btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) More...

#include <btConeTwistConstraint.h>

Inheritance diagram for btConeTwistConstraint:

Public Member Functions
	btConeTwistConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame)
	btConeTwistConstraint (btRigidBody &rbA, const btTransform &rbAFrame)
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 btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
virtual void	solveConstraintObsolete (btRigidBody &bodyA, btRigidBody &bodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly
void	updateRHS (btScalar timeStep)
const btRigidBody &	getRigidBodyA () const
const btRigidBody &	getRigidBodyB () const
void	setAngularOnly (bool angularOnly)
void	setLimit (int limitIndex, btScalar limitValue)
void	setLimit (btScalar _swingSpan1, btScalar _swingSpan2, btScalar _twistSpan, btScalar _softness=1.f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
const btTransform &	getAFrame ()
const btTransform &	getBFrame ()
int	getSolveTwistLimit ()
int	getSolveSwingLimit ()
btScalar	getTwistLimitSign ()
void	calcAngleInfo ()
void	calcAngleInfo2 (const btTransform &transA, const btTransform &transB, const btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
btScalar	getSwingSpan1 ()
btScalar	getSwingSpan2 ()
btScalar	getTwistSpan ()
btScalar	getTwistAngle ()
bool	isPastSwingLimit ()
void	setDamping (btScalar damping)
void	enableMotor (bool b)
void	setMaxMotorImpulse (btScalar maxMotorImpulse)
void	setMaxMotorImpulseNormalized (btScalar maxMotorImpulse)
btScalar	getFixThresh ()
void	setFixThresh (btScalar fixThresh)
void	setMotorTarget (const btQuaternion &q)
void	setMotorTargetInConstraintSpace (const btQuaternion &q)
btVector3	GetPointForAngle (btScalar fAngleInRadians, btScalar fLength) const
virtual void	setParam (int num, btScalar value, int axis=-1)
virtual void	setFrames (const btTransform &frameA, const btTransform &frameB)
const btTransform &	getFrameOffsetA () const
const btTransform &	getFrameOffsetB () const
virtual btScalar	getParam (int num, int axis=-1) const
	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)
Protected Member Functions
void	init ()
void	computeConeLimitInfo (const btQuaternion &qCone, btScalar &swingAngle, btVector3 &vSwingAxis, btScalar &swingLimit)
void	computeTwistLimitInfo (const btQuaternion &qTwist, btScalar &twistAngle, btVector3 &vTwistAxis)
void	adjustSwingAxisToUseEllipseNormal (btVector3 &vSwingAxis) const

Detailed Description

btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)

Definition at line 53 of file btConeTwistConstraint.h.

Constructor & Destructor Documentation

btConeTwistConstraint::btConeTwistConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	rbAFrame,
		const btTransform &	rbBFrame
	)

Definition at line 41 of file btConeTwistConstraint.cpp.

References init().

btConeTwistConstraint::btConeTwistConstraint	(	btRigidBody &	rbA,
		const btTransform &	rbAFrame
	)

Definition at line 50 of file btConeTwistConstraint.cpp.

References init().

Member Function Documentation

void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal ( btVector3 & vSwingAxis ) const [protected]

Definition at line 936 of file btConeTwistConstraint.cpp.

References fabs(), grad(), and SIMD_EPSILON.

Referenced by calcAngleInfo2().

void btConeTwistConstraint::buildJacobian ( ) [virtual]

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

Reimplemented from btTypedConstraint.

Definition at line 259 of file btConeTwistConstraint.cpp.

References btPlaneSpace1(), calcAngleInfo2(), btTransform::getBasis(), btRigidBody::getCenterOfMassPosition(), btRigidBody::getCenterOfMassTransform(), btRigidBody::getInvInertiaDiagLocal(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), btTransform::getOrigin(), i, btTypedConstraint::m_appliedImpulse, btTypedConstraint::m_rbA, btTypedConstraint::m_rbB, SIMD_EPSILON, and btMatrix3x3::transpose().

Referenced by setFrames().

void btConeTwistConstraint::calcAngleInfo ( )

Definition at line 532 of file btConeTwistConstraint.cpp.

References btAtan2Fast(), btFabs(), btTransform::getBasis(), btRigidBody::getCenterOfMassTransform(), btMatrix3x3::getColumn(), getRigidBodyA(), getRigidBodyB(), quatRotate(), shortestArcQuat(), and thresh.

void btConeTwistConstraint::calcAngleInfo2	(	const btTransform &	transA,
		const btTransform &	transB,
		const btMatrix3x3 &	invInertiaWorldA,
		const btMatrix3x3 &	invInertiaWorldB
	)

SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize ( ) const [virtual]

Reimplemented from btTypedConstraint.

Definition at line 318 of file btConeTwistConstraint.h.

void btConeTwistConstraint::computeConeLimitInfo	(	const btQuaternion &	qCone,
		btScalar &	swingAngle,
		btVector3 &	vSwingAxis,
		btScalar &	swingLimit
	)		`[protected]`

Definition at line 816 of file btConeTwistConstraint.cpp.

References fabs(), btQuaternion::getAngle(), norm(), SIMD_EPSILON, and sqrt().

Referenced by calcAngleInfo2(), and setMotorTargetInConstraintSpace().

void btConeTwistConstraint::computeTwistLimitInfo	(	const btQuaternion &	qTwist,
		btScalar &	twistAngle,
		btVector3 &	vTwistAxis
	)		`[protected]`

Definition at line 912 of file btConeTwistConstraint.cpp.

References btQuaternion::getAngle(), operator-(), SIMD_EPSILON, and SIMD_PI.

Referenced by calcAngleInfo2(), and setMotorTargetInConstraintSpace().

void btConeTwistConstraint::enableMotor ( bool b ) [inline]

Definition at line 250 of file btConeTwistConstraint.h.

const btTransform& btConeTwistConstraint::getAFrame ( ) [inline]

Definition at line 209 of file btConeTwistConstraint.h.

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint().

const btTransform& btConeTwistConstraint::getBFrame ( ) [inline]

Definition at line 210 of file btConeTwistConstraint.h.

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint().

btScalar btConeTwistConstraint::getFixThresh ( ) [inline]

Definition at line 254 of file btConeTwistConstraint.h.

const btTransform& btConeTwistConstraint::getFrameOffsetA ( ) const [inline]

Definition at line 274 of file btConeTwistConstraint.h.

const btTransform& btConeTwistConstraint::getFrameOffsetB ( ) const [inline]

Definition at line 279 of file btConeTwistConstraint.h.

void btConeTwistConstraint::getInfo1 ( btConstraintInfo1 * info ) [virtual]

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

Implements btTypedConstraint.

Definition at line 78 of file btConeTwistConstraint.cpp.

References calcAngleInfo2(), btRigidBody::getCenterOfMassTransform(), btRigidBody::getInvInertiaTensorWorld(), btTypedConstraint::btConstraintInfo1::m_numConstraintRows, btTypedConstraint::m_rbA, btTypedConstraint::m_rbB, and btTypedConstraint::btConstraintInfo1::nub.

void btConeTwistConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

Definition at line 108 of file btConeTwistConstraint.cpp.

References btTypedConstraint::btConstraintInfo1::m_numConstraintRows, and btTypedConstraint::btConstraintInfo1::nub.

void btConeTwistConstraint::getInfo2 ( btConstraintInfo2 * info ) [virtual]

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

Implements btTypedConstraint.

Definition at line 117 of file btConeTwistConstraint.cpp.

References btRigidBody::getCenterOfMassTransform(), getInfo2NonVirtual(), btRigidBody::getInvInertiaTensorWorld(), btTypedConstraint::m_rbA, and btTypedConstraint::m_rbB.

void btConeTwistConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btMatrix3x3 &	invInertiaWorldA,
		const btMatrix3x3 &	invInertiaWorldB
	)

btScalar btConeTwistConstraint::getParam	(	int	num,
		int	axis = `-1`
	)		const `[virtual]`

return the local value of parameter

Implements btTypedConstraint.

Definition at line 1072 of file btConeTwistConstraint.cpp.

References BT_CONETWIST_FLAGS_ANG_CFM, BT_CONETWIST_FLAGS_LIN_CFM, BT_CONETWIST_FLAGS_LIN_ERP, BT_CONSTRAINT_CFM, BT_CONSTRAINT_ERP, BT_CONSTRAINT_STOP_CFM, BT_CONSTRAINT_STOP_ERP, and btAssertConstrParams.

btVector3 btConeTwistConstraint::GetPointForAngle	(	btScalar	fAngleInRadians,
		btScalar	fLength
	)		const

Definition at line 879 of file btConeTwistConstraint.cpp.

References btCos(), btSin(), fabs(), norm(), quatRotate(), SIMD_EPSILON, and sqrt().

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint().

const btRigidBody& btConeTwistConstraint::getRigidBodyA ( ) const [inline]

Reimplemented from btTypedConstraint.

Definition at line 148 of file btConeTwistConstraint.h.

References btTypedConstraint::m_rbA.

Referenced by calcAngleInfo(), btDiscreteDynamicsWorld::debugDrawConstraint(), and solveConstraintObsolete().

const btRigidBody& btConeTwistConstraint::getRigidBodyB ( ) const [inline]

Reimplemented from btTypedConstraint.

Definition at line 152 of file btConeTwistConstraint.h.

References btTypedConstraint::m_rbB.

Referenced by calcAngleInfo(), btDiscreteDynamicsWorld::debugDrawConstraint(), and solveConstraintObsolete().

int btConeTwistConstraint::getSolveSwingLimit ( ) [inline]

Definition at line 217 of file btConeTwistConstraint.h.

int btConeTwistConstraint::getSolveTwistLimit ( ) [inline]

Definition at line 212 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getSwingSpan1 ( ) [inline]

Definition at line 230 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getSwingSpan2 ( ) [inline]

Definition at line 234 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getTwistAngle ( ) [inline]

Definition at line 242 of file btConeTwistConstraint.h.

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint().

btScalar btConeTwistConstraint::getTwistLimitSign ( ) [inline]

Definition at line 222 of file btConeTwistConstraint.h.

btScalar btConeTwistConstraint::getTwistSpan ( ) [inline]

Definition at line 238 of file btConeTwistConstraint.h.

Referenced by btDiscreteDynamicsWorld::debugDrawConstraint().

void btConeTwistConstraint::init ( ) [protected]

Definition at line 60 of file btConeTwistConstraint.cpp.

References BT_LARGE_FLOAT, CONETWIST_DEF_FIX_THRESH, and setLimit().

Referenced by btConeTwistConstraint().

bool btConeTwistConstraint::isPastSwingLimit ( ) [inline]

Definition at line 246 of file btConeTwistConstraint.h.

SIMD_FORCE_INLINE const char * btConeTwistConstraint::serialize	(	void *	dataBuffer,
		btSerializer *	serializer
	)		const `[virtual]`

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

Reimplemented from btTypedConstraint.

Definition at line 326 of file btConeTwistConstraint.h.

References btConeTwistConstraintData::m_biasFactor, btConeTwistConstraintData::m_damping, btConeTwistConstraintData::m_limitSoftness, btConeTwistConstraintData::m_rbAFrame, btConeTwistConstraintData::m_rbBFrame, btConeTwistConstraintData::m_relaxationFactor, btConeTwistConstraintData::m_swingSpan1, btConeTwistConstraintData::m_swingSpan2, btConeTwistConstraintData::m_twistSpan, btConeTwistConstraintData::m_typeConstraintData, and btTransform::serializeFloat().

void btConeTwistConstraint::setAngularOnly ( bool angularOnly ) [inline]

Definition at line 157 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setDamping ( btScalar damping ) [inline]

Definition at line 248 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setFixThresh ( btScalar fixThresh ) [inline]

Definition at line 255 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setFrames	(	const btTransform &	frameA,
		const btTransform &	frameB
	)		`[virtual]`

Definition at line 1117 of file btConeTwistConstraint.cpp.

References buildJacobian().

void btConeTwistConstraint::setLimit	(	btScalar	_swingSpan1,
		btScalar	_swingSpan2,
		btScalar	_twistSpan,
		btScalar	_softness = `1.f`,
		btScalar	_biasFactor = `0.3f`,
		btScalar	_relaxationFactor = `1.0f`
	)		`[inline]`

Definition at line 198 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setLimit	(	int	limitIndex,
		btScalar	limitValue
	)		`[inline]`

Definition at line 162 of file btConeTwistConstraint.h.

Referenced by init(), and CcdPhysicsEnvironment::setConstraintParam().

void btConeTwistConstraint::setMaxMotorImpulse ( btScalar maxMotorImpulse ) [inline]

Definition at line 251 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setMaxMotorImpulseNormalized ( btScalar maxMotorImpulse ) [inline]

Definition at line 252 of file btConeTwistConstraint.h.

void btConeTwistConstraint::setMotorTarget ( const btQuaternion & q )

Definition at line 970 of file btConeTwistConstraint.cpp.

References btRigidBody::getCenterOfMassTransform(), btTransform::getRotation(), btQuaternion::inverse(), btTransform::inverse(), inverse(), btTypedConstraint::m_rbA, btTypedConstraint::m_rbB, and setMotorTargetInConstraintSpace().

void btConeTwistConstraint::setMotorTargetInConstraintSpace ( const btQuaternion & q )

Definition at line 984 of file btConeTwistConstraint.cpp.

References computeConeLimitInfo(), computeTwistLimitInfo(), fabs(), btQuaternion::inverse(), btQuaternion::normalize(), quatRotate(), shortestArcQuat(), SIMD_EPSILON, and vTwist().

Referenced by setMotorTarget().

void btConeTwistConstraint::setParam	(	int	num,
		btScalar	value,
		int	axis = `-1`
	)		`[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.

Implements btTypedConstraint.

Definition at line 1036 of file btConeTwistConstraint.cpp.

References BT_CONETWIST_FLAGS_ANG_CFM, BT_CONETWIST_FLAGS_LIN_CFM, BT_CONETWIST_FLAGS_LIN_ERP, BT_CONSTRAINT_CFM, BT_CONSTRAINT_ERP, BT_CONSTRAINT_STOP_CFM, BT_CONSTRAINT_STOP_ERP, and btAssertConstrParams.

void btConeTwistConstraint::solveConstraintObsolete	(	btRigidBody &	,
		btRigidBody &	,
		btScalar
	)		`[virtual]`

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

solve angular part

Reimplemented from btTypedConstraint.

Definition at line 307 of file btConeTwistConstraint.cpp.

References btAssert, btMax(), btTransformUtil::calculateVelocity(), btRigidBody::computeAngularImpulseDenominator(), dot(), btRigidBody::getCenterOfMassPosition(), btRigidBody::getCenterOfMassTransform(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), btTransform::getOrigin(), getRigidBodyA(), getRigidBodyB(), i, btTransformUtil::integrateTransform(), btRigidBody::internalApplyImpulse(), btRigidBody::internalGetAngularVelocity(), btRigidBody::internalGetVelocityInLocalPointObsolete(), btTransform::inverse(), btTypedConstraint::m_appliedImpulse, btTypedConstraint::m_rbA, btTypedConstraint::m_rbB, btTransform::setIdentity(), and SIMD_EPSILON.

void btConeTwistConstraint::updateRHS ( btScalar timeStep )

Definition at line 524 of file btConeTwistConstraint.cpp.

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

btConeTwistConstraint Class Reference

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation