The hinge constraint lets two bodies rotate around a given axis while adhering to specified limits. More...

#include "bulletHingeConstraint.h"

Inheritance diagram for BulletHingeConstraint:

Public Member Functions
	BulletHingeConstraint (const BulletRigidBodyNode *node_a, const LPoint3 &pivot_a, const LVector3 &axis_a, bool use_frame_a=false)
	Creates a hinge constraint in the same way as the other constructor, but uses the world as second body so that node_a is fixed to some point in mid- air for example. More...

	BulletHingeConstraint (const BulletRigidBodyNode node_a, const BulletRigidBodyNode node_b, const LPoint3 &pivot_a, const LPoint3 &pivot_b, const LVector3 &axis_a, const LVector3 &axis_b, bool use_frame_a=false)
	Creates a hinge connecting node_a to node_b. More...

	BulletHingeConstraint (const BulletRigidBodyNode node_a, const TransformState ts_a, bool use_frame_a=false)
	Creates a hinge constraint which connects one rigid body with some fixe dpoint in the world. More...

	BulletHingeConstraint (const BulletRigidBodyNode node_a, const BulletRigidBodyNode node_b, const TransformState ts_a, const TransformState ts_b, bool use_frame_a=false)
	Constructs a hinge constraint which connects two rigid bodies. More...

	CPT (TransformState) get_frame_a() const

	CPT (TransformState) get_frame_b() const

void	enable_angular_motor (bool enable, PN_stdfloat target_velocity, PN_stdfloat max_impulse)
	Applies an impulse to the constraint so that the angle changes at target_velocity where max_impulse is the maximum impulse that is used for achieving the specified velocity. More...

void	enable_motor (bool enable)

virtual TypeHandle	force_init_type ()

bool	get_angular_only () const

PN_stdfloat	get_hinge_angle ()

PN_stdfloat	get_lower_limit () const

virtual TypeHandle	get_type () const

PN_stdfloat	get_upper_limit () const

virtual btTypedConstraint *	ptr () const

void	set_angular_only (bool value)

void	set_axis (const LVector3 &axis)
	Sets the hinge's rotation axis in world coordinates. More...

void	set_frames (const TransformState ts_a, const TransformState ts_b)

void	set_limit (PN_stdfloat low, PN_stdfloat high, PN_stdfloat softness=0.9f, PN_stdfloat bias=0.3f, PN_stdfloat relaxation=1.0f)
	Sets the lower and upper rotational limits in degrees. More...

void	set_max_motor_impulse (PN_stdfloat max_impulse)
	Sets the maximum impulse used to achieve the velocity set in enable_angular_motor. More...

void	set_motor_target (const LQuaternion &quat, PN_stdfloat dt)

void	set_motor_target (PN_stdfloat target_angle, PN_stdfloat dt)

Public Member Functions inherited from BulletConstraint
void	enable_feedback (bool value)

PN_stdfloat	get_applied_impulse () const

PN_stdfloat	get_breaking_threshold () const

PN_stdfloat	get_debug_draw_size ()

PN_stdfloat	get_param (ConstraintParam num, int axis=-1)

BulletRigidBodyNode *	get_rigid_body_a ()

BulletRigidBodyNode *	get_rigid_body_b ()

bool	is_enabled () const

void	set_breaking_threshold (PN_stdfloat threshold)

void	set_debug_draw_size (PN_stdfloat size)

void	set_enabled (bool enabled)

void	set_param (ConstraintParam num, PN_stdfloat value, int axis=-1)

Public Member Functions inherited from TypedReferenceCount
	TypedReferenceCount (const TypedReferenceCount &copy)

void	operator= (const TypedReferenceCount &copy)

Public Member Functions inherited from TypedObject
	TypedObject (const TypedObject &copy)=default

TypedObject *	as_typed_object ()
	Returns the object, upcast (if necessary) to a TypedObject pointer. More...

const TypedObject *	as_typed_object () const
	Returns the object, upcast (if necessary) to a TypedObject pointer. More...

int	get_best_parent_from_Set (const std::set< int > &) const

int	get_type_index () const
	Returns the internal index number associated with this object's TypeHandle, a unique number for each different type. More...

bool	is_exact_type (TypeHandle handle) const
	Returns true if the current object is the indicated type exactly. More...

bool	is_of_type (TypeHandle handle) const
	Returns true if the current object is or derives from the indicated type. More...

TypedObject &	operator= (const TypedObject &copy)=default

Public Member Functions inherited from ReferenceCount
int	get_ref_count () const

WeakReferenceList *	get_weak_list () const
	Returns the WeakReferenceList associated with this ReferenceCount object. More...

bool	has_weak_list () const
	Returns true if this particular ReferenceCount object has a WeakReferenceList created, false otherwise. More...

void	local_object ()
	This function should be called, once, immediately after creating a new instance of some ReferenceCount-derived object on the stack. More...

void	ref () const
	Explicitly increments the reference count. More...

bool	ref_if_nonzero () const
	Atomically increases the reference count of this object if it is not zero. More...

bool	test_ref_count_integrity () const
	Does some easy checks to make sure that the reference count isn't completely bogus. More...

bool	test_ref_count_nonzero () const
	Does some easy checks to make sure that the reference count isn't zero, or completely bogus. More...

virtual bool	unref () const
	Explicitly decrements the reference count. More...

WeakReferenceList *	weak_ref ()
	Adds the indicated PointerToVoid as a weak reference to this object. More...

void	weak_unref ()
	Removes the indicated PointerToVoid as a weak reference to this object. More...

Static Public Member Functions
static TypeHandle	get_class_type ()

static void	init_type ()

Static Public Member Functions inherited from BulletConstraint
static TypeHandle	get_class_type ()

static void	init_type ()

Static Public Member Functions inherited from TypedReferenceCount
static TypeHandle	get_class_type ()

static void	init_type ()

Static Public Member Functions inherited from TypedObject
static TypeHandle	get_class_type ()

static void	init_type ()
	This function is declared non-inline to work around a compiler bug in g++ 2.96. More...

Static Public Member Functions inherited from ReferenceCount
static TypeHandle	get_class_type ()

static void	init_type ()

Public Attributes
	get_angular_only

	get_frame_a

	get_frame_b

	get_hinge_angle
	Returns the angle between node_a and node_b in degrees. More...

	get_lower_limit
	Returns the lower angular limit in degrees. More...

	get_upper_limit
	Returns the upper angular limit in degrees. More...

	set_angular_only

Public Attributes inherited from BulletConstraint
	get_applied_impulse

	get_breaking_threshold
	Returns the applied impluse limit for breaking the constraint. More...

	get_debug_draw_size

	get_rigid_body_a

	get_rigid_body_b

	is_enabled
	Returns TRUE if the constraint is enabled. More...

	set_breaking_threshold
	Sets the applied impulse limit for breaking the constraint. More...

	set_debug_draw_size

	set_enabled

Public Attributes inherited from TypedObject
	get_type

Public Attributes inherited from ReferenceCount
	get_ref_count
	Returns the current reference count. More...

Additional Inherited Members
Public Types inherited from BulletConstraint
enum	ConstraintParam { CP_erp = 1, CP_stop_erp, CP_cfm, CP_stop_cfm }

Detailed Description

The hinge constraint lets two bodies rotate around a given axis while adhering to specified limits.

It's motor can apply angular force to them.

Definition at line 31 of file bulletHingeConstraint.h.

Constructor & Destructor Documentation

◆ BulletHingeConstraint() [1/4]

BulletHingeConstraint::BulletHingeConstraint	(	const BulletRigidBodyNode *	node_a,
		const LPoint3 &	pivot_a,
		const LVector3 &	axis_a,
		bool	use_frame_a = `false`
	)

explicit

Creates a hinge constraint in the same way as the other constructor, but uses the world as second body so that node_a is fixed to some point in mid- air for example.

Definition at line 63 of file bulletHingeConstraint.cxx.

◆ BulletHingeConstraint() [2/4]

BulletHingeConstraint::BulletHingeConstraint	(	const BulletRigidBodyNode *	node_a,
		const BulletRigidBodyNode *	node_b,
		const LPoint3 &	pivot_a,
		const LPoint3 &	pivot_b,
		const LVector3 &	axis_a,
		const LVector3 &	axis_b,
		bool	use_frame_a = `false`
	)

explicit

Creates a hinge connecting node_a to node_b.

The pivot point is the point at which the body is fixed to the constraint. In other words: It specifies where on each body the rotation axis should be. This axis is specified using axis_a and axis_b. Remember, everything is specified in the bodies own coordinate system!

Definition at line 83 of file bulletHingeConstraint.cxx.

◆ BulletHingeConstraint() [3/4]

BulletHingeConstraint::BulletHingeConstraint	(	const BulletRigidBodyNode *	node_a,
		const TransformState *	ts_a,
		bool	use_frame_a = `false`
	)

explicit

Creates a hinge constraint which connects one rigid body with some fixe dpoint in the world.

Definition at line 28 of file bulletHingeConstraint.cxx.

◆ BulletHingeConstraint() [4/4]

BulletHingeConstraint::BulletHingeConstraint	(	const BulletRigidBodyNode *	node_a,
		const BulletRigidBodyNode *	node_b,
		const TransformState *	ts_a,
		const TransformState *	ts_b,
		bool	use_frame_a = `false`
	)

explicit

Constructs a hinge constraint which connects two rigid bodies.

Definition at line 42 of file bulletHingeConstraint.cxx.

Member Function Documentation

◆ enable_angular_motor()

void BulletHingeConstraint::enable_angular_motor	(	bool	enable,
		PN_stdfloat	target_velocity,
		PN_stdfloat	max_impulse
	)

Applies an impulse to the constraint so that the angle changes at target_velocity where max_impulse is the maximum impulse that is used for achieving the specified velocity.

Note that the target_velocity is in radians/second, not degrees.

Definition at line 195 of file bulletHingeConstraint.cxx.

◆ set_axis()

void BulletHingeConstraint::set_axis ( const LVector3 & axis )

Sets the hinge's rotation axis in world coordinates.

Definition at line 148 of file bulletHingeConstraint.cxx.

◆ set_limit()

void BulletHingeConstraint::set_limit	(	PN_stdfloat	low,
		PN_stdfloat	high,
		PN_stdfloat	softness = `0.9f`,
		PN_stdfloat	bias = `0.3f`,
		PN_stdfloat	relaxation = `1.0f`
	)

Sets the lower and upper rotational limits in degrees.

Definition at line 135 of file bulletHingeConstraint.cxx.

◆ set_max_motor_impulse()

void BulletHingeConstraint::set_max_motor_impulse ( PN_stdfloat max_impulse )

Sets the maximum impulse used to achieve the velocity set in enable_angular_motor.

Definition at line 216 of file bulletHingeConstraint.cxx.

Member Data Documentation

◆ get_hinge_angle

PN_stdfloat BulletHingeConstraint::get_hinge_angle

Returns the angle between node_a and node_b in degrees.

Definition at line 75 of file bulletHingeConstraint.h.

◆ get_lower_limit

PN_stdfloat BulletHingeConstraint::get_lower_limit

Returns the lower angular limit in degrees.

Definition at line 76 of file bulletHingeConstraint.h.

◆ get_upper_limit

PN_stdfloat BulletHingeConstraint::get_upper_limit

Returns the upper angular limit in degrees.

Definition at line 77 of file bulletHingeConstraint.h.

The documentation for this class was generated from the following files:

panda/src/bullet/bulletHingeConstraint.h
panda/src/bullet/bulletHingeConstraint.cxx
panda/src/bullet/bulletHingeConstraint.I

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BulletHingeConstraint() [1/4]

◆ BulletHingeConstraint() [2/4]

◆ BulletHingeConstraint() [3/4]

◆ BulletHingeConstraint() [4/4]

Member Function Documentation

◆ enable_angular_motor()

◆ set_axis()

◆ set_limit()

◆ set_max_motor_impulse()

Member Data Documentation

◆ get_hinge_angle

◆ get_lower_limit

◆ get_upper_limit