This is a generic constraint that allows to free configuration of the limits on all 6 degrees of freedom. More...

#include <SixDOFConstraint.h>

Inheritance diagram for icl::physics::SixDOFConstraint:

Public Member Functions
	SixDOFConstraint (RigidObject a, RigidObject b, const geom::Mat &frameInA, const geom::Mat &frameInB, const bool useLinearReferenceFrameA=true)
	The frames describe the position and orientation of the pivot in the objectspaces of the 2 objects. More...

	SixDOFConstraint (RigidObject a, RigidObject b, const geom::Vec &pivotInA, const geom::Vec &pivotInB, bool useLinearReferenceFrameA=true)

	SixDOFConstraint (RigidObject a, RigidObject b, const bool useLinearReferenceFrameA=true)
	This constructor uses the identity geom::Matrices as frames. More...

void	setFrames (const geom::Mat &frameA, const geom::Mat &frameB)
	The frames describe the position and orientation of the constraint pivot in the objectspace of the 2 objects. More...

void	setPivot (const geom::Vec &pivotInA, const geom::Vec &pivotInB)

void	setLinearLowerLimit (const geom::Vec &lower)

void	setLinearUpperLimit (const geom::Vec &upper)

geom::Vec	getLinearLowerLimit ()
	Return the lower linear limit. More...

geom::Vec	getLinearUpperLimit ()
	Return the upper linear limit. More...

float	getAngle (int index)

void	setAngularLowerLimit (const geom::Vec &lower)

void	setAngularUpperLimit (const geom::Vec &upper)

geom::Vec	getAngularLowerLimit ()
	Return the lower angular limit. More...

geom::Vec	getAngularUpperLimit ()
	Return the upper angular limit. More...

void	setLinearMotor (int index, bool enableMotor, float targetVelocity, float maxMotorForce, bool force_activation=false)
	Set the angular motor settings. More...

void	setAngularMotor (int index, bool enableMotor, float targetVelocity, float maxMotorForce, bool force_activation=false)
	Set the linear motor settings. More...

Public Member Functions inherited from icl::physics::Constraint
	Constraint ()
	Base cosntructor. More...

virtual	~Constraint ()
	Destructor. More...

btTypedConstraint *	getConstraint ()
	Getter for the internal constraint. More...

std::vector< RigidObject * > &	getObjects ()
	Getter for the objects involved in the constraint. More...

Private Member Functions
void	init (RigidObject a, RigidObject b, const geom::Mat &frameInA, const geom::Mat &frameInB, const bool useLinearReferenceFrameA)

Additional Inherited Members
Protected Member Functions inherited from icl::physics::Constraint
void	initUserPointer ()

Protected Member Functions inherited from icl::utils::Uncopyable
	Uncopyable ()
	Empty base constructor. More...

Protected Attributes inherited from icl::physics::Constraint
btTypedConstraint *	m_constraint
	internal constraint More...

std::vector< RigidObject * >	m_objects

bool	m_collide

Detailed Description

This is a generic constraint that allows to free configuration of the limits on all 6 degrees of freedom.

Constructor & Destructor Documentation

◆ SixDOFConstraint() [1/3]

icl::physics::SixDOFConstraint::SixDOFConstraint	(	RigidObject *	a,
		RigidObject *	b,
		const geom::Mat &	frameInA,
		const geom::Mat &	frameInB,
		const bool	useLinearReferenceFrameA = `true`
	)

The frames describe the position and orientation of the pivot in the objectspaces of the 2 objects.

◆ SixDOFConstraint() [2/3]

icl::physics::SixDOFConstraint::SixDOFConstraint	(	RigidObject *	a,
		RigidObject *	b,
		const geom::Vec &	pivotInA,
		const geom::Vec &	pivotInB,
		bool	useLinearReferenceFrameA = `true`
	)

◆ SixDOFConstraint() [3/3]

icl::physics::SixDOFConstraint::SixDOFConstraint	(	RigidObject *	a,
		RigidObject *	b,
		const bool	useLinearReferenceFrameA = `true`
	)

This constructor uses the identity geom::Matrices as frames.

Member Function Documentation

◆ getAngle()

float icl::physics::SixDOFConstraint::getAngle ( int index )

◆ getAngularLowerLimit()

geom::Vec icl::physics::SixDOFConstraint::getAngularLowerLimit ( )

Return the lower angular limit.

◆ getAngularUpperLimit()

geom::Vec icl::physics::SixDOFConstraint::getAngularUpperLimit ( )

Return the upper angular limit.

◆ getLinearLowerLimit()

geom::Vec icl::physics::SixDOFConstraint::getLinearLowerLimit ( )

Return the lower linear limit.

◆ getLinearUpperLimit()

geom::Vec icl::physics::SixDOFConstraint::getLinearUpperLimit ( )

Return the upper linear limit.

◆ init()

void icl::physics::SixDOFConstraint::init	(	RigidObject *	a,
		RigidObject *	b,
		const geom::Mat &	frameInA,
		const geom::Mat &	frameInB,
		const bool	useLinearReferenceFrameA
	)

private

◆ setAngularLowerLimit()

void icl::physics::SixDOFConstraint::setAngularLowerLimit ( const geom::Vec & lower )

◆ setAngularMotor()

void icl::physics::SixDOFConstraint::setAngularMotor	(	int	index,
		bool	enableMotor,
		float	targetVelocity,
		float	maxMotorForce,
		bool	force_activation = `false`
	)

Set the linear motor settings.

◆ setAngularUpperLimit()

void icl::physics::SixDOFConstraint::setAngularUpperLimit ( const geom::Vec & upper )

◆ setFrames()

void icl::physics::SixDOFConstraint::setFrames	(	const geom::Mat &	frameA,
		const geom::Mat &	frameB
	)

The frames describe the position and orientation of the constraint pivot in the objectspace of the 2 objects.

◆ setLinearLowerLimit()

void icl::physics::SixDOFConstraint::setLinearLowerLimit ( const geom::Vec & lower )

◆ setLinearMotor()

void icl::physics::SixDOFConstraint::setLinearMotor	(	int	index,
		bool	enableMotor,
		float	targetVelocity,
		float	maxMotorForce,
		bool	force_activation = `false`
	)

Set the angular motor settings.

◆ setLinearUpperLimit()

void icl::physics::SixDOFConstraint::setLinearUpperLimit ( const geom::Vec & upper )

◆ setPivot()

void icl::physics::SixDOFConstraint::setPivot	(	const geom::Vec &	pivotInA,
		const geom::Vec &	pivotInB
	)

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

/Users/alneuman/vm/icl/ICLPhysics/src/ICLPhysics/SixDOFConstraint.h

Public Member Functions

Private Member Functions

Additional Inherited Members