Bullet Collision Detection & Physics Library: btHingeAccumulatedAngleConstraint Class Reference

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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:
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Collaboration diagram for btHingeAccumulatedAngleConstraint:
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## 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
virtual void | getInfo1 (btConstraintInfo1 *info)
| 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 | 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

## 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.

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

- btHingeConstraint.h
- btHingeConstraint.cpp