint.

Definition at line 326 of file btHingeConstraint.cpp.

setAccumulatedHingeAngle()

void btHingeAccumulatedAngleConstraint::setAccumulatedHingeAngle

(

btScalar

accAngle

)

Definition at line 321 of file btHingeConstraint.cpp.

Member Data Documentation

m_accumulatedAngle

btScalar btHingeAccumulatedAngleConstraint::m_accumulatedAngle

protected

Definition at line 364 of file btHingeConstraint.h.

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The documentation for this class was generated from the following files:

• btHingeConstraint.h
• btHingeConstraint.cpp