diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h | 66 |
1 files changed, 60 insertions, 6 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h index 1735b524dba..b7636180c34 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @@ -170,6 +170,11 @@ public: { m_angularOnly = angularOnly; } + + bool getAngularOnly() const + { + return m_angularOnly; + } void setLimit(int limitIndex,btScalar limitValue) { @@ -196,6 +201,33 @@ public: }; } + btScalar getLimit(int limitIndex) const + { + switch (limitIndex) + { + case 3: + { + return m_twistSpan; + break; + } + case 4: + { + return m_swingSpan2; + break; + } + case 5: + { + return m_swingSpan1; + break; + } + default: + { + btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint"); + return 0.0; + } + }; + } + // setLimit(), a few notes: // _softness: // 0->1, recommend ~0.8->1. @@ -218,8 +250,8 @@ public: m_relaxationFactor = _relaxationFactor; } - const btTransform& getAFrame() { return m_rbAFrame; }; - const btTransform& getBFrame() { return m_rbBFrame; }; + const btTransform& getAFrame() const { return m_rbAFrame; }; + const btTransform& getBFrame() const { return m_rbBFrame; }; inline int getSolveTwistLimit() { @@ -239,27 +271,43 @@ public: void calcAngleInfo(); void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB); - inline btScalar getSwingSpan1() + inline btScalar getSwingSpan1() const { return m_swingSpan1; } - inline btScalar getSwingSpan2() + inline btScalar getSwingSpan2() const { return m_swingSpan2; } - inline btScalar getTwistSpan() + inline btScalar getTwistSpan() const { return m_twistSpan; } - inline btScalar getTwistAngle() + inline btScalar getLimitSoftness() const + { + return m_limitSoftness; + } + inline btScalar getBiasFactor() const + { + return m_biasFactor; + } + inline btScalar getRelaxationFactor() const + { + return m_relaxationFactor; + } + inline btScalar getTwistAngle() const { return m_twistAngle; } bool isPastSwingLimit() { return m_solveSwingLimit; } + btScalar getDamping() const { return m_damping; } void setDamping(btScalar damping) { m_damping = damping; } void enableMotor(bool b) { m_bMotorEnabled = b; } + bool isMotorEnabled() const { return m_bMotorEnabled; } + btScalar getMaxMotorImpulse() const { return m_maxMotorImpulse; } + bool isMaxMotorImpulseNormalized() const { return m_bNormalizedMotorStrength; } void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; } void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; } @@ -271,6 +319,7 @@ public: // note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability) // note: don't forget to enableMotor() void setMotorTarget(const btQuaternion &q); + const btQuaternion& getMotorTarget() const { return m_qTarget; } // same as above, but q is the desired rotation of frameA wrt frameB in constraint space void setMotorTargetInConstraintSpace(const btQuaternion &q); @@ -297,6 +346,11 @@ public: ///return the local value of parameter virtual btScalar getParam(int num, int axis = -1) const; + int getFlags() const + { + return m_flags; + } + virtual int calculateSerializeBufferSize() const; ///fills the dataBuffer and returns the struct name (and 0 on failure) |