22 #define DEFAULT_DEBUGDRAW_SIZE btScalar(0.05f) 26 m_userConstraintType(-1),
27 m_userConstraintPtr((void*)-1),
30 m_needsFeedback(false),
31 m_overrideNumSolverIterations(-1),
33 m_rbB(getFixedBody()),
43 m_userConstraintType(-1),
44 m_userConstraintPtr((void*)-1),
47 m_needsFeedback(false),
48 m_overrideNumSolverIterations(-1),
66 else if(lowLim == uppLim)
74 if((pos >= lowLim) && (pos < (lowLim - delta_max)))
76 lim_fact = (lowLim - pos) / delta_max;
89 if((pos <= uppLim) && (pos > (uppLim - delta_max)))
91 lim_fact = (uppLim - pos) / delta_max;
135 tcd->m_disableCollisionsBetweenLinkedBodies =
false;
140 tcd->m_disableCollisionsBetweenLinkedBodies =
true;
143 tcd->m_disableCollisionsBetweenLinkedBodies =
true;
202 if (relativeAngle > 0.0f)
virtual void * getUniquePointer(void *oldPtr)=0
bool btEqual(btScalar a, btScalar eps)
#define DEFAULT_DEBUGDRAW_SIZE
int m_overrideNumSolverIterations
btScalar m_breakingImpulseThreshold
#define btTypedConstraintDataName
void set(btScalar low, btScalar high, btScalar _softness=0.9f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
Sets all limit's parameters.
btScalar m_relaxationFactor
void fit(btScalar &angle) const
Checks given angle against limit.
#define btTypedConstraintData2
The btRigidBody is the main class for rigid body objects.
btScalar getError() const
Returns correction value multiplied by sign value.
btVector3 can be used to represent 3D points and vectors.
btScalar btNormalizeAngle(btScalar angleInRadians)
static btRigidBody & getFixedBody()
btTypedConstraint * getConstraintRef(int index)
void setMassProps(btScalar mass, const btVector3 &inertia)
rudimentary class to provide type info
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
virtual void serializeName(const char *ptr)=0
btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
internal method used by the constraint solver, don't use them directly
btTypedConstraint(btTypedConstraintType type, btRigidBody &rbA)
btScalar m_appliedImpulse
void test(const btScalar angle)
Checks conastaint angle against limit.
virtual const char * findNameForPointer(const void *ptr) const =0
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
int getNumConstraintRefs() const