diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2009-06-06 04:12:49 +0400 |
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committer | Erwin Coumans <blender@erwincoumans.com> | 2009-06-06 04:12:49 +0400 |
commit | 884a6a6573c08d2d0fe7f44994b8a874f45d68f2 (patch) | |
tree | c10be5dc6361472c265ce19556cb1349fd80a472 /extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h | |
parent | 04ccb0caf847b29542618a903f0e4243270f8c82 (diff) |
#18872 bugfix for torque on dynamic objects
#18893, fix to getParam for generic 6dof constraints
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h | 13 |
1 files changed, 11 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h index d01c9cf63ab..8082eb1f132 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h @@ -382,14 +382,21 @@ public: //! Get the relative Euler angle /*! - \pre btGeneric6DofConstraint.buildJacobian must be called previously. + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. */ btScalar getAngle(int axis_index) const; + //! Get the relative position of the constraint pivot + /*! + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. + */ + btScalar getRelativePivotPosition(int axis_index) const; + + //! Test angular limit. /*! Calculates angular correction and returns true if limit needs to be corrected. - \pre btGeneric6DofConstraint.buildJacobian must be called previously. + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. */ bool testAngularLimitMotor(int axis_index); @@ -496,11 +503,13 @@ protected: bool m_springEnabled[6]; btScalar m_equilibriumPoint[6]; btScalar m_springStiffness[6]; + btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping) void internalUpdateSprings(btConstraintInfo2* info); public: btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); void enableSpring(int index, bool onOff); void setStiffness(int index, btScalar stiffness); + void setDamping(int index, btScalar damping); void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF virtual void getInfo2 (btConstraintInfo2* info); |