#include "LinearMath/btVector3.h"
#include "btTypedConstraint.h"
#include "btGeneric6DofConstraint.h"

Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()
	btUniversalConstraint (btRigidBody &rbA, btRigidBody &rbB, const btVector3 &anchor, const btVector3 &axis1, const btVector3 &axis2)
const btVector3 &	getAnchor ()
const btVector3 &	getAnchor2 ()
const btVector3 &	getAxis1 ()
const btVector3 &	getAxis2 ()
btScalar	getAngle1 ()
btScalar	getAngle2 ()
void	setUpperLimit (btScalar ang1max, btScalar ang2max)
void	setLowerLimit (btScalar ang1min, btScalar ang2min)
void	setAxis (const btVector3 &axis1, const btVector3 &axis2)

Variables
btUniversalConstraint	__pad0__
btVector3	m_axis1
btVector3	m_axis2

Function Documentation

◆ BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR ( )

References BT_DECLARE_ALIGNED_ALLOCATOR, btUniversalConstraint(), btVector3, and rbB.

◆ btUniversalConstraint()

btUniversalConstraint::btUniversalConstraint	(	btRigidBody &	rbA,
		btRigidBody &	rbB,
		const btVector3 &	anchor,
		const btVector3 &	axis1,
		const btVector3 &	axis2 )

Definition at line 25 of file btUniversalConstraint.cpp.

References btGeneric6DofConstraint(), btTransform, btVector3, btRigidBody::getCenterOfMassTransform(), inverse, m_axis1, m_axis2, m_frameInA, m_frameInB, rbB, setAngularLowerLimit(), setAngularUpperLimit(), setLinearLowerLimit(), setLinearUpperLimit(), setValue(), SIMD_HALF_PI, SIMD_PI, true, and UNIV_EPS.

Referenced by BT_DECLARE_ALIGNED_ALLOCATOR().

◆ getAnchor()

const btVector3 & getAnchor ( )

Definition at line 46 of file btUniversalConstraint.h.

References btVector3, getAnchor(), and m_calculatedTransformA.

◆ getAnchor2()

const btVector3 & getAnchor2 ( )

Definition at line 47 of file btUniversalConstraint.h.

References btVector3, getAnchor2(), and m_calculatedTransformB.

◆ getAngle1()

btScalar getAngle1 ( )

Definition at line 50 of file btUniversalConstraint.h.

References getAngle(), and getAngle1().

◆ getAngle2()

btScalar getAngle2 ( )

Definition at line 51 of file btUniversalConstraint.h.

References getAngle(), and getAngle2().

◆ getAxis1()

const btVector3 & getAxis1 ( )

Definition at line 48 of file btUniversalConstraint.h.

References btVector3, getAxis1(), and m_axis1.

◆ getAxis2()

const btVector3 & getAxis2 ( )

Definition at line 49 of file btUniversalConstraint.h.

References btVector3, getAxis2(), and m_axis2.

◆ setAxis()

void setAxis	(	const btVector3 &	axis1,
		const btVector3 &	axis2 )

References btVector3, and setAxis().

◆ setLowerLimit()

void setLowerLimit	(	btScalar	ang1min,
		btScalar	ang2min )

Definition at line 54 of file btUniversalConstraint.h.

References btVector3, setAngularLowerLimit(), and setLowerLimit().

◆ setUpperLimit()

void setUpperLimit	(	btScalar	ang1max,
		btScalar	ang2max )

Definition at line 53 of file btUniversalConstraint.h.

References btVector3, setAngularUpperLimit(), and setUpperLimit().

Variable Documentation

◆ pad0

btUniversalConstraint __pad0__

Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) and Y (axis 2) Description from ODE manual : "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."

Definition at line 31 of file btUniversalConstraint.h.

◆ m_axis1

btVector3 m_axis1

Definition at line 35 of file btUniversalConstraint.h.

◆ m_axis2

btVector3 m_axis2

Definition at line 36 of file btUniversalConstraint.h.

Functions

Variables