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gzBtUniversalConstraint Class Reference
Physics » Bullet Physics

Functions that implement a universal joint/constraint using bullet. More...

`#include <gzBtUniversalConstraint.hh>`

Inherits btGeneric6DofConstraint.

## Public Member Functions

| gzBtUniversalConstraint (btRigidBody &_rbA, btRigidBody &_rbB, const btVector3 &_anchor, const btVector3 &_axis1, const btVector3 &_axis2)
| Constructor. More...
| gzBtUniversalConstraint (btRigidBody &_rbA, const btVector3 &_anchor, const btVector3 &_axis1, const btVector3 &_axis2)
| Constructor. More...
| BT_DECLARE_ALIGNED_ALLOCATOR ()
const btVector3 & | getAnchor ()
| Get the anchor point in link A reference frame. More...
const btVector3 & | getAnchor2 ()
| Get the anchor point in link B reference frame. More...
btScalar | getAngle1 ()
| Get the value of angle 1 in radians. More...
btScalar | getAngle2 ()
| Get the value of angle 2 in radians. More...
const btVector3 & | getAxis1 ()
| Get the first axis of rotation. More...
const btVector3 & | getAxis2 ()
| Get the second axis of rotation. More...
void | getLowerLimit (btScalar &_ang1min, btScalar &_ang2min)
| Get lower limits. More...
btScalar | getMaxMotorImpulse1 () const
| Get the maximum allowed motor impluse for the first axis of rotation. More...
btScalar | getMaxMotorImpulse2 () const
| Get the maximum allowed motor impluse for the second axis of rotation. More...
void | getUpperLimit (btScalar &_ang1max, btScalar &_ang2max)
| Get upper limits. More...
void | setAxis (const btVector3 &_axis1, const btVector3 &_axis2)
| Set the axis of rotation. More...
void | setLowerLimit (btScalar _ang1min, btScalar _ang2min)
| Set lower limits. More...
void | setMaxMotorImpulse1 (btScalar _i)
| Set the maximum allowed motor impluse for the first axis of rotation. More...
void | setMaxMotorImpulse2 (btScalar _i)
| Set the maximum allowed motor impluse for the second axis of rotation. More...
void | setUpperLimit (btScalar _ang1max, btScalar _ang2max)
| Set upper limits. More...

## Protected Attributes

btVector3 | m_anchor
| Anchor point in world coordinate frame. More...
btVector3 | m_axis1
| First axis of rotation. More...
btVector3 | m_axis2
| Second axis of rotation. More...

## Detailed Description

Functions that implement a universal joint/constraint using bullet.

## Constructor & Destructor Documentation

## gzBtUniversalConstraint() [1/2]

gzBtUniversalConstraint | ( | btRigidBody & | _rbA,
|  | btRigidBody & | _rbB,
|  | const btVector3 & | _anchor,
|  | const btVector3 & | _axis1,
|  | const btVector3 & | _axis2
| ) |  |

Constructor.

Parameters

  [in] | _rbA | Rigid body A, also known as the parent link.
  [in] | _rbB | Rigid body B, also known as the child link.
  [in] | _anchor | The point in world space that constrains the two rigid bodies.
  [in] | _axis1 | First axis of rotation in world frame.
  [in] | _axis2 | Second axis of rotation in world frame.

## gzBtUniversalConstraint() [2/2]

gzBtUniversalConstraint | ( | btRigidBody & | _rbA,
|  | const btVector3 & | _anchor,
|  | const btVector3 & | _axis1,
|  | const btVector3 & | _axis2
| ) |  |

Constructor.

Parameters

  [in] | _rbB | Rigid body B, also known as the child link.
  [in] | _anchor | The point in world space that constrains the child link to the world.
  [in] | _axis1 | First axis of rotation in world frame.
  [in] | _axis2 | Second axis of rotation in world frame.

## Member Function Documentation

## BT_DECLARE_ALIGNED_ALLOCATOR()

BT_DECLARE_ALIGNED_ALLOCATOR | ( |  | ) |

## getAnchor()

const btVector3& getAnchor | ( |  | ) |

Get the anchor point in link A reference frame.

Returns
  Anchor point in link A's reference frame.

## getAnchor2()

const btVector3& getAnchor2 | ( |  | ) |

Get the anchor point in link B reference frame.

Returns
  Anchor point in link B's reference frame.

## getAngle1()

btScalar getAngle1 | ( |  | ) |

Get the value of angle 1 in radians.

Returns
  Angle value of the first axis in radians.

## getAngle2()

btScalar getAngle2 | ( |  | ) |

Get the value of angle 2 in radians.

Returns
  Angle value of the second axis in radians.

## getAxis1()

const btVector3& getAxis1 | ( |  | ) |

Get the first axis of rotation.

Returns
  The first axis of rotation as a vector

## getAxis2()

const btVector3& getAxis2 | ( |  | ) |

Get the second axis of rotation.

Returns
  The second axis of rotation as a vector

## getLowerLimit()

void getLowerLimit | ( | btScalar & | _ang1min,
|  | btScalar & | _ang2min
| ) |  |

Get lower limits.

Parameters

  [out] | _ang1min | Minimum value for angle 1
  [out] | _ang2min | Minimum value for angle 2

## getMaxMotorImpulse1()

btScalar getMaxMotorImpulse1 | ( |  | ) | const

Get the maximum allowed motor impluse for the first axis of rotation.

Returns
  Maximum motor impulse for axis 1.

## getMaxMotorImpulse2()

btScalar getMaxMotorImpulse2 | ( |  | ) | const

Get the maximum allowed motor impluse for the second axis of rotation.

Returns
  Maximum motor impulse for axis 2.

## getUpperLimit()

void getUpperLimit | ( | btScalar & | _ang1max,
|  | btScalar & | _ang2max
| ) |  |

Get upper limits.

Parameters

  [out] | _ang1max | Maximum value for angle 1
  [out] | _ang2max | Maximum value for angle 2

## setAxis()

void setAxis | ( | const btVector3 & | _axis1,
|  | const btVector3 & | _axis2
| ) |  |

Set the axis of rotation.

Parameters

  [in] | _axis1 | First axis of rotation.
  [in] | _axis2 | Second axis of rotation.

## setLowerLimit()

void setLowerLimit | ( | btScalar | _ang1min,
|  | btScalar | _ang2min
| ) |  |

Set lower limits.

Parameters

  [in] | _ang1min | Minimum value for angle 1
  [in] | _ang2min | Minimum value for angle 2

## setMaxMotorImpulse1()

void setMaxMotorImpulse1 | ( | btScalar | _i | ) |

Set the maximum allowed motor impluse for the first axis of rotation.

Parameters

  [in] | _i | Maximum motor impulse for axis 1.

## setMaxMotorImpulse2()

void setMaxMotorImpulse2 | ( | btScalar | _i | ) |

Set the maximum allowed motor impluse for the second axis of rotation.

Parameters

  [in] | _i | Maximum motor impulse for axis 2.

## setUpperLimit()

void setUpperLimit | ( | btScalar | _ang1max,
|  | btScalar | _ang2max
| ) |  |

Set upper limits.

Parameters

  [in] | _ang1max | Maximum value for angle 1
  [in] | _ang2max | Maximum value for angle 2

## Member Data Documentation

## m_anchor

btVector3 m_anchor

protected

Anchor point in world coordinate frame.

## m_axis1

btVector3 m_axis1

protected

First axis of rotation.

## m_axis2

btVector3 m_axis2

protected

Second axis of rotation.

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

- gzBtUniversalConstraint.hh