Bullet Collision Detection & Physics Library: btSliderConstraint.h Source File

Bullet Collision Detection & Physics Library

- Main Page
- Namespaces
- Classes
- Files

- File List
- File Members

btSliderConstraint.h
Go to the documentation of this file.
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16/*
17Added by Roman Ponomarev (rponom@gmail.com)
18April 04, 2008
19
20TODO:
21 - add clamping od accumulated impulse to improve stability
22 - add conversion for ODE constraint solver
23*/
24
25#ifndef BT_SLIDER_CONSTRAINT_H
26#define BT_SLIDER_CONSTRAINT_H
27
28#include "LinearMath/btScalar.h" //for BT_USE_DOUBLE_PRECISION
29
30#ifdef BT_USE_DOUBLE_PRECISION
31#define btSliderConstraintData2 btSliderConstraintDoubleData
32#define btSliderConstraintDataName "btSliderConstraintDoubleData"
33#else
34#define btSliderConstraintData2 btSliderConstraintData
35#define btSliderConstraintDataName "btSliderConstraintData"
36#endif //BT_USE_DOUBLE_PRECISION
37
38#include "LinearMath/btVector3.h"
39#include "btJacobianEntry.h"
40#include "btTypedConstraint.h"
41
42class btRigidBody;
43
44#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
45#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
46#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
47#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
48
49 enum btSliderFlags
50{
51 BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
52 BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
53 BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
54 BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
55 BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
56 BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
57 BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
58 BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
59 BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
60 BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
61 BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
62 BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
63};
64
65 ATTRIBUTE_ALIGNED16(class)
66 btSliderConstraint : public btTypedConstraint
67{
68protected:
70 bool m_useSolveConstraintObsolete;
71 bool m_useOffsetForConstraintFrame;
72 btTransform m_frameInA;
73 btTransform m_frameInB;
74 // use frameA fo define limits, if true
75 bool m_useLinearReferenceFrameA;
76 // linear limits
77 btScalar m_lowerLinLimit;
78 btScalar m_upperLinLimit;
79 // angular limits
80 btScalar m_lowerAngLimit;
81 btScalar m_upperAngLimit;
82 // softness, restitution and damping for different cases
83 // DirLin - moving inside linear limits
84 // LimLin - hitting linear limit
85 // DirAng - moving inside angular limits
86 // LimAng - hitting angular limit
87 // OrthoLin, OrthoAng - against constraint axis
88 btScalar m_softnessDirLin;
89 btScalar m_restitutionDirLin;
90 btScalar m_dampingDirLin;
91 btScalar m_cfmDirLin;
92
93 btScalar m_softnessDirAng;
94 btScalar m_restitutionDirAng;
95 btScalar m_dampingDirAng;
96 btScalar m_cfmDirAng;
97
98 btScalar m_softnessLimLin;
99 btScalar m_restitutionLimLin;
100 btScalar m_dampingLimLin;
101 btScalar m_cfmLimLin;
102
103 btScalar m_softnessLimAng;
104 btScalar m_restitutionLimAng;
105 btScalar m_dampingLimAng;
106 btScalar m_cfmLimAng;
107
108 btScalar m_softnessOrthoLin;
109 btScalar m_restitutionOrthoLin;
110 btScalar m_dampingOrthoLin;
111 btScalar m_cfmOrthoLin;
112
113 btScalar m_softnessOrthoAng;
114 btScalar m_restitutionOrthoAng;
115 btScalar m_dampingOrthoAng;
116 btScalar m_cfmOrthoAng;
117
118 // for interlal use
119 bool m_solveLinLim;
120 bool m_solveAngLim;
121
122 int m_flags;
123
124 btJacobianEntry m_jacLin[3];
125 btScalar m_jacLinDiagABInv[3];
126
127 btJacobianEntry m_jacAng[3];
128
129 btScalar m_timeStep;
130 btTransform m_calculatedTransformA;
131 btTransform m_calculatedTransformB;
132
133 btVector3 m_sliderAxis;
134 btVector3 m_realPivotAInW;
135 btVector3 m_realPivotBInW;
136 btVector3 m_projPivotInW;
137 btVector3 m_delta;
138 btVector3 m_depth;
139 btVector3 m_relPosA;
140 btVector3 m_relPosB;
141
142 btScalar m_linPos;
143 btScalar m_angPos;
144
145 btScalar m_angDepth;
146 btScalar m_kAngle;
147
148 bool m_poweredLinMotor;
149 btScalar m_targetLinMotorVelocity;
150 btScalar m_maxLinMotorForce;
151 btScalar m_accumulatedLinMotorImpulse;
152
153 bool m_poweredAngMotor;
154 btScalar m_targetAngMotorVelocity;
155 btScalar m_maxAngMotorForce;
156 btScalar m_accumulatedAngMotorImpulse;
157
158 //------------------------
159 void initParams();
160
161public:
162 BT_DECLARE_ALIGNED_ALLOCATOR();
163
164 // constructors
165 btSliderConstraint(btRigidBody & rbA, btRigidBody & rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
166 btSliderConstraint(btRigidBody & rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
167
168 // overrides
169
170 virtual void getInfo1(btConstraintInfo1 * info);
171
172 void getInfo1NonVirtual(btConstraintInfo1 * info);
173
174 virtual void getInfo2(btConstraintInfo2 * info);
175
176 void getInfo2NonVirtual(btConstraintInfo2 * info, const btTransform& transA, const btTransform& transB, const btVector3& linVelA, const btVector3& linVelB, btScalar rbAinvMass, btScalar rbBinvMass);
177
178 // access
179 const btRigidBody& getRigidBodyA() const { return m_rbA; }
180 const btRigidBody& getRigidBodyB() const { return m_rbB; }
181 const btTransform& getCalculatedTransformA() const { return m_calculatedTransformA; }
182 const btTransform& getCalculatedTransformB() const { return m_calculatedTransformB; }
183 const btTransform& getFrameOffsetA() const { return m_frameInA; }
184 const btTransform& getFrameOffsetB() const { return m_frameInB; }
185 btTransform& getFrameOffsetA() { return m_frameInA; }
186 btTransform& getFrameOffsetB() { return m_frameInB; }
187 btScalar getLowerLinLimit() { return m_lowerLinLimit; }
188 void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
189 btScalar getUpperLinLimit() { return m_upperLinLimit; }
190 void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
191 btScalar getLowerAngLimit() { return m_lowerAngLimit; }
192 void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
193 btScalar getUpperAngLimit() { return m_upperAngLimit; }
194 void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
195 bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
196 btScalar getSoftnessDirLin() { return m_softnessDirLin; }
197 btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
198 btScalar getDampingDirLin() { return m_dampingDirLin; }
199 btScalar getSoftnessDirAng() { return m_softnessDirAng; }
200 btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
201 btScalar getDampingDirAng() { return m_dampingDirAng; }
202 btScalar getSoftnessLimLin() { return m_softnessLimLin; }
203 btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
204 btScalar getDampingLimLin() { return m_dampingLimLin; }
205 btScalar getSoftnessLimAng() { return m_softnessLimAng; }
206 btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
207 btScalar getDampingLimAng() { return m_dampingLimAng; }
208 btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
209 btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
210 btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
211 btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
212 btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
213 btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
214 void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
215 void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
216 void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
217 void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
218 void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
219 void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
220 void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
221 void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
222 void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
223 void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
224 void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
225 void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
226 void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
227 void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
228 void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
229 void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
230 void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
231 void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
232 void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
233 bool getPoweredLinMotor() { return m_poweredLinMotor; }
234 void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
235 btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
236 void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
237 btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
238 void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
239 bool getPoweredAngMotor() { return m_poweredAngMotor; }
240 void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
241 btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
242 void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
243 btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
244
245 btScalar getLinearPos() const { return m_linPos; }
246 btScalar getAngularPos() const { return m_angPos; }
247
248 // access for ODE solver
249 bool getSolveLinLimit() { return m_solveLinLim; }
250 btScalar getLinDepth() { return m_depth[0]; }
251 bool getSolveAngLimit() { return m_solveAngLim; }
252 btScalar getAngDepth() { return m_angDepth; }
253 // shared code used by ODE solver
254 void calculateTransforms(const btTransform& transA, const btTransform& transB);
255 void testLinLimits();
256 void testAngLimits();
257 // access for PE Solver
258 btVector3 getAncorInA();
259 btVector3 getAncorInB();
260 // access for UseFrameOffset
261 bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
262 void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
263
264 void setFrames(const btTransform& frameA, const btTransform& frameB)
265 {
266 m_frameInA = frameA;
267 m_frameInB = frameB;
268 calculateTransforms(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
269 buildJacobian();
270 }
271
274 virtual void setParam(int num, btScalar value, int axis = -1);
276 virtual btScalar getParam(int num, int axis = -1) const;
277
278 virtual int getFlags() const
279 {
280 return m_flags;
281 }
282
283 virtual int calculateSerializeBufferSize() const;
284
286 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
287};
288
290
291 struct btSliderConstraintData
292{
293 btTypedConstraintData m_typeConstraintData;
294 btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
295 btTransformFloatData m_rbBFrame;
296
297 float m_linearUpperLimit;
298 float m_linearLowerLimit;
299
300 float m_angularUpperLimit;
301 float m_angularLowerLimit;
302
303 int m_useLinearReferenceFrameA;
304 int m_useOffsetForConstraintFrame;
305};
306
307 struct btSliderConstraintDoubleData
308{
309 btTypedConstraintDoubleData m_typeConstraintData;
310 btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
311 btTransformDoubleData m_rbBFrame;
312
313 double m_linearUpperLimit;
314 double m_linearLowerLimit;
315
316 double m_angularUpperLimit;
317 double m_angularLowerLimit;
318
319 int m_useLinearReferenceFrameA;
320 int m_useOffsetForConstraintFrame;
321};
322
323 SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
324{
325 return sizeof(btSliderConstraintData2);
326}
327
329 SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
330{
331 btSliderConstraintData2* sliderData = (btSliderConstraintData2*)dataBuffer;
332 btTypedConstraint::serialize(&sliderData->m_typeConstraintData, serializer);
333
334 m_frameInA.serialize(sliderData->m_rbAFrame);
335 m_frameInB.serialize(sliderData->m_rbBFrame);
336
337 sliderData->m_linearUpperLimit = m_upperLinLimit;
338 sliderData->m_linearLowerLimit = m_lowerLinLimit;
339
340 sliderData->m_angularUpperLimit = m_upperAngLimit;
341 sliderData->m_angularLowerLimit = m_lowerAngLimit;
342
343 sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
344 sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
345
346 return btSliderConstraintDataName;
347}
348
349#endif //BT_SLIDER_CONSTRAINT_H
btJacobianEntry.h
btScalar.h
btNormalizeAngle
btScalar btNormalizeAngle(btScalar angleInRadians)
Definition: btScalar.h:781
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btSliderFlags
btSliderFlags
Definition: btSliderConstraint.h:50
BT_SLIDER_FLAGS_CFM_DIRANG
@ BT_SLIDER_FLAGS_CFM_DIRANG
Definition: btSliderConstraint.h:53
BT_SLIDER_FLAGS_ERP_LIMLIN
@ BT_SLIDER_FLAGS_ERP_LIMLIN
Definition: btSliderConstraint.h:60
BT_SLIDER_FLAGS_CFM_DIRLIN
@ BT_SLIDER_FLAGS_CFM_DIRLIN
Definition: btSliderConstraint.h:51
BT_SLIDER_FLAGS_ERP_DIRANG
@ BT_SLIDER_FLAGS_ERP_DIRANG
Definition: btSliderConstraint.h:54
BT_SLIDER_FLAGS_ERP_DIRLIN
@ BT_SLIDER_FLAGS_ERP_DIRLIN
Definition: btSliderConstraint.h:52
BT_SLIDER_FLAGS_CFM_ORTANG
@ BT_SLIDER_FLAGS_CFM_ORTANG
Definition: btSliderConstraint.h:57
BT_SLIDER_FLAGS_CFM_ORTLIN
@ BT_SLIDER_FLAGS_CFM_ORTLIN
Definition: btSliderConstraint.h:55
BT_SLIDER_FLAGS_ERP_ORTANG
@ BT_SLIDER_FLAGS_ERP_ORTANG
Definition: btSliderConstraint.h:58
BT_SLIDER_FLAGS_CFM_LIMANG
@ BT_SLIDER_FLAGS_CFM_LIMANG
Definition: btSliderConstraint.h:61
BT_SLIDER_FLAGS_ERP_ORTLIN
@ BT_SLIDER_FLAGS_ERP_ORTLIN
Definition: btSliderConstraint.h:56
BT_SLIDER_FLAGS_CFM_LIMLIN
@ BT_SLIDER_FLAGS_CFM_LIMLIN
Definition: btSliderConstraint.h:59
BT_SLIDER_FLAGS_ERP_LIMANG
@ BT_SLIDER_FLAGS_ERP_LIMANG
Definition: btSliderConstraint.h:62
btSliderConstraintDataName
#define btSliderConstraintDataName
Definition: btSliderConstraint.h:35
btSliderConstraintData2
#define btSliderConstraintData2
Definition: btSliderConstraint.h:34
btTypedConstraint.h
btVector3.h
btJacobianEntry
Jacobian entry is an abstraction that allows to describe constraints it can be used in combination wi...
Definition: btJacobianEntry.h:31
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btRigidBody::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btRigidBody.cpp:465
btRigidBody::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btRigidBody.cpp:458
btSerializer
Definition: btSerializer.h:66
btSliderConstraint
Definition: btSliderConstraint.h:67
btSliderConstraint::m_useLinearReferenceFrameA
bool m_useLinearReferenceFrameA
Definition: btSliderConstraint.h:75
btSliderConstraint::setSoftnessOrthoAng
void setSoftnessOrthoAng(btScalar softnessOrthoAng)
Definition: btSliderConstraint.h:229
btSliderConstraint::setPoweredLinMotor
void setPoweredLinMotor(bool onOff)
Definition: btSliderConstraint.h:232
btSliderConstraint::getUseLinearReferenceFrameA
bool getUseLinearReferenceFrameA()
Definition: btSliderConstraint.h:195
btSliderConstraint::getUpperLinLimit
btScalar getUpperLinLimit()
Definition: btSliderConstraint.h:189
btSliderConstraint::getTargetLinMotorVelocity
btScalar getTargetLinMotorVelocity()
Definition: btSliderConstraint.h:235
btSliderConstraint::m_cfmOrthoAng
btScalar m_cfmOrthoAng
Definition: btSliderConstraint.h:116
btSliderConstraint::m_depth
btVector3 m_depth
Definition: btSliderConstraint.h:138
btSliderConstraint::setRestitutionDirAng
void setRestitutionDirAng(btScalar restitutionDirAng)
Definition: btSliderConstraint.h:218
btSliderConstraint::m_delta
btVector3 m_delta
Definition: btSliderConstraint.h:137
btSliderConstraint::getPoweredLinMotor
bool getPoweredLinMotor()
Definition: btSliderConstraint.h:233
btSliderConstraint::getFrameOffsetB
const btTransform & getFrameOffsetB() const
Definition: btSliderConstraint.h:184
btSliderConstraint::setRestitutionOrthoLin
void setRestitutionOrthoLin(btScalar restitutionOrthoLin)
Definition: btSliderConstraint.h:227
btSliderConstraint::setUseFrameOffset
void setUseFrameOffset(bool frameOffsetOnOff)
Definition: btSliderConstraint.h:262
btSliderConstraint::getRestitutionDirAng
btScalar getRestitutionDirAng()
Definition: btSliderConstraint.h:200
btSliderConstraint::setSoftnessLimLin
void setSoftnessLimLin(btScalar softnessLimLin)
Definition: btSliderConstraint.h:220
btSliderConstraint::getRigidBodyB
const btRigidBody & getRigidBodyB() const
Definition: btSliderConstraint.h:180
btSliderConstraint::m_cfmOrthoLin
btScalar m_cfmOrthoLin
Definition: btSliderConstraint.h:111
btSliderConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btSliderConstraint.h:329
btSliderConstraint::m_kAngle
btScalar m_kAngle
Definition: btSliderConstraint.h:146
btSliderConstraint::m_dampingDirAng
btScalar m_dampingDirAng
Definition: btSliderConstraint.h:95
btSliderConstraint::m_angPos
btScalar m_angPos
Definition: btSliderConstraint.h:143
btSliderConstraint::setMaxAngMotorForce
void setMaxAngMotorForce(btScalar maxAngMotorForce)
Definition: btSliderConstraint.h:242
btSliderConstraint::m_dampingDirLin
btScalar m_dampingDirLin
Definition: btSliderConstraint.h:90
btSliderConstraint::setTargetLinMotorVelocity
void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity)
Definition: btSliderConstraint.h:234
btSliderConstraint::m_upperLinLimit
btScalar m_upperLinLimit
Definition: btSliderConstraint.h:78
btSliderConstraint::getRestitutionLimAng
btScalar getRestitutionLimAng()
Definition: btSliderConstraint.h:206
btSliderConstraint::setLowerLinLimit
void setLowerLinLimit(btScalar lowerLimit)
Definition: btSliderConstraint.h:188
btSliderConstraint::getDampingOrthoAng
btScalar getDampingOrthoAng()
Definition: btSliderConstraint.h:213
btSliderConstraint::m_softnessDirAng
btScalar m_softnessDirAng
Definition: btSliderConstraint.h:93
btSliderConstraint::setSoftnessOrthoLin
void setSoftnessOrthoLin(btScalar softnessOrthoLin)
Definition: btSliderConstraint.h:226
btSliderConstraint::m_angDepth
btScalar m_angDepth
Definition: btSliderConstraint.h:145
btSliderConstraint::m_dampingLimAng
btScalar m_dampingLimAng
Definition: btSliderConstraint.h:105
btSliderConstraint::getFlags
virtual int getFlags() const
Definition: btSliderConstraint.h:278
btSliderConstraint::m_dampingOrthoAng
btScalar m_dampingOrthoAng
Definition: btSliderConstraint.h:115
btSliderConstraint::m_softnessLimLin
btScalar m_softnessLimLin
Definition: btSliderConstraint.h:98
btSliderConstraint::m_softnessDirLin
btScalar m_softnessDirLin
Definition: btSliderConstraint.h:88
btSliderConstraint::m_calculatedTransformB
btTransform m_calculatedTransformB
Definition: btSliderConstraint.h:131
btSliderConstraint::m_useOffsetForConstraintFrame
bool m_useOffsetForConstraintFrame
Definition: btSliderConstraint.h:71
btSliderConstraint::m_cfmDirAng
btScalar m_cfmDirAng
Definition: btSliderConstraint.h:96
btSliderConstraint::getCalculatedTransformB
const btTransform & getCalculatedTransformB() const
Definition: btSliderConstraint.h:182
btSliderConstraint::m_softnessLimAng
btScalar m_softnessLimAng
Definition: btSliderConstraint.h:103
btSliderConstraint::m_calculatedTransformA
btTransform m_calculatedTransformA
Definition: btSliderConstraint.h:130
btSliderConstraint::setDampingOrthoAng
void setDampingOrthoAng(btScalar dampingOrthoAng)
Definition: btSliderConstraint.h:231
btSliderConstraint::getSoftnessOrthoAng
btScalar getSoftnessOrthoAng()
Definition: btSliderConstraint.h:211
btSliderConstraint::getLinDepth
btScalar getLinDepth()
Definition: btSliderConstraint.h:250
btSliderConstraint::m_realPivotBInW
btVector3 m_realPivotBInW
Definition: btSliderConstraint.h:135
btSliderConstraint::m_cfmLimAng
btScalar m_cfmLimAng
Definition: btSliderConstraint.h:106
btSliderConstraint::setUpperLinLimit
void setUpperLinLimit(btScalar upperLimit)
Definition: btSliderConstraint.h:190
btSliderConstraint::m_restitutionDirLin
btScalar m_restitutionDirLin
Definition: btSliderConstraint.h:89
btSliderConstraint::getAngDepth
btScalar getAngDepth()
Definition: btSliderConstraint.h:252
btSliderConstraint::setRestitutionLimLin
void setRestitutionLimLin(btScalar restitutionLimLin)
Definition: btSliderConstraint.h:221
btSliderConstraint::setPoweredAngMotor
void setPoweredAngMotor(bool onOff)
Definition: btSliderConstraint.h:238
btSliderConstraint::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btSliderConstraint.h:323
btSliderConstraint::getRigidBodyA
const btRigidBody & getRigidBodyA() const
Definition: btSliderConstraint.h:179
btSliderConstraint::m_targetLinMotorVelocity
btScalar m_targetLinMotorVelocity
Definition: btSliderConstraint.h:149
btSliderConstraint::m_targetAngMotorVelocity
btScalar m_targetAngMotorVelocity
Definition: btSliderConstraint.h:154
btSliderConstraint::m_maxAngMotorForce
btScalar m_maxAngMotorForce
Definition: btSliderConstraint.h:155
btSliderConstraint::getSoftnessDirAng
btScalar getSoftnessDirAng()
Definition: btSliderConstraint.h:199
btSliderConstraint::getLinearPos
btScalar getLinearPos() const
Definition: btSliderConstraint.h:245
btSliderConstraint::setDampingLimAng
void setDampingLimAng(btScalar dampingLimAng)
Definition: btSliderConstraint.h:225
btSliderConstraint::getDampingDirLin
btScalar getDampingDirLin()
Definition: btSliderConstraint.h:198
btSliderConstraint::m_restitutionLimAng
btScalar m_restitutionLimAng
Definition: btSliderConstraint.h:104
btSliderConstraint::getSoftnessDirLin
btScalar getSoftnessDirLin()
Definition: btSliderConstraint.h:196
btSliderConstraint::setTargetAngMotorVelocity
void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity)
Definition: btSliderConstraint.h:240
btSliderConstraint::m_relPosB
btVector3 m_relPosB
Definition: btSliderConstraint.h:140
btSliderConstraint::m_upperAngLimit
btScalar m_upperAngLimit
Definition: btSliderConstraint.h:81
btSliderConstraint::setDampingDirAng
void setDampingDirAng(btScalar dampingDirAng)
Definition: btSliderConstraint.h:219
btSliderConstraint::setSoftnessDirAng
void setSoftnessDirAng(btScalar softnessDirAng)
Definition: btSliderConstraint.h:217
btSliderConstraint::getFrameOffsetA
btTransform & getFrameOffsetA()
Definition: btSliderConstraint.h:185
btSliderConstraint::m_frameInB
btTransform m_frameInB
Definition: btSliderConstraint.h:73
btSliderConstraint::getRestitutionOrthoLin
btScalar getRestitutionOrthoLin()
Definition: btSliderConstraint.h:209
btSliderConstraint::m_solveAngLim
bool m_solveAngLim
Definition: btSliderConstraint.h:120
btSliderConstraint::getLowerLinLimit
btScalar getLowerLinLimit()
Definition: btSliderConstraint.h:187
btSliderConstraint::getCalculatedTransformA
const btTransform & getCalculatedTransformA() const
Definition: btSliderConstraint.h:181
btSliderConstraint::m_lowerLinLimit
btScalar m_lowerLinLimit
Definition: btSliderConstraint.h:77
btSliderConstraint::getDampingLimLin
btScalar getDampingLimLin()
Definition: btSliderConstraint.h:204
btSliderConstraint::m_softnessOrthoAng
btScalar m_softnessOrthoAng
Definition: btSliderConstraint.h:113
btSliderConstraint::m_cfmDirLin
btScalar m_cfmDirLin
Definition: btSliderConstraint.h:91
btSliderConstraint::getRestitutionLimLin
btScalar getRestitutionLimLin()
Definition: btSliderConstraint.h:203
btSliderConstraint::getDampingOrthoLin
btScalar getDampingOrthoLin()
Definition: btSliderConstraint.h:210
btSliderConstraint::setSoftnessLimAng
void setSoftnessLimAng(btScalar softnessLimAng)
Definition: btSliderConstraint.h:223
btSliderConstraint::m_projPivotInW
btVector3 m_projPivotInW
Definition: btSliderConstraint.h:136
btSliderConstraint::getDampingLimAng
btScalar getDampingLimAng()
Definition: btSliderConstraint.h:207
btSliderConstraint::getLowerAngLimit
btScalar getLowerAngLimit()
Definition: btSliderConstraint.h:191
btSliderConstraint::setSoftnessDirLin
void setSoftnessDirLin(btScalar softnessDirLin)
Definition: btSliderConstraint.h:214
btSliderConstraint::m_poweredAngMotor
bool m_poweredAngMotor
Definition: btSliderConstraint.h:153
btSliderConstraint::getFrameOffsetA
const btTransform & getFrameOffsetA() const
Definition: btSliderConstraint.h:183
btSliderConstraint::m_restitutionOrthoLin
btScalar m_restitutionOrthoLin
Definition: btSliderConstraint.h:109
btSliderConstraint::getRestitutionOrthoAng
btScalar getRestitutionOrthoAng()
Definition: btSliderConstraint.h:212
btSliderConstraint::setFrames
void setFrames(const btTransform &frameA, const btTransform &frameB)
Definition: btSliderConstraint.h:264
btSliderConstraint::getSoftnessLimAng
btScalar getSoftnessLimAng()
Definition: btSliderConstraint.h:205
btSliderConstraint::setRestitutionDirLin
void setRestitutionDirLin(btScalar restitutionDirLin)
Definition: btSliderConstraint.h:215
btSliderConstraint::m_accumulatedLinMotorImpulse
btScalar m_accumulatedLinMotorImpulse
Definition: btSliderConstraint.h:151
btSliderConstraint::getAngularPos
btScalar getAngularPos() const
Definition: btSliderConstraint.h:246
btSliderConstraint::getTargetAngMotorVelocity
btScalar getTargetAngMotorVelocity()
Definition: btSliderConstraint.h:241
btSliderConstraint::m_dampingLimLin
btScalar m_dampingLimLin
Definition: btSliderConstraint.h:100
btSliderConstraint::getSolveLinLimit
bool getSolveLinLimit()
Definition: btSliderConstraint.h:249
btSliderConstraint::m_timeStep
btScalar m_timeStep
Definition: btSliderConstraint.h:129
btSliderConstraint::m_accumulatedAngMotorImpulse
btScalar m_accumulatedAngMotorImpulse
Definition: btSliderConstraint.h:156
btSliderConstraint::m_softnessOrthoLin
btScalar m_softnessOrthoLin
Definition: btSliderConstraint.h:108
btSliderConstraint::m_dampingOrthoLin
btScalar m_dampingOrthoLin
Definition: btSliderConstraint.h:110
btSliderConstraint::setDampingDirLin
void setDampingDirLin(btScalar dampingDirLin)
Definition: btSliderConstraint.h:216
btSliderConstraint::m_frameInA
btTransform m_frameInA
Definition: btSliderConstraint.h:72
btSliderConstraint::m_flags
int m_flags
Definition: btSliderConstraint.h:122
btSliderConstraint::getMaxAngMotorForce
btScalar getMaxAngMotorForce()
Definition: btSliderConstraint.h:243
btSliderConstraint::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btSliderConstraint::getRestitutionDirLin
btScalar getRestitutionDirLin()
Definition: btSliderConstraint.h:197
btSliderConstraint::setRestitutionOrthoAng
void setRestitutionOrthoAng(btScalar restitutionOrthoAng)
Definition: btSliderConstraint.h:230
btSliderConstraint::getFrameOffsetB
btTransform & getFrameOffsetB()
Definition: btSliderConstraint.h:186
btSliderConstraint::setMaxLinMotorForce
void setMaxLinMotorForce(btScalar maxLinMotorForce)
Definition: btSliderConstraint.h:236
btSliderConstraint::m_realPivotAInW
btVector3 m_realPivotAInW
Definition: btSliderConstraint.h:134
btSliderConstraint::getUseFrameOffset
bool getUseFrameOffset()
Definition: btSliderConstraint.h:261
btSliderConstraint::getSoftnessLimLin
btScalar getSoftnessLimLin()
Definition: btSliderConstraint.h:202
btSliderConstraint::setUpperAngLimit
void setUpperAngLimit(btScalar upperLimit)
Definition: btSliderConstraint.h:194
btSliderConstraint::getSoftnessOrthoLin
btScalar getSoftnessOrthoLin()
Definition: btSliderConstraint.h:208
btSliderConstraint::m_sliderAxis
btVector3 m_sliderAxis
Definition: btSliderConstraint.h:133
btSliderConstraint::setRestitutionLimAng
void setRestitutionLimAng(btScalar restitutionLimAng)
Definition: btSliderConstraint.h:224
btSliderConstraint::m_maxLinMotorForce
btScalar m_maxLinMotorForce
Definition: btSliderConstraint.h:150
btSliderConstraint::m_poweredLinMotor
bool m_poweredLinMotor
Definition: btSliderConstraint.h:148
btSliderConstraint::m_relPosA
btVector3 m_relPosA
Definition: btSliderConstraint.h:139
btSliderConstraint::getMaxLinMotorForce
btScalar getMaxLinMotorForce()
Definition: btSliderConstraint.h:237
btSliderConstraint::setLowerAngLimit
void setLowerAngLimit(btScalar lowerLimit)
Definition: btSliderConstraint.h:192
btSliderConstraint::m_cfmLimLin
btScalar m_cfmLimLin
Definition: btSliderConstraint.h:101
btSliderConstraint::m_solveLinLim
bool m_solveLinLim
Definition: btSliderConstraint.h:119
btSliderConstraint::getSolveAngLimit
bool getSolveAngLimit()
Definition: btSliderConstraint.h:251
btSliderConstraint::setDampingLimLin
void setDampingLimLin(btScalar dampingLimLin)
Definition: btSliderConstraint.h:222
btSliderConstraint::m_restitutionOrthoAng
btScalar m_restitutionOrthoAng
Definition: btSliderConstraint.h:114
btSliderConstraint::m_restitutionDirAng
btScalar m_restitutionDirAng
Definition: btSliderConstraint.h:94
btSliderConstraint::setDampingOrthoLin
void setDampingOrthoLin(btScalar dampingOrthoLin)
Definition: btSliderConstraint.h:228
btSliderConstraint::m_useSolveConstraintObsolete
bool m_useSolveConstraintObsolete
for backwards compatibility during the transition to 'getInfo/getInfo2'
Definition: btSliderConstraint.h:70
btSliderConstraint::getDampingDirAng
btScalar getDampingDirAng()
Definition: btSliderConstraint.h:201
btSliderConstraint::getUpperAngLimit
btScalar getUpperAngLimit()
Definition: btSliderConstraint.h:193
btSliderConstraint::m_lowerAngLimit
btScalar m_lowerAngLimit
Definition: btSliderConstraint.h:80
btSliderConstraint::m_linPos
btScalar m_linPos
Definition: btSliderConstraint.h:142
btSliderConstraint::m_restitutionLimLin
btScalar m_restitutionLimLin
Definition: btSliderConstraint.h:99
btSliderConstraint::getPoweredAngMotor
bool getPoweredAngMotor()
Definition: btSliderConstraint.h:239
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform::serialize
void serialize(struct btTransformData &dataOut) const
Definition: btTransform.h:257
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:76
btTypedConstraint::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btTypedConstraint.cpp:104
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btSliderConstraintData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btSliderConstraint.h:292
btSliderConstraintData::m_angularUpperLimit
float m_angularUpperLimit
Definition: btSliderConstraint.h:300
btSliderConstraintData::m_linearLowerLimit
float m_linearLowerLimit
Definition: btSliderConstraint.h:298
btSliderConstraintData::m_useLinearReferenceFrameA
int m_useLinearReferenceFrameA
Definition: btSliderConstraint.h:303
btSliderConstraintData::m_rbBFrame
btTransformFloatData m_rbBFrame
Definition: btSliderConstraint.h:295
btSliderConstraintData::m_typeConstraintData
btTypedConstraintData m_typeConstraintData
Definition: btSliderConstraint.h:293
btSliderConstraintData::m_angularLowerLimit
float m_angularLowerLimit
Definition: btSliderConstraint.h:301
btSliderConstraintData::m_rbAFrame
btTransformFloatData m_rbAFrame
Definition: btSliderConstraint.h:294
btSliderConstraintData::m_linearUpperLimit
float m_linearUpperLimit
Definition: btSliderConstraint.h:297
btSliderConstraintData::m_useOffsetForConstraintFrame
int m_useOffsetForConstraintFrame
Definition: btSliderConstraint.h:304
btSliderConstraintDoubleData
Definition: btSliderConstraint.h:308
btSliderConstraintDoubleData::m_useLinearReferenceFrameA
int m_useLinearReferenceFrameA
Definition: btSliderConstraint.h:319
btSliderConstraintDoubleData::m_linearUpperLimit
double m_linearUpperLimit
Definition: btSliderConstraint.h:313
btSliderConstraintDoubleData::m_rbAFrame
btTransformDoubleData m_rbAFrame
Definition: btSliderConstraint.h:310
btSliderConstraintDoubleData::m_typeConstraintData
btTypedConstraintDoubleData m_typeConstraintData
Definition: btSliderConstraint.h:309
btSliderConstraintDoubleData::m_angularUpperLimit
double m_angularUpperLimit
Definition: btSliderConstraint.h:316
btSliderConstraintDoubleData::m_linearLowerLimit
double m_linearLowerLimit
Definition: btSliderConstraint.h:314
btSliderConstraintDoubleData::m_rbBFrame
btTransformDoubleData m_rbBFrame
Definition: btSliderConstraint.h:311
btSliderConstraintDoubleData::m_useOffsetForConstraintFrame
int m_useOffsetForConstraintFrame
Definition: btSliderConstraint.h:320
btSliderConstraintDoubleData::m_angularLowerLimit
double m_angularLowerLimit
Definition: btSliderConstraint.h:317
btTransformDoubleData
Definition: btTransform.h:252
btTransformFloatData
for serialization
Definition: btTransform.h:246
btTypedConstraintData
this structure is not used, except for loading pre-2.82 .bullet files
Definition: btTypedConstraint.h:388
btTypedConstraintDoubleData
Definition: btTypedConstraint.h:411
btTypedConstraint::btConstraintInfo1
Definition: btTypedConstraint.h:114
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:121