BtConstraint Class Reference

Allows constraining the motion between two bodies in Bullet simulation. More...

#include <BtConstraint.hpp>

Public Member Functions
	BtConstraint (rw::core::Ptr< const rwsim::dynamics::Constraint > constraint, const BtBody *const parent, const BtBody *const child, btDynamicsWorld *btWorld)
	Construct a new Bullet implementation of a Constraint. More...
virtual	~BtConstraint ()
	Destructor.
btTypedConstraint *	getBtConstraint () const
	Get the Bullet constraint that this class is wrapping. More...
rw::core::Ptr< const rwsim::dynamics::Constraint >	getRWConstraint () const
	Get the RobWork constraint. More...
btRigidBody *	getBtParent () const
	Get the Bullet parent body. More...
btRigidBody *	getBtChild () const
	Get the Bullet child body. More...
rw::math::Vector3D	getRefA () const
	Get the position where feedback force and torque act on first body. More...
rw::math::Vector3D	getRefB () const
	Get the position where feedback force and torque act on second body. More...
void	update (const double dt, rw::kinematics::State &state)
	Update spring forces based on given position and velocities. More...
void	postUpdate (rw::kinematics::State &state)
	Update RobWork state with forces. More...
btJointFeedback *	getFeedback ()
	Get the feedback for the constraint. More...

Detailed Description

Allows constraining the motion between two bodies in Bullet simulation.

This is the Bullet implementation of rwsim::dynamics::Constraint

Constructor & Destructor Documentation

BtConstraint()

BtConstraint	(	rw::core::Ptr< const rwsim::dynamics::Constraint >	constraint,
		const BtBody *const	parent,
		const BtBody *const	child,
		btDynamicsWorld *	btWorld
	)

Construct a new Bullet implementation of a Constraint.

Parameters

constraint	[in] the RobWork constraint.
parent	[in] the parent Bullet body.
child	[in] the child Bullet body.
btWorld	[in] the Bullet world that this constraint should belong to.

Member Function Documentation

getBtChild()

btRigidBody* getBtChild

(

)

const

Get the Bullet child body.

Returns

a pointer to a btRigidBody.

getBtConstraint()

btTypedConstraint* getBtConstraint

(

)

const

Get the Bullet constraint that this class is wrapping.

Returns

a pointer to a btTypedConstraint.

getBtParent()

btRigidBody* getBtParent

(

)

const

Get the Bullet parent body.

Returns

a pointer to a btRigidBody.

getFeedback()

btJointFeedback* getFeedback

(

)

Get the feedback for the constraint.

Returns

the bullet feedback.

getRefA()

rw::math::Vector3D getRefA

(

)

const

Get the position where feedback force and torque act on first body.

Returns

the position in world coordinates.

getRefB()

rw::math::Vector3D getRefB

(

)

const

Get the position where feedback force and torque act on second body.

Returns

the position in world coordinates.

getRWConstraint()

rw::core::Ptr<const rwsim::dynamics::Constraint> getRWConstraint

(

)

const

Get the RobWork constraint.

Returns

a pointer to a constant Constraint object.

postUpdate()

void postUpdate

(

rw::kinematics::State &

state

)

Update RobWork state with forces.

Parameters

state

[in/out] the state to update.

update()

void update	(	const double	dt,
		rw::kinematics::State &	state
	)

Update spring forces based on given position and velocities.

Parameters

dt	[in] information about the step size.
state	[in/out] the state.

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

• BtConstraint.hpp