BulletHingeConstraint Class Reference

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

Inheritance diagram for BulletHingeConstraint:

List of all members.

Public Member Functions
	BulletHingeConstraint (BulletRigidBodyNode const node_a, BulletRigidBodyNode const node_b, Point3 const pivot_a, Point3 const pivot_b, Vec3 const axis_a, Vec3 const axis_b, bool use_frame_a)
	Creates a hinge connecting node_a to node_b.
	BulletHingeConstraint (BulletRigidBodyNode const node_a, BulletRigidBodyNode const node_b, Point3 const pivot_a, Point3 const pivot_b, Vec3 const axis_a, Vec3 const axis_b)
	Creates a hinge connecting node_a to node_b.
	BulletHingeConstraint (BulletRigidBodyNode const node_a, Point3 const pivot_a, Vec3 const axis_a)
	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.
	BulletHingeConstraint (BulletRigidBodyNode const node_a, Point3 const pivot_a, Vec3 const axis_a, bool use_frame_a)
	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.
	enableAngularMotor (bool enable, float target_velocity, float max_impulse)
	Applies an impulse to the constraint so that the angle changes at target_velocity (probably degrees/second) where max_impulse is the maximum impulse that is used for achieving the specified velocity.
	enableMotor (bool enable)
bool	getAngularOnly ()
float	getHingeAngle ()
	Returns the angle between node_a and node_b in degrees.
float	getLowerLimit ()
	Returns the lower angular limit in degrees.
float	getUpperLimit ()
	Returns the upper angular limit in degrees.
	setAngularOnly (bool value)
	setAxis (Vec3 const axis)
	Sets the hinge's rotation axis in world coordinates.
	setLimit (float low, float high)
	Sets the lower and upper rotational limits in degrees.
	setLimit (float low, float high, float softness, float bias, float relaxation)
	Sets the lower and upper rotational limits in degrees.
	setLimit (float low, float high, float softness)
	Sets the lower and upper rotational limits in degrees.
	setLimit (float low, float high, float softness, float bias)
	Sets the lower and upper rotational limits in degrees.
	setMaxMotorImpulse (float max_impulse)
	Sets the maximum impulse used to achieve the velocity set in enable_angular_motor.
	setMotorTarget (Quat const quat, float dt)
	setMotorTarget (float target_angle, float dt)
Static Public Member Functions
static TypeHandle	getClassType ()

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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.

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Constructor & Destructor Documentation

BulletHingeConstraint	(	BulletRigidBodyNode const	node_a,
		BulletRigidBodyNode const	node_b,
		Point3 const	pivot_a,
		Point3 const	pivot_b,
		Vec3 const	axis_a,
		Vec3 const	axis_b,
		bool	use_frame_a
	)

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!

BulletHingeConstraint	(	BulletRigidBodyNode const	node_a,
		BulletRigidBodyNode const	node_b,
		Point3 const	pivot_a,
		Point3 const	pivot_b,
		Vec3 const	axis_a,
		Vec3 const	axis_b
	)

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!

BulletHingeConstraint	(	BulletRigidBodyNode const	node_a,
		Point3 const	pivot_a,
		Vec3 const	axis_a,
		bool	use_frame_a
	)

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.

BulletHingeConstraint	(	BulletRigidBodyNode const	node_a,
		Point3 const	pivot_a,
		Vec3 const	axis_a
	)

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.

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Member Function Documentation

enableAngularMotor	(	bool	enable,
		float	target_velocity,
		float	max_impulse
	)

Applies an impulse to the constraint so that the angle changes at target_velocity (probably degrees/second) where max_impulse is the maximum impulse that is used for achieving the specified velocity.

enableMotor

(

bool

enable

)

bool getAngularOnly

(

)

static TypeHandle getClassType

(

)

[static]

Reimplemented from BulletConstraint.

float getHingeAngle

(

)

Returns the angle between node_a and node_b in degrees.

float getLowerLimit

(

)

Returns the lower angular limit in degrees.

float getUpperLimit

(

)

Returns the upper angular limit in degrees.

setAngularOnly

(

bool

value

)

setAxis

(

Vec3 const

axis

)

Sets the hinge's rotation axis in world coordinates.

setLimit	(	float	low,
		float	high
	)

Sets the lower and upper rotational limits in degrees.

setLimit	(	float	low,
		float	high,
		float	softness,
		float	bias
	)

Sets the lower and upper rotational limits in degrees.

setLimit	(	float	low,
		float	high,
		float	softness,
		float	bias,
		float	relaxation
	)

Sets the lower and upper rotational limits in degrees.

setLimit	(	float	low,
		float	high,
		float	softness
	)

Sets the lower and upper rotational limits in degrees.

setMaxMotorImpulse

(

float

max_impulse

)

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

setMotorTarget	(	float	target_angle,
		float	dt
	)

setMotorTarget	(	Quat const	quat,
		float	dt
	)