BulletUniversalConstraint (object)

Constraint similar to ODE Universal Joint has 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and Y (axis 2) Description from ODE manual : “Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal.”

Members

Data	pointer
BulletRigidBody	rbA
BulletRigidBody	rbB

Methods

	BulletUniversalConstraint ( in BulletRigidBody rbA, in BulletRigidBody rbB, in Vec3 anchor, in Vec3 axis1, in Vec3 axis2 )
	BulletUniversalConstraint ( in BulletUniversalConstraint other )
	BulletUniversalConstraint ()
	__construct ! ( in BulletRigidBody rbA, in BulletRigidBody rbB, in Vec3 anchor, in Vec3 axis1, in Vec3 axis2 )
	buildJacobian ! ()
	calculateTransforms ! ( in Xfo transA, in Xfo transB )
BulletUniversalConstraint	clone ? ()
	enableFeedback ! ( in Boolean needsFeedback )
Vec3	getAnchor2 ? ()
Vec3	getAnchor ? ()
Scalar	getAngle1 ? ()
Scalar	getAngle2 ? ()
Scalar	getAngle ? ( in Integer axis_index )
	getAngularLowerLimit ? ( io Vec3 angularLower )
	getAngularUpperLimit ? ( io Vec3 angularUpper )
Scalar	getAppliedImpulse ? ()
Vec3	getAxis1 ? ()
Vec3	getAxis2 ? ()
Vec3	getAxis ? ( in Integer axis_index )
Scalar	getBreakingImpulseThreshold ? ()
Xfo	getCalculatedTransformA ? ()
Xfo	getCalculatedTransformB ? ()
UInt32	getConstraintType ? ()
Xfo	getFrameOffsetA ? ()
Xfo	getFrameOffsetB ? ()
	getLinearLowerLimit ? ( io Vec3 linearLower )
	getLinearUpperLimit ? ( io Vec3 linearUpper )
Scalar	getParam ? ( in Integer num )
Scalar	getParam ? ( in Integer num, in Integer axis )
Data	getPointer ? ()
Scalar	getRelativePivotPosition ? ( in Integer axis_index )
BulletRigidBody	getRigidBodyA ? ()
BulletRigidBody	getRigidBodyB ? ()
BulletRotationalLimitMotor	getRotationalLimitMotor ? ( in Integer index )
BulletTranslationalLimitMotor	getTranslationalLimitMotor ? ()
Boolean	getUseFrameOffset ? ()
Boolean	isEnabled ? ()
Boolean	isLimited ? ( in Integer limitIndex )
Boolean	needsFeedback ? ()
	setAngularLowerLimit ! ( in Vec3 angularLower )
	setAngularUpperLimit ! ( in Vec3 angularUpper )
	setAxis ! ( in Vec3 axis1, in Vec3 axis2 )
	setBreakingImpulseThreshold ! ( in Scalar threshold )
	setEnabled ! ( in Boolean enabled )
	setFrames ! ( in Xfo frameA, in Xfo frameB )
	setLimit ! ( in Integer axis, in Scalar lo, in Scalar hi )
	setLinearLowerLimit ! ( in Vec3 linearLower )
	setLinearUpperLimit ! ( in Vec3 linearUpper )
	setLowerLimit ! ( in Scalar ang1min, in Scalar ang2min )
	setParam ! ( in Integer num, in Scalar value )
	setParam ! ( in Integer num, in Scalar value, in Integer axis )
	setUpperLimit ! ( in Scalar ang1max, in Scalar ang2max )
	setUseFrameOffset ! ( in Boolean frameOffsetOnOff )
Boolean	testAngularLimitMotor ? ( in Integer axis_index )
	updateRHS ! ( in Scalar timeStep )
	~BulletUniversalConstraint ()

Methods in detail

BulletUniversalConstraint ( in BulletRigidBody rbA, in BulletRigidBody rbB, in Vec3 anchor, in Vec3 axis1, in Vec3 axis2 )

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BulletUniversalConstraint ( in BulletUniversalConstraint other )

copy constructor

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BulletUniversalConstraint ()

default constructor

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BulletUniversalConstraint.__construct! ( in BulletRigidBody rbA, in BulletRigidBody rbB, in Vec3 anchor, in Vec3 axis1, in Vec3 axis2 )

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BulletUniversalConstraint.buildJacobian! ()

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BulletUniversalConstraint.calculateTransforms! ( in Xfo transA, in Xfo transB )

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BulletUniversalConstraint BulletUniversalConstraint.clone? ()

clone method

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BulletUniversalConstraint.enableFeedback! ( in Boolean needsFeedback )

enableFeedback will allow to read the applied linear and angular impulse use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information

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Vec3 BulletUniversalConstraint.getAnchor2? ()

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Vec3 BulletUniversalConstraint.getAnchor? ()

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Scalar BulletUniversalConstraint.getAngle1? ()

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Scalar BulletUniversalConstraint.getAngle2? ()

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Scalar BulletUniversalConstraint.getAngle? ( in Integer axis_index )

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BulletUniversalConstraint.getAngularLowerLimit? ( io Vec3 angularLower )

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BulletUniversalConstraint.getAngularUpperLimit? ( io Vec3 angularUpper )

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Scalar BulletUniversalConstraint.getAppliedImpulse? ()

getAppliedImpulse is an estimated total applied impulse. This feedback could be used to determine breaking constraints or playing sounds.

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Vec3 BulletUniversalConstraint.getAxis1? ()

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Vec3 BulletUniversalConstraint.getAxis2? ()

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Vec3 BulletUniversalConstraint.getAxis? ( in Integer axis_index )

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Scalar BulletUniversalConstraint.getBreakingImpulseThreshold? ()

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Xfo BulletUniversalConstraint.getCalculatedTransformA? ()

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Xfo BulletUniversalConstraint.getCalculatedTransformB? ()

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UInt32 BulletUniversalConstraint.getConstraintType? ()

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Xfo BulletUniversalConstraint.getFrameOffsetA? ()

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Xfo BulletUniversalConstraint.getFrameOffsetB? ()

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BulletUniversalConstraint.getLinearLowerLimit? ( io Vec3 linearLower )

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BulletUniversalConstraint.getLinearUpperLimit? ( io Vec3 linearUpper )

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Scalar BulletUniversalConstraint.getParam? ( in Integer num )

return the local value of parameter

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Scalar BulletUniversalConstraint.getParam? ( in Integer num, in Integer axis )

return the local value of parameter

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Data BulletUniversalConstraint.getPointer? ()

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Scalar BulletUniversalConstraint.getRelativePivotPosition? ( in Integer axis_index )

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BulletRigidBody BulletUniversalConstraint.getRigidBodyA? ()

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BulletRigidBody BulletUniversalConstraint.getRigidBodyB? ()

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BulletRotationalLimitMotor BulletUniversalConstraint.getRotationalLimitMotor? ( in Integer index )

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BulletTranslationalLimitMotor BulletUniversalConstraint.getTranslationalLimitMotor? ()

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Boolean BulletUniversalConstraint.getUseFrameOffset? ()

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Boolean BulletUniversalConstraint.isEnabled? ()

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Boolean BulletUniversalConstraint.isLimited? ( in Integer limitIndex )

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Boolean BulletUniversalConstraint.needsFeedback? ()

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BulletUniversalConstraint.setAngularLowerLimit! ( in Vec3 angularLower )

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BulletUniversalConstraint.setAngularUpperLimit! ( in Vec3 angularUpper )

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BulletUniversalConstraint.setAxis! ( in Vec3 axis1, in Vec3 axis2 )

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BulletUniversalConstraint.setBreakingImpulseThreshold! ( in Scalar threshold )

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BulletUniversalConstraint.setEnabled! ( in Boolean enabled )

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BulletUniversalConstraint.setFrames! ( in Xfo frameA, in Xfo frameB )

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BulletUniversalConstraint.setLimit! ( in Integer axis, in Scalar lo, in Scalar hi )

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BulletUniversalConstraint.setLinearLowerLimit! ( in Vec3 linearLower )

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BulletUniversalConstraint.setLinearUpperLimit! ( in Vec3 linearUpper )

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BulletUniversalConstraint.setLowerLimit! ( in Scalar ang1min, in Scalar ang2min )

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BulletUniversalConstraint.setParam! ( in Integer num, in Scalar value )

override the default global value of a parameter (such as ERP or CFM), optionally provide the BulletUniversalConstraint.axis (0..5). = ‘BulletUniversalConstraint_axis’ If no axis is provided, it uses the default axis for this constraint.

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BulletUniversalConstraint.setParam! ( in Integer num, in Scalar value, in Integer axis )

override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). If no axis is provided, it uses the default axis for this constraint.

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BulletUniversalConstraint.setUpperLimit! ( in Scalar ang1max, in Scalar ang2max )

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BulletUniversalConstraint.setUseFrameOffset! ( in Boolean frameOffsetOnOff )

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Boolean BulletUniversalConstraint.testAngularLimitMotor? ( in Integer axis_index )

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BulletUniversalConstraint.updateRHS! ( in Scalar timeStep )

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~ BulletUniversalConstraint ()