Bullet Collision Detection & Physics Library: btTypedConstraint Class Reference

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btTypedConstraint Class Referenceabstract

TypedConstraint is the baseclass for Bullet constraints and vehicles. More...

`#include <btTypedConstraint.h>`

Inheritance diagram for btTypedConstraint:
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Collaboration diagram for btTypedConstraint:
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## Classes
struct | btConstraintInfo1
struct | btConstraintInfo2

## Public Member Functions
| 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

## Static Public Member Functions
static btRigidBody & | getFixedBody ()

## Protected Member Functions
btScalar | getMotorFactor (btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
| internal method used by the constraint solver, don't use them directly

## Protected Attributes
btRigidBody & | m_rbA
btRigidBody & | m_rbB
btScalar | m_appliedImpulse
btScalar | m_dbgDrawSize
btJointFeedback * | m_jointFeedback

## Private Member Functions
btTypedConstraint & | operator= (btTypedConstraint &other)

## Private Attributes
int | m_userConstraintType
union { |
int m_userConstraintId |
void * m_userConstraintPtr |
}; |  |
btScalar | m_breakingImpulseThreshold
bool | m_isEnabled
bool | m_needsFeedback
int | m_overrideNumSolverIterations

## Additional Inherited Members
Public Attributes inherited from btTypedObject
int | m_objectType

## Detailed Description

TypedConstraint is the baseclass for Bullet constraints and vehicles.

Definition at line 74 of file btTypedConstraint.h.

## Constructor & Destructor Documentation

## ◆ ~btTypedConstraint()

virtual btTypedConstraint::~btTypedConstraint | ( |  | ) |
| inlinevirtual

Definition at line 109 of file btTypedConstraint.h.

## ◆ btTypedConstraint() [1/2]

btTypedConstraint::btTypedConstraint | ( | btTypedConstraintType | type,
|  | btRigidBody & | rbA )

Definition at line 22 of file btTypedConstraint.cpp.

## ◆ btTypedConstraint() [2/2]

btTypedConstraint::btTypedConstraint | ( | btTypedConstraintType | type,
|  | btRigidBody & | rbA,
|  | btRigidBody & | rbB )

Definition at line 38 of file btTypedConstraint.cpp.

## Member Function Documentation

## ◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btTypedConstraint::BT_DECLARE_ALIGNED_ALLOCATOR | ( |  | ) |

## ◆ buildJacobian()

virtual void btTypedConstraint::buildJacobian | ( |  | ) |
| inlinevirtual

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

Reimplemented in btConeTwistConstraint, btContactConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btHingeConstraint, and btPoint2PointConstraint.

Definition at line 163 of file btTypedConstraint.h.

## ◆ calculateSerializeBufferSize()

int btTypedConstraint::calculateSerializeBufferSize | ( |  | ) | const
| inlinevirtual

Reimplemented in btConeTwistConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btGeneric6DofSpringConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

Definition at line 435 of file btTypedConstraint.h.

## ◆ enableFeedback()

void btTypedConstraint::enableFeedback | ( | bool | needsFeedback | ) |
| inline

enableFeedback will allow to read the applied linear and angular impulse use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information

Definition at line 289 of file btTypedConstraint.h.

## ◆ getAppliedImpulse()

btScalar btTypedConstraint::getAppliedImpulse | ( |  | ) | const
| inline

getAppliedImpulse is an estimated total applied impulse.

This feedback could be used to determine breaking constraints or playing sounds.

Definition at line 296 of file btTypedConstraint.h.

## ◆ getBreakingImpulseThreshold()

btScalar btTypedConstraint::getBreakingImpulseThreshold | ( |  | ) | const
| inline

Definition at line 191 of file btTypedConstraint.h.

## ◆ getConstraintType()

btTypedConstraintType btTypedConstraint::getConstraintType | ( |  | ) | const
| inline

Definition at line 302 of file btTypedConstraint.h.

## ◆ getDbgDrawSize()

btScalar btTypedConstraint::getDbgDrawSize | ( |  | ) |
| inline

Definition at line 311 of file btTypedConstraint.h.

## ◆ getFixedBody()

btRigidBody & btTypedConstraint::getFixedBody | ( |  | ) |
| static

Definition at line 142 of file btTypedConstraint.cpp.

## ◆ getInfo1()

virtual void btTypedConstraint::getInfo1 | ( | btConstraintInfo1 * | info | ) |
| pure virtual

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

Implemented in btConeTwistConstraint, btContactConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btHingeAccumulatedAngleConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

## ◆ getInfo2()

virtual void btTypedConstraint::getInfo2 | ( | btConstraintInfo2 * | info | ) |
| pure virtual

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

Implemented in btConeTwistConstraint, btContactConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btGeneric6DofSpringConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

## ◆ getJointFeedback() [1/2]

btJointFeedback * btTypedConstraint::getJointFeedback | ( |  | ) |
| inline

Definition at line 272 of file btTypedConstraint.h.

## ◆ getJointFeedback() [2/2]

const btJointFeedback * btTypedConstraint::getJointFeedback | ( |  | ) | const
| inline

Definition at line 267 of file btTypedConstraint.h.

## ◆ getMotorFactor()

btScalar btTypedConstraint::getMotorFactor | ( | btScalar | pos,
|  | btScalar | lowLim,
|  | btScalar | uppLim,
|  | btScalar | vel,
|  | btScalar | timeFact )
| protected

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

Definition at line 54 of file btTypedConstraint.cpp.

## ◆ getOverrideNumSolverIterations()

int btTypedConstraint::getOverrideNumSolverIterations | ( |  | ) | const
| inline

Definition at line 150 of file btTypedConstraint.h.

## ◆ getParam()

virtual btScalar btTypedConstraint::getParam | ( | int | num,
|  | int | axis = -1 ) const
| pure virtual

return the local value of parameter

Implemented in btConeTwistConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

## ◆ getRigidBodyA() [1/2]

btRigidBody & btTypedConstraint::getRigidBodyA | ( |  | ) |
| inline

Definition at line 223 of file btTypedConstraint.h.

## ◆ getRigidBodyA() [2/2]

const btRigidBody & btTypedConstraint::getRigidBodyA | ( |  | ) | const
| inline

Definition at line 214 of file btTypedConstraint.h.

## ◆ getRigidBodyB() [1/2]

btRigidBody & btTypedConstraint::getRigidBodyB | ( |  | ) |
| inline

Definition at line 227 of file btTypedConstraint.h.

## ◆ getRigidBodyB() [2/2]

const btRigidBody & btTypedConstraint::getRigidBodyB | ( |  | ) | const
| inline

Definition at line 218 of file btTypedConstraint.h.

## ◆ getUid()

int btTypedConstraint::getUid | ( |  | ) | const
| inline

Definition at line 277 of file btTypedConstraint.h.

## ◆ getUserConstraintId()

int btTypedConstraint::getUserConstraintId | ( |  | ) | const
| inline

Definition at line 247 of file btTypedConstraint.h.

## ◆ getUserConstraintPtr()

void * btTypedConstraint::getUserConstraintPtr | ( |  | ) |
| inline

Definition at line 257 of file btTypedConstraint.h.

## ◆ getUserConstraintType()

int btTypedConstraint::getUserConstraintType | ( |  | ) | const
| inline

Definition at line 232 of file btTypedConstraint.h.

## ◆ internalGetAppliedImpulse()

btScalar btTypedConstraint::internalGetAppliedImpulse | ( |  | ) |
| inline

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

Definition at line 186 of file btTypedConstraint.h.

## ◆ internalSetAppliedImpulse()

void btTypedConstraint::internalSetAppliedImpulse | ( | btScalar | appliedImpulse | ) |
| inline

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

Definition at line 181 of file btTypedConstraint.h.

## ◆ isEnabled()

bool btTypedConstraint::isEnabled | ( |  | ) | const
| inline

Definition at line 201 of file btTypedConstraint.h.

## ◆ needsFeedback()

bool btTypedConstraint::needsFeedback | ( |  | ) | const
| inline

Definition at line 282 of file btTypedConstraint.h.

## ◆ operator=()

btTypedConstraint & btTypedConstraint::operator= | ( | btTypedConstraint & | other | ) |
| inlineprivate

Definition at line 89 of file btTypedConstraint.h.

## ◆ serialize()

const char * btTypedConstraint::serialize | ( | void * | dataBuffer,
|  | btSerializer * | serializer ) const
| virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented in btConeTwistConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btGeneric6DofSpringConstraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

Definition at line 104 of file btTypedConstraint.cpp.

## ◆ setBreakingImpulseThreshold()

void btTypedConstraint::setBreakingImpulseThreshold | ( | btScalar | threshold | ) |
| inline

Definition at line 196 of file btTypedConstraint.h.

## ◆ setDbgDrawSize()

void btTypedConstraint::setDbgDrawSize | ( | btScalar | dbgDrawSize | ) |
| inline

Definition at line 307 of file btTypedConstraint.h.

## ◆ setEnabled()

void btTypedConstraint::setEnabled | ( | bool | enabled | ) |
| inline

Definition at line 206 of file btTypedConstraint.h.

## ◆ setJointFeedback()

void btTypedConstraint::setJointFeedback | ( | btJointFeedback * | jointFeedback | ) |
| inline

Definition at line 262 of file btTypedConstraint.h.

## ◆ setOverrideNumSolverIterations()

void btTypedConstraint::setOverrideNumSolverIterations | ( | int | overideNumIterations | ) |
| inline

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

Definition at line 157 of file btTypedConstraint.h.

## ◆ setParam()

virtual void btTypedConstraint::setParam | ( | int | num,
|  | btScalar | value,
|  | int | axis = -1 )
| pure virtual

override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).

If no axis is provided, it uses the default axis for this constraint.

Implemented in btConeTwistConstraint, btGearConstraint, btGeneric6DofConstraint, btGeneric6DofSpring2Constraint, btHingeConstraint, btPoint2PointConstraint, and btSliderConstraint.

## ◆ setupSolverConstraint()

virtual void btTypedConstraint::setupSolverConstraint | ( | btConstraintArray & | ca,
|  | int | solverBodyA,
|  | int | solverBodyB,
|  | btScalar | timeStep )
| inlinevirtual

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

Definition at line 166 of file btTypedConstraint.h.

## ◆ setUserConstraintId()

void btTypedConstraint::setUserConstraintId | ( | int | uid | ) |
| inline

Definition at line 242 of file btTypedConstraint.h.

## ◆ setUserConstraintPtr()

void btTypedConstraint::setUserConstraintPtr | ( | void * | ptr | ) |
| inline

Definition at line 252 of file btTypedConstraint.h.

## ◆ setUserConstraintType()

void btTypedConstraint::setUserConstraintType | ( | int | userConstraintType | ) |
| inline

Definition at line 237 of file btTypedConstraint.h.

## ◆ solveConstraintObsolete()

virtual void btTypedConstraint::solveConstraintObsolete | ( | btSolverBody & | ,
|  | btSolverBody & | ,
|  | btScalar | )
| inlinevirtual

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

Reimplemented in btConeTwistConstraint.

Definition at line 212 of file btTypedConstraint.h.

## Member Data Documentation

## ◆ [union]

union { ... } btTypedConstraint

## ◆ m_appliedImpulse

btScalar btTypedConstraint::m_appliedImpulse
| protected

Definition at line 99 of file btTypedConstraint.h.

## ◆ m_breakingImpulseThreshold

btScalar btTypedConstraint::m_breakingImpulseThreshold
| private

Definition at line 84 of file btTypedConstraint.h.

## ◆ m_dbgDrawSize

btScalar btTypedConstraint::m_dbgDrawSize
| protected

Definition at line 100 of file btTypedConstraint.h.

## ◆ m_isEnabled

bool btTypedConstraint::m_isEnabled
| private

Definition at line 85 of file btTypedConstraint.h.

## ◆ m_jointFeedback

btJointFeedback* btTypedConstraint::m_jointFeedback
| protected

Definition at line 101 of file btTypedConstraint.h.

## ◆ m_needsFeedback

bool btTypedConstraint::m_needsFeedback
| private

Definition at line 86 of file btTypedConstraint.h.

## ◆ m_overrideNumSolverIterations

int btTypedConstraint::m_overrideNumSolverIterations
| private

Definition at line 87 of file btTypedConstraint.h.

## ◆ m_rbA

btRigidBody& btTypedConstraint::m_rbA
| protected

Definition at line 97 of file btTypedConstraint.h.

## ◆ m_rbB

btRigidBody& btTypedConstraint::m_rbB
| protected

Definition at line 98 of file btTypedConstraint.h.

## ◆ m_userConstraintId

int btTypedConstraint::m_userConstraintId

Definition at line 80 of file btTypedConstraint.h.

## ◆ m_userConstraintPtr

void* btTypedConstraint::m_userConstraintPtr

Definition at line 81 of file btTypedConstraint.h.

## ◆ m_userConstraintType

int btTypedConstraint::m_userConstraintType
| private

Definition at line 77 of file btTypedConstraint.h.

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

- btTypedConstraint.h
- btTypedConstraint.cpp