#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"

Classes
struct	btConeTwistConstraintDoubleData
struct	btConeTwistConstraintData
	this structure is not used, except for loading pre-2.82 .bullet files More...

Macros
#define	btConeTwistConstraintData2 btConeTwistConstraintData
#define	btConeTwistConstraintDataName "btConeTwistConstraintData"

Enumerations
enum	btConeTwistFlags { BT_CONETWIST_FLAGS_LIN_CFM = 1 , BT_CONETWIST_FLAGS_LIN_ERP = 2 , BT_CONETWIST_FLAGS_ANG_CFM = 4 }

Functions
void	init ()
void	computeConeLimitInfo (const btQuaternion &qCone, btScalar &swingAngle, btVector3 &vSwingAxis, btScalar &swingLimit)
void	computeTwistLimitInfo (const btQuaternion &qTwist, btScalar &twistAngle, btVector3 &vTwistAxis)
void	adjustSwingAxisToUseEllipseNormal (btVector3 &vSwingAxis) const
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btConeTwistConstraint (btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame)
	btConeTwistConstraint (btRigidBody &rbA, const btTransform &rbAFrame)
virtual void	buildJacobian ()
virtual void	getInfo1 (btConstraintInfo1 *info)
void	getInfo1NonVirtual (btConstraintInfo1 *info)
virtual void	getInfo2 (btConstraintInfo2 *info)
void	getInfo2NonVirtual (btConstraintInfo2 *info, const btTransform &transA, const btTransform &transB, const btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
virtual void	solveConstraintObsolete (btSolverBody &bodyA, btSolverBody &bodyB, btScalar timeStep)
	internal method used by the constraint solver, don't use them directly
void	updateRHS (btScalar timeStep)
const btRigidBody &	getRigidBodyA () const
const btRigidBody &	getRigidBodyB () const
void	setAngularOnly (bool angularOnly)
bool	getAngularOnly () const
void	setLimit (int limitIndex, btScalar limitValue)
btScalar	getLimit (int limitIndex) const
void	setLimit (btScalar _swingSpan1, btScalar _swingSpan2, btScalar _twistSpan, btScalar _softness=1.f, btScalar _biasFactor=0.3f, btScalar _relaxationFactor=1.0f)
const btTransform &	getAFrame () const
const btTransform &	getBFrame () const
int	getSolveTwistLimit ()
int	getSolveSwingLimit ()
btScalar	getTwistLimitSign ()
void	calcAngleInfo ()
void	calcAngleInfo2 (const btTransform &transA, const btTransform &transB, const btMatrix3x3 &invInertiaWorldA, const btMatrix3x3 &invInertiaWorldB)
btScalar	getSwingSpan1 () const
btScalar	getSwingSpan2 () const
btScalar	getTwistSpan () const
btScalar	getLimitSoftness () const
btScalar	getBiasFactor () const
btScalar	getRelaxationFactor () const
btScalar	getTwistAngle () const
bool	isPastSwingLimit ()
btScalar	getDamping () const
void	setDamping (btScalar damping)
void	enableMotor (bool b)
bool	isMotorEnabled () const
btScalar	getMaxMotorImpulse () const
bool	isMaxMotorImpulseNormalized () const
void	setMaxMotorImpulse (btScalar maxMotorImpulse)
void	setMaxMotorImpulseNormalized (btScalar maxMotorImpulse)
btScalar	getFixThresh ()
void	setFixThresh (btScalar fixThresh)
void	setMotorTarget (const btQuaternion &q)
const btQuaternion &	getMotorTarget () const
void	setMotorTargetInConstraintSpace (const btQuaternion &q)
btVector3	GetPointForAngle (btScalar fAngleInRadians, btScalar fLength) const
virtual void	setParam (int num, btScalar value, int axis=-1)
virtual void	setFrames (const btTransform &frameA, const btTransform &frameB)
const btTransform &	getFrameOffsetA () const
const btTransform &	getFrameOffsetB () const
virtual btScalar	getParam (int num, int axis=-1) const
	return the local value of parameter
int	getFlags () const
virtual int	calculateSerializeBufferSize () const
virtual const char *	serialize (void dataBuffer, btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)

Variables
btConeTwistConstraint	__pad0__
	btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
btTransform	m_rbAFrame
btTransform	m_rbBFrame
btScalar	m_limitSoftness
btScalar	m_biasFactor
btScalar	m_relaxationFactor
btScalar	m_damping
btScalar	m_swingSpan1
btScalar	m_swingSpan2
btScalar	m_twistSpan
btScalar	m_fixThresh
btVector3	m_swingAxis
btVector3	m_twistAxis
btScalar	m_kSwing
btScalar	m_kTwist
btScalar	m_twistLimitSign
btScalar	m_swingCorrection
btScalar	m_twistCorrection
btScalar	m_twistAngle
btScalar	m_accSwingLimitImpulse
btScalar	m_accTwistLimitImpulse
bool	m_angularOnly
bool	m_solveTwistLimit
bool	m_solveSwingLimit
bool	m_useSolveConstraintObsolete
btScalar	m_swingLimitRatio
btScalar	m_twistLimitRatio
btVector3	m_twistAxisA
bool	m_bMotorEnabled
bool	m_bNormalizedMotorStrength
btQuaternion	m_qTarget
btScalar	m_maxMotorImpulse
btVector3	m_accMotorImpulse
int	m_flags
btScalar	m_linCFM
btScalar	m_linERP
btScalar	m_angCFM

Macro Definition Documentation

◆ btConeTwistConstraintData2

#define btConeTwistConstraintData2 btConeTwistConstraintData

Definition at line 43 of file btConeTwistConstraint.h.

◆ btConeTwistConstraintDataName

#define btConeTwistConstraintDataName "btConeTwistConstraintData"

Definition at line 44 of file btConeTwistConstraint.h.

Enumeration Type Documentation

◆ btConeTwistFlags

enum btConeTwistFlags

Enumerator
BT_CONETWIST_FLAGS_LIN_CFM
BT_CONETWIST_FLAGS_LIN_ERP
BT_CONETWIST_FLAGS_ANG_CFM

Definition at line 49 of file btConeTwistConstraint.h.

Function Documentation

◆ adjustSwingAxisToUseEllipseNormal()

void btConeTwistConstraint::adjustSwingAxisToUseEllipseNormal ( btVector3 & vSwingAxis ) const

protected

Definition at line 929 of file btConeTwistConstraint.cpp.

References btVector3, fabs(), grad(), m_swingSpan1, m_swingSpan2, SIMD_EPSILON, y, and z().

Referenced by calcAngleInfo2(), and init().

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR ( )

References BT_DECLARE_ALIGNED_ALLOCATOR, btConeTwistConstraint(), btTransform, buildJacobian(), and rbB.

◆ btConeTwistConstraint() [1/2]

btConeTwistConstraint::btConeTwistConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btTransform &	rbAFrame,
		const btTransform &	rbBFrame )

Definition at line 35 of file btConeTwistConstraint.cpp.

References btTransform, btTypedConstraint(), CONETWIST_CONSTRAINT_TYPE, CONETWIST_USE_OBSOLETE_SOLVER, false, init(), m_angularOnly, m_rbAFrame, m_rbBFrame, m_useSolveConstraintObsolete, and rbB.

Referenced by BT_DECLARE_ALIGNED_ALLOCATOR(), and debugDrawConstraint().

◆ btConeTwistConstraint() [2/2]

btConeTwistConstraint::btConeTwistConstraint	(	btRigidBody &	rbA,
		const btTransform &	rbAFrame )

Definition at line 42 of file btConeTwistConstraint.cpp.

References btTransform, btTypedConstraint(), btVector3, CONETWIST_CONSTRAINT_TYPE, CONETWIST_USE_OBSOLETE_SOLVER, false, init(), m_angularOnly, m_rbAFrame, m_rbBFrame, and m_useSolveConstraintObsolete.

◆ buildJacobian()

void btPoint2PointConstraint::buildJacobian ( )

virtual

we need it for both methods

Definition at line 246 of file btConeTwistConstraint.cpp.

References btJacobianEntry, btPlaneSpace1(), btVector3, buildJacobian(), calcAngleInfo2(), btRigidBody::getCenterOfMassPosition(), btRigidBody::getCenterOfMassTransform(), btRigidBody::getInvInertiaDiagLocal(), btRigidBody::getInvInertiaTensorWorld(), btRigidBody::getInvMass(), i, m_accMotorImpulse, m_accSwingLimitImpulse, m_accTwistLimitImpulse, m_angularOnly, m_appliedImpulse, m_rbA, m_rbAFrame, m_rbB, m_rbBFrame, m_useSolveConstraintObsolete, and SIMD_EPSILON.

Referenced by BT_DECLARE_ALIGNED_ALLOCATOR(), buildJacobian(), getInfo2(), and setFrames().

◆ calcAngleInfo()

void btConeTwistConstraint::calcAngleInfo ( )

Definition at line 515 of file btConeTwistConstraint.cpp.

References btAtan2Fast(), btFabs(), btVector3, btRigidBody::getCenterOfMassTransform(), getRigidBodyA(), getRigidBodyB(), m_rbAFrame, m_rbBFrame, m_solveSwingLimit, m_solveTwistLimit, m_swingAxis, m_swingCorrection, m_swingSpan1, m_swingSpan2, m_twistAngle, m_twistAxis, m_twistCorrection, m_twistLimitSign, m_twistSpan, quatRotate(), and shortestArcQuat().

◆ calcAngleInfo2()

void btConeTwistConstraint::calcAngleInfo2	(	const btTransform &	transA,
		const btTransform &	transB,
		const btMatrix3x3 &	invInertiaWorldA,
		const btMatrix3x3 &	invInertiaWorldB )

Definition at line 604 of file btConeTwistConstraint.cpp.

References adjustSwingAxisToUseEllipseNormal(), btAtan2(), btCos(), btFuzzyZero(), btMatrix3x3, btSin(), btTransform, btVector3, computeAngularImpulseDenominator(), computeConeLimitInfo(), computeTwistLimitInfo(), btQuaternion::getAngle(), btQuaternion::inverse(), m_bMotorEnabled, m_fixThresh, m_kSwing, m_kTwist, m_limitSoftness, m_qTarget, m_rbAFrame, m_rbBFrame, m_solveSwingLimit, m_solveTwistLimit, m_swingAxis, m_swingCorrection, m_swingLimitRatio, m_swingSpan1, m_swingSpan2, m_twistAngle, m_twistAxis, m_twistAxisA, m_twistCorrection, m_twistLimitRatio, m_twistLimitSign, m_twistSpan, m_useSolveConstraintObsolete, btQuaternion::normalize(), quatRotate(), shortestArcQuat(), SIMD_EPSILON, vTwist(), x, y, and z().

Referenced by buildJacobian(), and getInfo2NonVirtual().

◆ calculateSerializeBufferSize()

virtual int calculateSerializeBufferSize ( ) const

virtual

References calculateSerializeBufferSize().

◆ computeConeLimitInfo()

void btConeTwistConstraint::computeConeLimitInfo	(	const btQuaternion &	qCone,
		btScalar &	swingAngle,
		btVector3 &	vSwingAxis,
		btScalar &	swingLimit )

protected

Definition at line 807 of file btConeTwistConstraint.cpp.

References btAssert, btVector3, fabs(), btQuaternion::getAngle(), m_swingSpan1, m_swingSpan2, norm(), and SIMD_EPSILON.

Referenced by calcAngleInfo2(), init(), and setMotorTargetInConstraintSpace().

◆ computeTwistLimitInfo()

void btConeTwistConstraint::computeTwistLimitInfo	(	const btQuaternion &	qTwist,
		btScalar &	twistAngle,
		btVector3 &	vTwistAxis )

protected

Definition at line 904 of file btConeTwistConstraint.cpp.

References btAssert, btVector3, btQuaternion::getAngle(), SIMD_EPSILON, and SIMD_PI.

Referenced by calcAngleInfo2(), init(), and setMotorTargetInConstraintSpace().

◆ enableMotor()

void enableMotor ( bool b )

Definition at line 298 of file btConeTwistConstraint.h.

References b, enableMotor(), and m_bMotorEnabled.

Referenced by enableAngularMotor(), enableMotor(), enableMotor(), and setAxis().

◆ getAFrame()

btTransform & getAFrame ( ) const

Definition at line 244 of file btConeTwistConstraint.h.

References btTransform, getAFrame(), and m_rbAFrame.

Referenced by getAFrame().

◆ getAngularOnly()

bool getAngularOnly ( ) const

Definition at line 165 of file btConeTwistConstraint.h.

References getAngularOnly(), and m_angularOnly.

Referenced by getAngularOnly(), and getAngularOnly().

◆ getBFrame()

btTransform & getBFrame ( ) const

Definition at line 245 of file btConeTwistConstraint.h.

References btTransform, getBFrame(), and m_rbBFrame.

Referenced by getBFrame().

◆ getBiasFactor()

btScalar getBiasFactor ( ) const

inline

Definition at line 281 of file btConeTwistConstraint.h.

References getBiasFactor(), and m_biasFactor.

Referenced by getBiasFactor().

◆ getDamping()

btScalar getDamping ( ) const

Definition at line 295 of file btConeTwistConstraint.h.

References getDamping(), and m_damping.

Referenced by getDamping(), and getDamping().

◆ getFixThresh()

btScalar getFixThresh ( )

Definition at line 313 of file btConeTwistConstraint.h.

References getFixThresh(), and m_fixThresh.

Referenced by getFixThresh().

◆ getFlags()

int getFlags ( ) const

Definition at line 347 of file btConeTwistConstraint.h.

References getFlags(), and m_flags.

Referenced by getFlags().

◆ getFrameOffsetA()

btTransform & getFrameOffsetA ( ) const

Definition at line 334 of file btConeTwistConstraint.h.

References btTransform, getFrameOffsetA(), and m_rbAFrame.

Referenced by getFrameOffsetA(), and getFrameOffsetA().

◆ getFrameOffsetB()

btTransform & getFrameOffsetB ( ) const

Definition at line 339 of file btConeTwistConstraint.h.

References btTransform, getFrameOffsetB(), and m_rbBFrame.

Referenced by getFrameOffsetB(), and getFrameOffsetB().

◆ getInfo1()

void getInfo1 ( btConstraintInfo1 * info )

virtual

References getInfo1(), and getInfo1NonVirtual().

Referenced by getInfo1(), and getInfo1().

◆ getInfo1NonVirtual()

void btSliderConstraint::getInfo1NonVirtual ( btConstraintInfo1 * info )

Definition at line 97 of file btConeTwistConstraint.cpp.

References btConstraintInfo1::m_numConstraintRows, and btConstraintInfo1::nub.

Referenced by getInfo1(), and getInfo1NonVirtual().

◆ getInfo2()

virtual void getInfo2 ( btConstraintInfo2 * info )

virtual

References btMatrix3x3, btSolverBody, btTransform, getInfo2(), getInfo2NonVirtual(), solveConstraintObsolete(), and updateRHS().

Referenced by getInfo2(), and getInfo2().

◆ getInfo2NonVirtual()

void btConeTwistConstraint::getInfo2NonVirtual	(	btConstraintInfo2 *	info,
		const btTransform &	transA,
		const btTransform &	transB,
		const btMatrix3x3 &	invInertiaWorldA,
		const btMatrix3x3 &	invInertiaWorldB )

Definition at line 109 of file btConeTwistConstraint.cpp.

References BT_CONETWIST_FLAGS_ANG_CFM, BT_CONETWIST_FLAGS_LIN_CFM, BT_CONETWIST_FLAGS_LIN_ERP, btAssert, btMatrix3x3, btTransform, btVector3, calcAngleInfo2(), btConstraintInfo2::cfm, btConstraintInfo2::erp, btConstraintInfo2::fps, m_angCFM, m_biasFactor, m_bMotorEnabled, btConstraintInfo2::m_constraintError, m_fixThresh, m_flags, btConstraintInfo2::m_J1angularAxis, btConstraintInfo2::m_J1linearAxis, btConstraintInfo2::m_J2angularAxis, btConstraintInfo2::m_J2linearAxis, m_linCFM, m_linERP, btConstraintInfo2::m_lowerLimit, m_maxMotorImpulse, m_rbAFrame, m_rbBFrame, m_relaxationFactor, m_solveSwingLimit, m_solveTwistLimit, m_swingAxis, m_swingCorrection, m_swingSpan1, m_swingSpan2, m_twistAxis, m_twistCorrection, m_twistSpan, btConstraintInfo2::m_upperLimit, m_useSolveConstraintObsolete, btConstraintInfo2::rowskip, and SIMD_INFINITY.

Referenced by getInfo2().

◆ getLimit()

btScalar getLimit ( int limitIndex ) const

Definition at line 195 of file btConeTwistConstraint.h.

References btAssert, getLimit(), m_swingSpan1, m_swingSpan2, and m_twistSpan.

Referenced by getLimit().

◆ getLimitSoftness()

btScalar getLimitSoftness ( ) const

inline

Definition at line 277 of file btConeTwistConstraint.h.

References getLimitSoftness(), and m_limitSoftness.

Referenced by getLimitSoftness().

◆ getMaxMotorImpulse()

btScalar getMaxMotorImpulse ( ) const

Definition at line 300 of file btConeTwistConstraint.h.

References getMaxMotorImpulse(), and m_maxMotorImpulse.

Referenced by getMaxMotorImpulse(), and getMaxMotorImpulse().

◆ getMotorTarget()

const btQuaternion & getMotorTarget ( ) const

Definition at line 321 of file btConeTwistConstraint.h.

References getMotorTarget(), and m_qTarget.

Referenced by getMotorTarget().

◆ getParam()

virtual btScalar getParam	(	int	num,
		int	axis = -1 ) const

virtual

return the local value of parameter

References getParam(), and num.

Referenced by getParam(), and getParam().

◆ GetPointForAngle()

btVector3 btConeTwistConstraint::GetPointForAngle	(	btScalar	fAngleInRadians,
		btScalar	fLength ) const

Definition at line 871 of file btConeTwistConstraint.cpp.

References btCos(), btSin(), btVector3, fabs(), m_swingSpan1, m_swingSpan2, norm(), quatRotate(), and SIMD_EPSILON.

◆ getRelaxationFactor()

btScalar getRelaxationFactor ( ) const

inline

Definition at line 285 of file btConeTwistConstraint.h.

References getRelaxationFactor(), and m_relaxationFactor.

Referenced by getRelaxationFactor().

◆ getRigidBodyA()

btRigidBody & getRigidBodyA ( ) const

Definition at line 151 of file btConeTwistConstraint.h.

References getRigidBodyA(), and m_rbA.

Referenced by calcAngleInfo(), calculateTransforms(), getInfo2InternalUsingFrameOffset(), getRigidBodyA(), solveConstraintObsolete(), and solveSingleIteration().

◆ getRigidBodyB()

btRigidBody & getRigidBodyB ( ) const

Definition at line 155 of file btConeTwistConstraint.h.

References getRigidBodyB(), and m_rbB.

Referenced by calcAngleInfo(), calculateTransforms(), getInfo2InternalUsingFrameOffset(), getRigidBodyB(), solveConstraintObsolete(), and solveSingleIteration().

◆ getSolveSwingLimit()

int getSolveSwingLimit ( )

inline

Definition at line 252 of file btConeTwistConstraint.h.

References getSolveSwingLimit(), and m_solveSwingLimit.

Referenced by getSolveSwingLimit().

◆ getSolveTwistLimit()

int getSolveTwistLimit ( )

inline

Definition at line 247 of file btConeTwistConstraint.h.

References getSolveTwistLimit(), and m_solveTwistLimit.

Referenced by getSolveTwistLimit().

◆ getSwingSpan1()

btScalar getSwingSpan1 ( ) const

inline

Definition at line 265 of file btConeTwistConstraint.h.

References getSwingSpan1(), and m_swingSpan1.

Referenced by getSwingSpan1().

◆ getSwingSpan2()

btScalar getSwingSpan2 ( ) const

inline

Definition at line 269 of file btConeTwistConstraint.h.

References getSwingSpan2(), and m_swingSpan2.

Referenced by getSwingSpan2().

◆ getTwistAngle()

btScalar getTwistAngle ( ) const

inline

Definition at line 289 of file btConeTwistConstraint.h.

References getTwistAngle(), and m_twistAngle.

Referenced by getTwistAngle().

◆ getTwistLimitSign()

btScalar getTwistLimitSign ( )

inline

Definition at line 257 of file btConeTwistConstraint.h.

References getTwistLimitSign(), and m_twistLimitSign.

Referenced by getTwistLimitSign().

◆ getTwistSpan()

btScalar getTwistSpan ( ) const

inline

Definition at line 273 of file btConeTwistConstraint.h.

References getTwistSpan(), and m_twistSpan.

Referenced by getTwistSpan().

◆ init()

void init ( )

protected

References adjustSwingAxisToUseEllipseNormal(), btVector3, computeConeLimitInfo(), computeTwistLimitInfo(), and init().

◆ isMaxMotorImpulseNormalized()

bool isMaxMotorImpulseNormalized ( ) const

Definition at line 301 of file btConeTwistConstraint.h.

References isMaxMotorImpulseNormalized(), and m_bNormalizedMotorStrength.

Referenced by isMaxMotorImpulseNormalized().

◆ isMotorEnabled()

bool isMotorEnabled ( ) const

Definition at line 299 of file btConeTwistConstraint.h.

References isMotorEnabled(), and m_bMotorEnabled.

Referenced by isMotorEnabled().

◆ isPastSwingLimit()

bool isPastSwingLimit ( )

Definition at line 293 of file btConeTwistConstraint.h.

References isPastSwingLimit(), and m_solveSwingLimit.

Referenced by isPastSwingLimit().

◆ serialize()

virtual const char * serialize	(	void *	dataBuffer,
		btSerializer *	serializer ) const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

References serialize().

◆ setAngularOnly()

void setAngularOnly ( bool angularOnly )

Definition at line 160 of file btConeTwistConstraint.h.

References m_angularOnly, and setAngularOnly().

Referenced by setAngularOnly().

◆ setDamping()

void setDamping ( btScalar damping )

Definition at line 296 of file btConeTwistConstraint.h.

References m_damping, and setDamping().

Referenced by btHinge2Constraint(), setDamping(), setDamping(), and setDamping().

◆ setFixThresh()

void setFixThresh ( btScalar fixThresh )

Definition at line 314 of file btConeTwistConstraint.h.

References m_fixThresh, and setFixThresh().

Referenced by setFixThresh().

◆ setFrames()

void btHingeConstraint::setFrames	(	const btTransform &	frameA,
		const btTransform &	frameB )

virtual

Definition at line 1110 of file btConeTwistConstraint.cpp.

References btTransform, buildJacobian(), m_rbAFrame, and m_rbBFrame.

Referenced by setFrames(), setParam(), and updateRHS().

◆ setLimit() [1/2]

void setLimit	(	btScalar	_swingSpan1,
		btScalar	_swingSpan2,
		btScalar	_twistSpan,
		btScalar	_softness = 1.f,
		btScalar	_biasFactor = 0.3f,
		btScalar	_relaxationFactor = 1.0f )

Definition at line 233 of file btConeTwistConstraint.h.

References m_biasFactor, m_limitSoftness, m_relaxationFactor, m_swingSpan1, m_swingSpan2, m_twistSpan, and setLimit().

◆ setLimit() [2/2]

void setLimit	(	int	limitIndex,
		btScalar	limitValue )

Definition at line 170 of file btConeTwistConstraint.h.

References m_swingSpan1, m_swingSpan2, m_twistSpan, and setLimit().

Referenced by setLimit(), setLimit(), setLimit(), and setLimit().

◆ setMaxMotorImpulse()

void setMaxMotorImpulse ( btScalar maxMotorImpulse )

Definition at line 302 of file btConeTwistConstraint.h.

References m_bNormalizedMotorStrength, m_maxMotorImpulse, and setMaxMotorImpulse().

Referenced by setMaxMotorImpulse().

◆ setMaxMotorImpulseNormalized()

void setMaxMotorImpulseNormalized ( btScalar maxMotorImpulse )

Definition at line 307 of file btConeTwistConstraint.h.

References m_bNormalizedMotorStrength, m_maxMotorImpulse, and setMaxMotorImpulseNormalized().

Referenced by setMaxMotorImpulseNormalized().

◆ setMotorTarget()

void btConeTwistConstraint::setMotorTarget ( const btQuaternion & q )

Definition at line 961 of file btConeTwistConstraint.cpp.

References m_rbAFrame, m_rbBFrame, and setMotorTargetInConstraintSpace().

Referenced by setMotorTarget().

◆ setMotorTargetInConstraintSpace()

void btConeTwistConstraint::setMotorTargetInConstraintSpace ( const btQuaternion & q )

Definition at line 974 of file btConeTwistConstraint.cpp.

References btQuaternion::btQuaternion(), btVector3, computeConeLimitInfo(), computeTwistLimitInfo(), fabs(), btQuaternion::inverse(), m_qTarget, m_swingSpan1, m_swingSpan2, m_twistSpan, btQuaternion::normalize(), quatRotate(), shortestArcQuat(), SIMD_EPSILON, and vTwist().

Referenced by setMotorTarget().

◆ setParam()

virtual void setParam	(	int	num,
		btScalar	value,
		int	axis = -1 )

virtual

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.

References btTransform, num, setFrames(), and setParam().

Referenced by setParam(), and setParam().