btAngularLimit Class Reference

#include <btTypedConstraint.h>

List of all members.

Public Member Functions
	btAngularLimit ()
	Default constructor initializes limit as inactive, allowing free constraint movement.
void	set (btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
void	test (const btScalar angle)
btScalar	getSoftness () const
	Returns limit's softness.
btScalar	getBiasFactor () const
	Returns limit's bias factor.
btScalar	getRelaxationFactor () const
	Returns limit's relaxation factor.
btScalar	getCorrection () const
	Returns correction value evaluated when test() was invoked.
btScalar	getSign () const
	Returns sign value evaluated when test() was invoked.
btScalar	getHalfRange () const
	Gives half of the distance between min and max limit angle.
bool	isLimit () const
	Returns true when the last test() invocation recognized limit violation.
void	fit (btScalar &angle) const
btScalar	getError () const
	Returns correction value multiplied by sign value.
btScalar	getLow () const
btScalar	getHigh () const

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Detailed Description

Definition at line 316 of file btTypedConstraint.h.

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Constructor & Destructor Documentation

btAngularLimit::btAngularLimit

(

)

[inline]

Default constructor initializes limit as inactive, allowing free constraint movement.

Definition at line 333 of file btTypedConstraint.h.

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Member Function Documentation

void btAngularLimit::fit

(

btScalar &

angle

)

const

Checks given angle against limit. If limit is active and angle doesn't fit it, the angle returned is modified so it equals to the limit closest to given angle.

Definition at line 183 of file btTypedConstraint.cpp.

References btEqual(), btNormalizeAngle(), getHigh(), and getLow().

btScalar btAngularLimit::getBiasFactor

(

)

const [inline]

Returns limit's bias factor.

Definition at line 360 of file btTypedConstraint.h.

btScalar btAngularLimit::getCorrection

(

)

const [inline]

Returns correction value evaluated when test() was invoked.

Definition at line 372 of file btTypedConstraint.h.

btScalar btAngularLimit::getError

(

)

const

Returns correction value multiplied by sign value.

Definition at line 178 of file btTypedConstraint.cpp.

btScalar btAngularLimit::getHalfRange

(

)

const [inline]

Gives half of the distance between min and max limit angle.

Definition at line 384 of file btTypedConstraint.h.

btScalar btAngularLimit::getHigh

(

)

const

Definition at line 207 of file btTypedConstraint.cpp.

References btNormalizeAngle().

Referenced by ATTRIBUTE_ALIGNED16(), and fit().

btScalar btAngularLimit::getLow

(

)

const

Definition at line 202 of file btTypedConstraint.cpp.

References btNormalizeAngle().

Referenced by ATTRIBUTE_ALIGNED16(), and fit().

btScalar btAngularLimit::getRelaxationFactor

(

)

const [inline]

Returns limit's relaxation factor.

Definition at line 366 of file btTypedConstraint.h.

btScalar btAngularLimit::getSign

(

)

const [inline]

Returns sign value evaluated when test() was invoked.

Definition at line 378 of file btTypedConstraint.h.

Referenced by ATTRIBUTE_ALIGNED16().

btScalar btAngularLimit::getSoftness

(

)

const [inline]

Returns limit's softness.

Definition at line 354 of file btTypedConstraint.h.

bool btAngularLimit::isLimit

(

)

const [inline]

Returns true when the last test() invocation recognized limit violation.

Definition at line 390 of file btTypedConstraint.h.

Referenced by ATTRIBUTE_ALIGNED16().

void btAngularLimit::set	(	btScalar	low,
		btScalar	high,
		btScalar	_softness = 0.9f,
		btScalar	_biasFactor = 0.3f,
		btScalar	_relaxationFactor = 1.0f
	)

Sets all limit's parameters. When low > high limit becomes inactive. When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit

Definition at line 144 of file btTypedConstraint.cpp.

References btNormalizeAngle().

Referenced by ATTRIBUTE_ALIGNED16().

void btAngularLimit::test

(

const btScalar

angle

)

Checks conastaint angle against limit. If limit is active and the angle violates the limit correction is calculated.

Definition at line 153 of file btTypedConstraint.cpp.

References btNormalizeAngle().

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

• btTypedConstraint.h
• btTypedConstraint.cpp