Functions that implement a universal joint/constraint using bullet.
More...
#include <gzBtUniversalConstraint.hh>
Inherits btGeneric6DofConstraint.
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| gzBtUniversalConstraint (btRigidBody &_rbA, btRigidBody &_rbB, const btVector3 &_anchor, const btVector3 &_axis1, const btVector3 &_axis2) |
| Constructor. More...
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| gzBtUniversalConstraint (btRigidBody &_rbA, const btVector3 &_anchor, const btVector3 &_axis1, const btVector3 &_axis2) |
| Constructor. More...
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| BT_DECLARE_ALIGNED_ALLOCATOR () |
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const btVector3 & | getAnchor () |
| Get the anchor point in link A reference frame. More...
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const btVector3 & | getAnchor2 () |
| Get the anchor point in link B reference frame. More...
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btScalar | getAngle1 () |
| Get the value of angle 1 in radians. More...
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btScalar | getAngle2 () |
| Get the value of angle 2 in radians. More...
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const btVector3 & | getAxis1 () |
| Get the first axis of rotation. More...
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const btVector3 & | getAxis2 () |
| Get the second axis of rotation. More...
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void | getLowerLimit (btScalar &_ang1min, btScalar &_ang2min) |
| Get lower limits. More...
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btScalar | getMaxMotorImpulse1 () const |
| Get the maximum allowed motor impluse for the first axis of rotation. More...
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btScalar | getMaxMotorImpulse2 () const |
| Get the maximum allowed motor impluse for the second axis of rotation. More...
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void | getUpperLimit (btScalar &_ang1max, btScalar &_ang2max) |
| Get upper limits. More...
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void | setAxis (const btVector3 &_axis1, const btVector3 &_axis2) |
| Set the axis of rotation. More...
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void | setLowerLimit (btScalar _ang1min, btScalar _ang2min) |
| Set lower limits. More...
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void | setMaxMotorImpulse1 (btScalar _i) |
| Set the maximum allowed motor impluse for the first axis of rotation. More...
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void | setMaxMotorImpulse2 (btScalar _i) |
| Set the maximum allowed motor impluse for the second axis of rotation. More...
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void | setUpperLimit (btScalar _ang1max, btScalar _ang2max) |
| Set upper limits. More...
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Functions that implement a universal joint/constraint using bullet.
gzBtUniversalConstraint |
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btRigidBody & |
_rbA, |
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btRigidBody & |
_rbB, |
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const btVector3 & |
_anchor, |
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const btVector3 & |
_axis1, |
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const btVector3 & |
_axis2 |
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Constructor.
- Parameters
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[in] | _rbA | Rigid body A, also known as the parent link. |
[in] | _rbB | Rigid body B, also known as the child link. |
[in] | _anchor | The point in world space that constrains the two rigid bodies. |
[in] | _axis1 | First axis of rotation in world frame. |
[in] | _axis2 | Second axis of rotation in world frame. |
gzBtUniversalConstraint |
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btRigidBody & |
_rbA, |
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const btVector3 & |
_anchor, |
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const btVector3 & |
_axis1, |
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const btVector3 & |
_axis2 |
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) |
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Constructor.
- Parameters
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[in] | _rbB | Rigid body B, also known as the child link. |
[in] | _anchor | The point in world space that constrains the child link to the world. |
[in] | _axis1 | First axis of rotation in world frame. |
[in] | _axis2 | Second axis of rotation in world frame. |
BT_DECLARE_ALIGNED_ALLOCATOR |
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const btVector3& getAnchor |
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Get the anchor point in link A reference frame.
- Returns
- Anchor point in link A's reference frame.
const btVector3& getAnchor2 |
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Get the anchor point in link B reference frame.
- Returns
- Anchor point in link B's reference frame.
Get the value of angle 1 in radians.
- Returns
- Angle value of the first axis in radians.
Get the value of angle 2 in radians.
- Returns
- Angle value of the second axis in radians.
const btVector3& getAxis1 |
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Get the first axis of rotation.
- Returns
- The first axis of rotation as a vector
const btVector3& getAxis2 |
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Get the second axis of rotation.
- Returns
- The second axis of rotation as a vector
void getLowerLimit |
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btScalar & |
_ang1min, |
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btScalar & |
_ang2min |
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Get lower limits.
- Parameters
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[out] | _ang1min | Minimum value for angle 1 |
[out] | _ang2min | Minimum value for angle 2 |
btScalar getMaxMotorImpulse1 |
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const |
Get the maximum allowed motor impluse for the first axis of rotation.
- Returns
- Maximum motor impulse for axis 1.
btScalar getMaxMotorImpulse2 |
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const |
Get the maximum allowed motor impluse for the second axis of rotation.
- Returns
- Maximum motor impulse for axis 2.
void getUpperLimit |
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btScalar & |
_ang1max, |
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btScalar & |
_ang2max |
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Get upper limits.
- Parameters
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[out] | _ang1max | Maximum value for angle 1 |
[out] | _ang2max | Maximum value for angle 2 |
void setAxis |
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const btVector3 & |
_axis1, |
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const btVector3 & |
_axis2 |
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Set the axis of rotation.
- Parameters
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[in] | _axis1 | First axis of rotation. |
[in] | _axis2 | Second axis of rotation. |
void setLowerLimit |
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btScalar |
_ang1min, |
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btScalar |
_ang2min |
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) |
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Set lower limits.
- Parameters
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[in] | _ang1min | Minimum value for angle 1 |
[in] | _ang2min | Minimum value for angle 2 |
void setMaxMotorImpulse1 |
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btScalar |
_i | ) |
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Set the maximum allowed motor impluse for the first axis of rotation.
- Parameters
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[in] | _i | Maximum motor impulse for axis 1. |
void setMaxMotorImpulse2 |
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btScalar |
_i | ) |
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Set the maximum allowed motor impluse for the second axis of rotation.
- Parameters
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[in] | _i | Maximum motor impulse for axis 2. |
void setUpperLimit |
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btScalar |
_ang1max, |
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btScalar |
_ang2max |
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Set upper limits.
- Parameters
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[in] | _ang1max | Maximum value for angle 1 |
[in] | _ang2max | Maximum value for angle 2 |
Anchor point in world coordinate frame.
The documentation for this class was generated from the following file: