Blender: btRotationalLimitMotor Class Reference

Blender V2.61 - r43446

Rotation Limit structure for generic joints. More...

#include <btGeneric6DofConstraint.h>

List of all members.

Public Member Functions
	btRotationalLimitMotor ()
	btRotationalLimitMotor (const btRotationalLimitMotor &limot)
bool	isLimited ()
	Is limited.
bool	needApplyTorques ()
	Need apply correction.
int	testLimitValue (btScalar test_value)
	calculates error
btScalar	solveAngularLimits (btScalar timeStep, btVector3 &axis, btScalar jacDiagABInv, btRigidBody body0, btRigidBody body1)
	apply the correction impulses for two bodies
Public Attributes

btScalar	m_loLimit
	joint limit
btScalar	m_hiLimit
	joint limit
btScalar	m_targetVelocity
	target motor velocity
btScalar	m_maxMotorForce
	max force on motor
btScalar	m_maxLimitForce
	max force on limit
btScalar	m_damping
	Damping.
btScalar	m_limitSoftness
	joint limit
btScalar	m_normalCFM
	Relaxation factor.
btScalar	m_stopERP
	Error tolerance factor when joint is at limit.
btScalar	m_stopCFM
	Constraint force mixing factor when joint is at limit.
btScalar	m_bounce
	restitution factor
bool	m_enableMotor
	joint limit

btScalar	m_currentLimitError
btScalar	m_currentPosition
	How much is violated this limit.
int	m_currentLimit
	current value of angle
btScalar	m_accumulatedImpulse

Detailed Description

Rotation Limit structure for generic joints.

Definition at line 40 of file btGeneric6DofConstraint.h.

Constructor & Destructor Documentation

btRotationalLimitMotor::btRotationalLimitMotor ( ) [inline]

Definition at line 68 of file btGeneric6DofConstraint.h.

References m_accumulatedImpulse, m_bounce, m_currentLimit, m_currentLimitError, m_damping, m_enableMotor, m_hiLimit, m_limitSoftness, m_loLimit, m_maxLimitForce, m_maxMotorForce, m_normalCFM, m_stopCFM, m_stopERP, and m_targetVelocity.

btRotationalLimitMotor::btRotationalLimitMotor ( const btRotationalLimitMotor & limot ) [inline]

Definition at line 87 of file btGeneric6DofConstraint.h.

References m_bounce, m_currentLimit, m_currentLimitError, m_enableMotor, m_hiLimit, m_limitSoftness, m_loLimit, m_maxMotorForce, m_normalCFM, m_stopCFM, m_stopERP, and m_targetVelocity.

Member Function Documentation

bool btRotationalLimitMotor::isLimited ( ) [inline]

Is limited.

Definition at line 106 of file btGeneric6DofConstraint.h.

References m_hiLimit, and m_loLimit.

Referenced by btGeneric6DofConstraint::isLimited().

bool btRotationalLimitMotor::needApplyTorques ( ) [inline]

Need apply correction.

Definition at line 113 of file btGeneric6DofConstraint.h.

References m_currentLimit, and m_enableMotor.

Referenced by btGeneric6DofConstraint::setAngularLimits(), solveAngularLimits(), and btGeneric6DofConstraint::testAngularLimitMotor().

btScalar btRotationalLimitMotor::solveAngularLimits	(	btScalar	timeStep,
		btVector3 &	axis,
		btScalar	jacDiagABInv,
		btRigidBody *	body0,
		btRigidBody *	body1
	)

apply the correction impulses for two bodies

Todo:: : should clip against accumulated impulse

Definition at line 149 of file btGeneric6DofConstraint.cpp.

References BT_LARGE_FLOAT, btRigidBody::getInvInertiaTensorWorld(), btRigidBody::internalApplyImpulse(), btRigidBody::internalGetAngularVelocity(), m_accumulatedImpulse, m_bounce, m_currentLimit, m_currentLimitError, m_damping, m_limitSoftness, m_maxLimitForce, m_maxMotorForce, m_stopERP, m_targetVelocity, needApplyTorques(), SIMD_EPSILON, and sum().

int btRotationalLimitMotor::testLimitValue ( btScalar test_value )

calculates error

calculates m_currentLimit and m_currentLimitError.

Definition at line 122 of file btGeneric6DofConstraint.cpp.

References m_currentLimit, m_currentLimitError, m_hiLimit, and m_loLimit.

Referenced by btGeneric6DofConstraint::testAngularLimitMotor().

Member Data Documentation

btScalar btRotationalLimitMotor::m_accumulatedImpulse

temp_variables

Definition at line 65 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::buildJacobian(), and solveAngularLimits().

btScalar btRotationalLimitMotor::m_bounce

restitution factor

Definition at line 55 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::get_limit_motor_info2(), btGeneric6DofConstraint::setLinearLimits(), and solveAngularLimits().

int btRotationalLimitMotor::m_currentLimit

current value of angle

0=free, 1=at lo limit, 2=at hi limit

Definition at line 64 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::get_limit_motor_info2(), needApplyTorques(), btGeneric6DofConstraint::setLinearLimits(), solveAngularLimits(), and testLimitValue().

btScalar btRotationalLimitMotor::m_currentLimitError

temp_variables

Definition at line 62 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::get_limit_motor_info2(), btGeneric6DofConstraint::setLinearLimits(), solveAngularLimits(), and testLimitValue().

btScalar btRotationalLimitMotor::m_currentPosition

How much is violated this limit.

Definition at line 63 of file btGeneric6DofConstraint.h.

Referenced by btGeneric6DofConstraint::get_limit_motor_info2(), btGeneric6DofConstraint::setLinearLimits(), and btGeneric6DofConstraint::testAngularLimitMotor().

btScalar btRotationalLimitMotor::m_damping

Damping.

Definition at line 50 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::setLinearLimits(), and solveAngularLimits().

bool btRotationalLimitMotor::m_enableMotor

joint limit

limit_parameters

Definition at line 56 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofSpringConstraint::enableSpring(), btGeneric6DofConstraint::get_limit_motor_info2(), needApplyTorques(), CcdPhysicsEnvironment::setConstraintParam(), and btGeneric6DofConstraint::setLinearLimits().

btScalar btRotationalLimitMotor::m_hiLimit

joint limit

Definition at line 46 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btDiscreteDynamicsWorld::debugDrawConstraint(), btGeneric6DofConstraint::get_limit_motor_info2(), isLimited(), btGeneric6DofConstraint::setLimit(), btGeneric6DofConstraint::setLinearLimits(), and testLimitValue().

btScalar btRotationalLimitMotor::m_limitSoftness

joint limit

limit_parameters

Definition at line 51 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::setLinearLimits(), and solveAngularLimits().

btScalar btRotationalLimitMotor::m_loLimit

joint limit

limit_parameters

Definition at line 45 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btDiscreteDynamicsWorld::debugDrawConstraint(), btGeneric6DofConstraint::get_limit_motor_info2(), isLimited(), btGeneric6DofConstraint::setLimit(), btGeneric6DofConstraint::setLinearLimits(), and testLimitValue().

btScalar btRotationalLimitMotor::m_maxLimitForce

max force on limit

Definition at line 49 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::setLinearLimits(), and solveAngularLimits().

btScalar btRotationalLimitMotor::m_maxMotorForce

max force on motor

Definition at line 48 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::get_limit_motor_info2(), btGeneric6DofSpringConstraint::internalUpdateSprings(), CcdPhysicsEnvironment::setConstraintParam(), btGeneric6DofConstraint::setLinearLimits(), and solveAngularLimits().

btScalar btRotationalLimitMotor::m_normalCFM

Relaxation factor.

Constraint force mixing factor

Definition at line 52 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::get_limit_motor_info2(), btGeneric6DofConstraint::getParam(), btGeneric6DofConstraint::setAngularLimits(), btGeneric6DofConstraint::setLinearLimits(), and btGeneric6DofConstraint::setParam().

btScalar btRotationalLimitMotor::m_stopCFM

Constraint force mixing factor when joint is at limit.

Definition at line 54 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::get_limit_motor_info2(), btGeneric6DofConstraint::getParam(), btGeneric6DofConstraint::setAngularLimits(), btGeneric6DofConstraint::setLinearLimits(), and btGeneric6DofConstraint::setParam().

btScalar btRotationalLimitMotor::m_stopERP

Error tolerance factor when joint is at limit.

Definition at line 53 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::get_limit_motor_info2(), btGeneric6DofConstraint::getParam(), btGeneric6DofConstraint::setAngularLimits(), btGeneric6DofConstraint::setLinearLimits(), btGeneric6DofConstraint::setParam(), and solveAngularLimits().

btScalar btRotationalLimitMotor::m_targetVelocity

target motor velocity

Definition at line 47 of file btGeneric6DofConstraint.h.

Referenced by btRotationalLimitMotor(), btGeneric6DofConstraint::get_limit_motor_info2(), btGeneric6DofSpringConstraint::internalUpdateSprings(), CcdPhysicsEnvironment::setConstraintParam(), btGeneric6DofConstraint::setLinearLimits(), and solveAngularLimits().

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