36 for (
int i = 0; i < 6; i++)
38 m_springEnabled[i] =
false;
47 btAssert((index >= 0) && (index < 6));
48 m_springEnabled[index] = onOff;
61 btAssert((index >= 0) && (index < 6));
67 btAssert((index >= 0) && (index < 6));
76 for (i = 0; i < 3; i++)
80 for (i = 0; i < 3; i++)
88 btAssert((index >= 0) && (index < 6));
102 btAssert((index >= 0) && (index < 6));
111 for (i = 0; i < 3; i++)
113 if (m_springEnabled[i])
126 for (i = 0; i < 3; i++)
128 if (m_springEnabled[i + 3])
159 frameInW.setIdentity();
160 frameInW.getBasis().setValue(xAxis[0], yAxis[0], zAxis[0],
161 xAxis[1], yAxis[1], zAxis[1],
162 xAxis[2], yAxis[2], zAxis[2]);
virtual void getInfo2(btConstraintInfo2 *info)
void setDamping(btScalar damping)
btFixedConstraint btRigidBody & rbB
btFixedConstraint btRigidBody const btTransform & frameInA
btFixedConstraint btRigidBody const btTransform const btTransform & frameInB
btVector3 m_calculatedLinearDiff
btRotationalLimitMotor m_angularLimits[3]
btGeneric6DofConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
void setAxis(const btVector3 &axis1, const btVector3 &axis2)
btTranslationalLimitMotor m_linearLimits
void calculateTransforms(const btTransform &transA, const btTransform &transB)
Calcs global transform of the offsets.
btVector3 m_calculatedAxisAngleDiff
void setStiffness(int index, btScalar stiffness, bool limitIfNeeded=true)
void enableSpring(int index, bool onOff)
void setEquilibriumPoint()
btScalar m_equilibriumPoint[6]
btScalar m_springDamping[6]
void internalUpdateSprings(btConstraintInfo2 *info)
btScalar m_springStiffness[6]
btGeneric6DofSpringConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
SIMD_FORCE_INLINE btScalar btFabs(btScalar x)
@ D6_SPRING_CONSTRAINT_TYPE
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
const btTransform & getCenterOfMassTransform() const
btScalar m_targetVelocity
target motor velocity
btScalar m_maxMotorForce
max force on motor
btVector3 m_maxMotorForce
max force on motor
btVector3 m_targetVelocity
target motor velocity