Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) and Y (axis 2) Description from ODE manual : "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. More...

#include <btUniversalConstraint.h>

Inheritance diagram for btUniversalConstraint:

[legend]

Collaboration diagram for btUniversalConstraint:

[legend]

Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btUniversalConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &anchor, const btVector3 &axis1, const btVector3 &axis2)
const btVector3 &	getAnchor ()
const btVector3 &	getAnchor2 ()
const btVector3 &	getAxis1 ()
const btVector3 &	getAxis2 ()
btScalar	getAngle1 ()
btScalar	getAngle2 ()
void	setUpperLimit (btScalar ang1max, btScalar ang2max)
void	setLowerLimit (btScalar ang1min, btScalar ang2min)
void	setAxis (const btVector3 &axis1, const btVector3 &axis2)
Public Member Functions inherited from btGeneric6DofConstraint
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btGeneric6DofConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
	btGeneric6DofConstraint (btRigidBody &rbB, const btTransform &frameInB, bool useLinearReferenceFrameB)
void	calculateTransforms (const btTransform &transA, const btTransform &transB)
	Calcs global transform of the offsets.
void	calculateTransforms ()
const btTransform &	getCalculatedTransformA () const
	Gets the global transform of the offset for body A.
const btTransform &	getCalculatedTransformB () const
	Gets the global transform of the offset for body B.
const btTransform &	getFrameOffsetA () const
const btTransform &	getFrameOffsetB () const
btTransform &	getFrameOffsetA ()
btTransform &	getFrameOffsetB ()
virtual void	buildJacobian ()
	performs Jacobian calculation, and also calculates angle differences and axis
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 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)
void	updateRHS (btScalar timeStep)
btVector3	getAxis (int axis_index) const
	Get the rotation axis in global coordinates.
btScalar	getAngle (int axis_index) const
	Get the relative Euler angle.
btScalar	getRelativePivotPosition (int axis_index) const
	Get the relative position of the constraint pivot.
void	setFrames (const btTransform &frameA, const btTransform &frameB)
bool	testAngularLimitMotor (int axis_index)
	Test angular limit.
void	setLinearLowerLimit (const btVector3 &linearLower)
void	getLinearLowerLimit (btVector3 &linearLower) const
void	setLinearUpperLimit (const btVector3 &linearUpper)
void	getLinearUpperLimit (btVector3 &linearUpper) const
void	setAngularLowerLimit (const btVector3 &angularLower)
void	getAngularLowerLimit (btVector3 &angularLower) const
void	setAngularUpperLimit (const btVector3 &angularUpper)
void	getAngularUpperLimit (btVector3 &angularUpper) const
btRotationalLimitMotor *	getRotationalLimitMotor (int index)
	Retrieves the angular limit informacion.
btTranslationalLimitMotor *	getTranslationalLimitMotor ()
	Retrieves the limit informacion.
void	setLimit (int axis, btScalar lo, btScalar hi)
bool	isLimited (int limitIndex) const
	Test limit.
virtual void	calcAnchorPos (void)
int	get_limit_motor_info2 (btRotationalLimitMotor limot, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB, btConstraintInfo2 info, int row, btVector3 &ax1, int rotational, int rotAllowed=false)
bool	getUseFrameOffset () const
void	setUseFrameOffset (bool frameOffsetOnOff)
bool	getUseLinearReferenceFrameA () const
void	setUseLinearReferenceFrameA (bool linearReferenceFrameA)
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
void	setAxis (const btVector3 &axis1, const btVector3 &axis2)
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	setupSolverConstraint (btConstraintArray &ca, int solverBodyA, int solverBodyB, btScalar timeStep)
	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 ()
Public Member Functions inherited from btTypedObject
	btTypedObject (int objectType)
int	getObjectType () const

Protected Attributes
btVector3	m_anchor
btVector3	m_axis1
btVector3	m_axis2
Protected Attributes inherited from btGeneric6DofConstraint
btTransform	m_frameInA
	the constraint space w.r.t body A
btTransform	m_frameInB
	the constraint space w.r.t body B
btJacobianEntry	m_jacLinear [3]
	3 orthogonal linear constraints
btJacobianEntry	m_jacAng [3]
	3 orthogonal angular constraints
btTranslationalLimitMotor	m_linearLimits
btRotationalLimitMotor	m_angularLimits [3]
btScalar	m_timeStep
btTransform	m_calculatedTransformA
btTransform	m_calculatedTransformB
btVector3	m_calculatedAxisAngleDiff
btVector3	m_calculatedAxis [3]
btVector3	m_calculatedLinearDiff
btScalar	m_factA
btScalar	m_factB
bool	m_hasStaticBody
btVector3	m_AnchorPos
bool	m_useLinearReferenceFrameA
bool	m_useOffsetForConstraintFrame
int	m_flags
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 btGeneric6DofConstraint
bool	m_useSolveConstraintObsolete
	for backwards compatibility during the transition to 'getInfo/getInfo2'
Public Attributes inherited from btTypedObject
int	m_objectType
Protected Member Functions inherited from btGeneric6DofConstraint
btGeneric6DofConstraint &	operator= (btGeneric6DofConstraint &other)
int	setAngularLimits (btConstraintInfo2 *info, int row_offset, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)
int	setLinearLimits (btConstraintInfo2 *info, int row, const btTransform &transA, const btTransform &transB, const btVector3 &linVelA, const btVector3 &linVelB, const btVector3 &angVelA, const btVector3 &angVelB)
void	buildLinearJacobian (btJacobianEntry &jacLinear, const btVector3 &normalWorld, const btVector3 &pivotAInW, const btVector3 &pivotBInW)
void	buildAngularJacobian (btJacobianEntry &jacAngular, const btVector3 &jointAxisW)
void	calculateLinearInfo ()
void	calculateAngleInfo ()
	calcs the euler angles between the two bodies.
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

Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) and Y (axis 2) Description from ODE manual : "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.

In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."

Definition at line 30 of file btUniversalConstraint.h.

Constructor & Destructor Documentation

◆ btUniversalConstraint()

btUniversalConstraint::btUniversalConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btVector3 &	anchor,
		const btVector3 &	axis1,
		const btVector3 &	axis2 )

Definition at line 25 of file btUniversalConstraint.cpp.

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

btUniversalConstraint::BT_DECLARE_ALIGNED_ALLOCATOR ( )

◆ getAnchor()

const btVector3 & btUniversalConstraint::getAnchor ( )

inline

Definition at line 46 of file btUniversalConstraint.h.

◆ getAnchor2()

const btVector3 & btUniversalConstraint::getAnchor2 ( )

inline

Definition at line 47 of file btUniversalConstraint.h.

◆ getAngle1()

btScalar btUniversalConstraint::getAngle1 ( )

inline

Definition at line 50 of file btUniversalConstraint.h.

◆ getAngle2()

btScalar btUniversalConstraint::getAngle2 ( )

inline

Definition at line 51 of file btUniversalConstraint.h.

◆ getAxis1()

const btVector3 & btUniversalConstraint::getAxis1 ( )

inline

Definition at line 48 of file btUniversalConstraint.h.

◆ getAxis2()

const btVector3 & btUniversalConstraint::getAxis2 ( )

inline

Definition at line 49 of file btUniversalConstraint.h.

◆ setAxis()

void btUniversalConstraint::setAxis	(	const btVector3 &	axis1,
		const btVector3 &	axis2 )

Definition at line 59 of file btUniversalConstraint.cpp.

◆ setLowerLimit()

void btUniversalConstraint::setLowerLimit	(	btScalar	ang1min,
		btScalar	ang2min )

inline

Definition at line 54 of file btUniversalConstraint.h.

◆ setUpperLimit()

void btUniversalConstraint::setUpperLimit	(	btScalar	ang1max,
		btScalar	ang2max )

inline

Definition at line 53 of file btUniversalConstraint.h.

Member Data Documentation

◆ m_anchor

btVector3 btUniversalConstraint::m_anchor

protected

Definition at line 34 of file btUniversalConstraint.h.

◆ m_axis1

btVector3 btUniversalConstraint::m_axis1

protected

Definition at line 35 of file btUniversalConstraint.h.

◆ m_axis2

btVector3 btUniversalConstraint::m_axis2

protected

Definition at line 36 of file btUniversalConstraint.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btUniversalConstraint()

Member Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

◆ getAnchor()

◆ getAnchor2()

◆ getAngle1()

◆ getAngle2()

◆ getAxis1()

◆ getAxis2()

◆ setAxis()

◆ setLowerLimit()

◆ setUpperLimit()

Member Data Documentation

◆ m_anchor

◆ m_axis1

◆ m_axis2