Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

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extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

Show First 20 Lines • Show All 164 Lines • ▼ Show 20 Lines	public:
{		{
return m_rbB;		return m_rbB;
}		}

void setAngularOnly(bool angularOnly)		void setAngularOnly(bool angularOnly)
{		{
m_angularOnly = angularOnly;		m_angularOnly = angularOnly;
}		}

		bool getAngularOnly() const
		{
		return m_angularOnly;
		}

void setLimit(int limitIndex,btScalar limitValue)		void setLimit(int limitIndex,btScalar limitValue)
{		{
switch (limitIndex)		switch (limitIndex)
{		{
case 3:		case 3:
{		{
m_twistSpan = limitValue;		m_twistSpan = limitValue;
break;		break;
Show All 9 Lines	case 5:
break;		break;
}		}
default:		default:
{		{
}		}
};		};
}		}

		btScalar getLimit(int limitIndex) const
		{
		switch (limitIndex)
		{
		case 3:
		{
		return m_twistSpan;
		break;
		}
		case 4:
		{
		return m_swingSpan2;
		break;
		}
		case 5:
		{
		return m_swingSpan1;
		break;
		}
		default:
		{
		btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint");
		return 0.0;
		}
		};
		}

// setLimit(), a few notes:		// setLimit(), a few notes:
// _softness:		// _softness:
// 0->1, recommend ~0.8->1.		// 0->1, recommend ~0.8->1.
// describes % of limits where movement is free.		// describes % of limits where movement is free.
// beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached.		// beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached.
// _biasFactor:		// _biasFactor:
// 0->1?, recommend 0.3 +/-0.3 or so.		// 0->1?, recommend 0.3 +/-0.3 or so.
// strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.		// strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
// __relaxationFactor:		// __relaxationFactor:
// 0->1, recommend to stay near 1.		// 0->1, recommend to stay near 1.
// the lower the value, the less the constraint will fight velocities which violate the angular limits.		// the lower the value, the less the constraint will fight velocities which violate the angular limits.
void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)		void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
{		{
m_swingSpan1 = _swingSpan1;		m_swingSpan1 = _swingSpan1;
m_swingSpan2 = _swingSpan2;		m_swingSpan2 = _swingSpan2;
m_twistSpan = _twistSpan;		m_twistSpan = _twistSpan;

m_limitSoftness = _softness;		m_limitSoftness = _softness;
m_biasFactor = _biasFactor;		m_biasFactor = _biasFactor;
m_relaxationFactor = _relaxationFactor;		m_relaxationFactor = _relaxationFactor;
}		}

const btTransform& getAFrame() { return m_rbAFrame; };		const btTransform& getAFrame() const { return m_rbAFrame; };
const btTransform& getBFrame() { return m_rbBFrame; };		const btTransform& getBFrame() const { return m_rbBFrame; };

inline int getSolveTwistLimit()		inline int getSolveTwistLimit()
{		{
return m_solveTwistLimit;		return m_solveTwistLimit;
}		}

inline int getSolveSwingLimit()		inline int getSolveSwingLimit()
{		{
return m_solveTwistLimit;		return m_solveTwistLimit;
}		}

inline btScalar getTwistLimitSign()		inline btScalar getTwistLimitSign()
{		{
return m_twistLimitSign;		return m_twistLimitSign;
}		}

void calcAngleInfo();		void calcAngleInfo();
void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);		void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);

inline btScalar getSwingSpan1()		inline btScalar getSwingSpan1() const
{		{
return m_swingSpan1;		return m_swingSpan1;
}		}
inline btScalar getSwingSpan2()		inline btScalar getSwingSpan2() const
{		{
return m_swingSpan2;		return m_swingSpan2;
}		}
inline btScalar getTwistSpan()		inline btScalar getTwistSpan() const
{		{
return m_twistSpan;		return m_twistSpan;
}		}
inline btScalar getTwistAngle()		inline btScalar getLimitSoftness() const
		{
		return m_limitSoftness;
		}
		inline btScalar getBiasFactor() const
		{
		return m_biasFactor;
		}
		inline btScalar getRelaxationFactor() const
		{
		return m_relaxationFactor;
		}
		inline btScalar getTwistAngle() const
{		{
return m_twistAngle;		return m_twistAngle;
}		}
bool isPastSwingLimit() { return m_solveSwingLimit; }		bool isPastSwingLimit() { return m_solveSwingLimit; }

		btScalar getDamping() const { return m_damping; }
void setDamping(btScalar damping) { m_damping = damping; }		void setDamping(btScalar damping) { m_damping = damping; }

void enableMotor(bool b) { m_bMotorEnabled = b; }		void enableMotor(bool b) { m_bMotorEnabled = b; }
		bool isMotorEnabled() const { return m_bMotorEnabled; }
		btScalar getMaxMotorImpulse() const { return m_maxMotorImpulse; }
		bool isMaxMotorImpulseNormalized() const { return m_bNormalizedMotorStrength; }
void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }		void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }		void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }

btScalar getFixThresh() { return m_fixThresh; }		btScalar getFixThresh() { return m_fixThresh; }
void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; }		void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; }

// setMotorTarget:		// setMotorTarget:
// q: the desired rotation of bodyA wrt bodyB.		// q: the desired rotation of bodyA wrt bodyB.
// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)		// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
// note: don't forget to enableMotor()		// note: don't forget to enableMotor()
void setMotorTarget(const btQuaternion &q);		void setMotorTarget(const btQuaternion &q);
		const btQuaternion& getMotorTarget() const { return m_qTarget; }

// same as above, but q is the desired rotation of frameA wrt frameB in constraint space		// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
void setMotorTargetInConstraintSpace(const btQuaternion &q);		void setMotorTargetInConstraintSpace(const btQuaternion &q);

btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;		btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;

///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).		///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.		///If no axis is provided, it uses the default axis for this constraint.
Show All 10 Lines	public:
{		{
return m_rbBFrame;		return m_rbBFrame;
}		}


///return the local value of parameter		///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;		virtual btScalar getParam(int num, int axis = -1) const;

		int getFlags() const
		{
		return m_flags;
		}

virtual int calculateSerializeBufferSize() const;		virtual int calculateSerializeBufferSize() const;

///fills the dataBuffer and returns the struct name (and 0 on failure)		///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;		virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;

};		};


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