Blender
V3.3
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#include <btGeneric6DofConstraint.h>
Public Member Functions | |
btTranslationalLimitMotor () | |
btTranslationalLimitMotor (const btTranslationalLimitMotor &other) | |
bool | isLimited (int limitIndex) const |
Test limit. More... | |
bool | needApplyForce (int limitIndex) const |
int | testLimitValue (int limitIndex, btScalar test_value) |
btScalar | solveLinearAxis (btScalar timeStep, btScalar jacDiagABInv, btRigidBody &body1, const btVector3 &pointInA, btRigidBody &body2, const btVector3 &pointInB, int limit_index, const btVector3 &axis_normal_on_a, const btVector3 &anchorPos) |
Public Attributes | |
btVector3 | m_lowerLimit |
the constraint lower limits More... | |
btVector3 | m_upperLimit |
the constraint upper limits More... | |
btVector3 | m_accumulatedImpulse |
bool | m_enableMotor [3] |
btVector3 | m_targetVelocity |
target motor velocity More... | |
btVector3 | m_maxMotorForce |
max force on motor More... | |
btVector3 | m_currentLimitError |
btVector3 | m_currentLinearDiff |
How much is violated this limit. More... | |
int | m_currentLimit [3] |
Current relative offset of constraint frames. More... | |
btScalar | m_limitSoftness |
Softness for linear limit. More... | |
btScalar | m_damping |
Damping for linear limit. More... | |
btScalar | m_restitution |
btVector3 | m_normalCFM |
Bounce parameter for linear limit. More... | |
btVector3 | m_stopERP |
Error tolerance factor when joint is at limit. More... | |
btVector3 | m_stopCFM |
Definition at line 131 of file btGeneric6DofConstraint.h.
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inline |
Definition at line 153 of file btGeneric6DofConstraint.h.
References m_accumulatedImpulse, m_damping, m_enableMotor, m_limitSoftness, m_lowerLimit, m_maxMotorForce, m_normalCFM, m_restitution, m_stopCFM, m_stopERP, m_targetVelocity, and m_upperLimit.
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inline |
Definition at line 173 of file btGeneric6DofConstraint.h.
References m_accumulatedImpulse, m_damping, m_enableMotor, m_limitSoftness, m_lowerLimit, m_maxMotorForce, m_normalCFM, m_restitution, m_stopCFM, m_stopERP, m_targetVelocity, and m_upperLimit.
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inline |
Test limit.
Definition at line 201 of file btGeneric6DofConstraint.h.
References m_lowerLimit, and m_upperLimit.
Referenced by isLimited().
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inline |
Definition at line 205 of file btGeneric6DofConstraint.h.
References m_currentLimit, and m_enableMotor.
Referenced by setLinearLimits().
btScalar btTranslationalLimitMotor::solveLinearAxis | ( | btScalar | timeStep, |
btScalar | jacDiagABInv, | ||
btRigidBody & | body1, | ||
const btVector3 & | pointInA, | ||
btRigidBody & | body2, | ||
const btVector3 & | pointInB, | ||
int | limit_index, | ||
const btVector3 & | axis_normal_on_a, | ||
const btVector3 & | anchorPos | ||
) |
find relative velocity
apply displacement correction
Definition at line 235 of file btGeneric6DofConstraint.cpp.
References btRigidBody::applyImpulse(), BT_LARGE_FLOAT, btVector3, blender::math::dot(), btRigidBody::getCenterOfMassPosition(), btRigidBody::getVelocityInLocalPoint(), m_accumulatedImpulse, m_damping, m_limitSoftness, m_lowerLimit, m_restitution, m_upperLimit, and sum().
int btTranslationalLimitMotor::testLimitValue | ( | int | limitIndex, |
btScalar | test_value | ||
) |
Definition at line 206 of file btGeneric6DofConstraint.cpp.
References m_currentLimit, m_currentLimitError, m_lowerLimit, and m_upperLimit.
Referenced by calculateLinearInfo().
btVector3 btTranslationalLimitMotor::m_accumulatedImpulse |
Definition at line 136 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), and solveLinearAxis().
int btTranslationalLimitMotor::m_currentLimit[3] |
Current relative offset of constraint frames.
0=free, 1=at lower limit, 2=at upper limit
Definition at line 151 of file btGeneric6DofConstraint.h.
Referenced by needApplyForce(), setLinearLimits(), and testLimitValue().
btVector3 btTranslationalLimitMotor::m_currentLimitError |
Definition at line 149 of file btGeneric6DofConstraint.h.
Referenced by setLinearLimits(), and testLimitValue().
btVector3 btTranslationalLimitMotor::m_currentLinearDiff |
How much is violated this limit.
Definition at line 150 of file btGeneric6DofConstraint.h.
Referenced by calculateLinearInfo(), and setLinearLimits().
btScalar btTranslationalLimitMotor::m_damping |
Damping for linear limit.
Definition at line 140 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), setLinearLimits(), and solveLinearAxis().
bool btTranslationalLimitMotor::m_enableMotor[3] |
Definition at line 146 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), enableMotor(), needApplyForce(), and setLinearLimits().
btScalar btTranslationalLimitMotor::m_limitSoftness |
Softness for linear limit.
Linear_Limit_parameters
Definition at line 139 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), setLinearLimits(), and solveLinearAxis().
btVector3 btTranslationalLimitMotor::m_lowerLimit |
the constraint lower limits
Definition at line 134 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), getLinearLowerLimit(), isLimited(), setLimit(), setLinearLimits(), setLinearLowerLimit(), solveLinearAxis(), and testLimitValue().
btVector3 btTranslationalLimitMotor::m_maxMotorForce |
max force on motor
Definition at line 148 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), internalUpdateSprings(), setLinearLimits(), and setMaxMotorForce().
btVector3 btTranslationalLimitMotor::m_normalCFM |
Bounce parameter for linear limit.
Constraint force mixing factor
Definition at line 142 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), and setLinearLimits().
btScalar btTranslationalLimitMotor::m_restitution |
Definition at line 141 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), and solveLinearAxis().
btVector3 btTranslationalLimitMotor::m_stopCFM |
Constraint force mixing factor when joint is at limit
Definition at line 144 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), and setLinearLimits().
btVector3 btTranslationalLimitMotor::m_stopERP |
Error tolerance factor when joint is at limit.
Definition at line 143 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), and setLinearLimits().
btVector3 btTranslationalLimitMotor::m_targetVelocity |
target motor velocity
Definition at line 147 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), internalUpdateSprings(), setLinearLimits(), and setTargetVelocity().
btVector3 btTranslationalLimitMotor::m_upperLimit |
the constraint upper limits
Definition at line 135 of file btGeneric6DofConstraint.h.
Referenced by btTranslationalLimitMotor(), getLinearUpperLimit(), isLimited(), setLimit(), setLinearLimits(), setLinearUpperLimit(), solveLinearAxis(), and testLimitValue().