36 for (
int i = 0; i < 6; i++)
47 btAssert((index >= 0) && (index < 6));
61 btAssert((index >= 0) && (index < 6));
67 btAssert((index >= 0) && (index < 6));
76 for (i = 0; i < 3; i++)
80 for (i = 0; i < 3; i++)
88 btAssert((index >= 0) && (index < 6));
102 btAssert((index >= 0) && (index < 6));
111 for (i = 0; i < 3; i++)
126 for (i = 0; i < 3; i++)
161 xAxis[1], yAxis[1], zAxis[1],
162 xAxis[2], yAxis[2], zAxis[2]);
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btFabs(btScalar x)
@ D6_SPRING_CONSTRAINT_TYPE
btTransform m_frameInA
relative_frames
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
btVector3 m_calculatedLinearDiff
btGeneric6DofConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
btTransform m_frameInB
the constraint space w.r.t body B
void calculateTransforms()
btTranslationalLimitMotor m_linearLimits
Linear_Limit_parameters.
btRotationalLimitMotor m_angularLimits[3]
hinge_parameters
btVector3 m_calculatedAxisAngleDiff
virtual void setAxis(const btVector3 &axis1, const btVector3 &axis2)
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
btScalar m_springDamping[6]
void internalUpdateSprings(btConstraintInfo2 *info)
void setDamping(int index, btScalar damping)
void enableSpring(int index, bool onOff)
void setStiffness(int index, btScalar stiffness)
btScalar m_equilibriumPoint[6]
btGeneric6DofSpringConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
void setEquilibriumPoint()
btScalar m_springStiffness[6]
void setValue(const btScalar &xx, const btScalar &xy, const btScalar &xz, const btScalar &yx, const btScalar &yy, const btScalar &yz, const btScalar &zx, const btScalar &zy, const btScalar &zz)
Set the values of the matrix explicitly (row major)
The btRigidBody is the main class for rigid body objects.
btVector3 can be used to represent 3D points and vectors.
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
btVector3 normalized() const
Return a normalized version of this vector.