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dgBallConstraint Class Reference
Inheritance diagram for dgBallConstraint:
dgBilateralConstraint dgConstraint

Public Member Functions

dgVector GetJointAngle () const
 
dgVector GetJointOmega () const
 
dgVector GetJointForce () const
 
void SetJointParameterCallBack (dgBallJointFriction callback)
 
bool GetTwistLimitState () const
 
void SetTwistLimitState (bool state)
 
bool GetConeLimitState () const
 
void SetConeLimitState (bool state)
 
bool GetLatealLimitState () const
 
void SetLatealLimitState (bool state)
 
void SetLimits (const dgVector &coneDir, dgFloat32 minConeAngle, dgFloat32 maxConeAngle, dgFloat32 maxTwistAngle, const dgVector &bilateralDir, dgFloat32 negativeBilateralConeAngle, dgFloat32 positiveBilateralConeAngle)
 
- Public Member Functions inherited from dgBilateralConstraint
virtual void SetDestructorCallback (OnConstraintDestroy destructor)
 
- Public Member Functions inherited from dgConstraint
dgUnsigned32 GetId () const
 
dgBody * GetBody0 () const
 
dgBody * GetBody1 () const
 
dgBodyMasterListRow::dgListNode * GetLink0 () const
 
dgBodyMasterListRow::dgListNode * GetLink1 () const
 
void * GetUserData () const
 
bool IsCollidable () const
 
dgInt32 GetMaxDOF () const
 
void SetUserData (void *userData)
 
void SetCollidable (bool state)
 
virtual void GetInfo (dgConstraintInfo *const info) const
 

Additional Inherited Members

- Protected Member Functions inherited from dgBilateralConstraint
virtual void Init ()
 
virtual void Remove (dgWorld *world)
 
virtual bool IsBilateral () const
 
virtual dgFloat32 GetStiffness () const
 
virtual void SetStiffness (dgFloat32 stiffness)
 
void SetPivotAndPinDir (const dgVector &pivot, const dgVector &pinDirection)
 
void SetPivotAndPinDir (const dgVector &pivot, const dgVector &pinDirection0, const dgVector &pinDirection1)
 
dgVector CalculateGlobalMatrixAndAngle (dgMatrix &globalMatrix0, dgMatrix &globalMatrix1) const
 
void CalculateMatrixOffset (const dgVector &pivot, const dgVector &dir, dgMatrix &matrix0, dgMatrix &matrix1)
 
virtual void JointAccelerations (const dgJointAccelerationDecriptor &params)
 
virtual void JointAccelerationsSimd (const dgJointAccelerationDecriptor &params)
 
virtual void JointVelocityCorrection (const dgJointAccelerationDecriptor &params)
 
void SetMotorAcceleration (dgInt32 index, dgFloat32 accelration, dgContraintDescritor &desc)
 
void SetJacobianDerivative (dgInt32 index, dgContraintDescritor &desc, const dgFloat32 *jacobianA, const dgFloat32 *jacobianB, dgFloat32 *jointForce)
 
void CalculatePointDerivative (dgInt32 index, dgContraintDescritor &desc, const dgVector &normalGlobal, const dgPointParam &param, dgFloat32 *jointForce)
 
void CalculateAngularDerivative (dgInt32 index, dgContraintDescritor &desc, const dgVector &normalGlobal, dgFloat32 stiffness, dgFloat32 jointAngle, dgFloat32 *jointForce)
 
dgFloat32 CalculateSpringDamperAcceleration (dgInt32 index, const dgContraintDescritor &desc, dgFloat32 jointAngle, const dgVector &p0Global, const dgVector &p1Global, dgFloat32 springK, dgFloat32 springD)
 
- Protected Member Functions inherited from dgConstraint
void SetUpdateFeedbackFunction (ConstraintsForceFeedback function)
 
void InitPointParam (dgPointParam &param, dgFloat32 stiffness, const dgVector &p0Global, const dgVector &p1Global) const
 
void InitInfo (dgConstraintInfo *const info) const
 
- Protected Attributes inherited from dgBilateralConstraint
dgMatrix m_localMatrix0
 
dgMatrix m_localMatrix1
 
dgFloat32 m_stiffness
 
dgFloat32 m_jointForce [32]
 
dgInt32 m_rowIsMotor [32]
 
dgFloat32 m_motorAcceleration [32]
 
OnConstraintDestroy m_destructor
 
- Protected Attributes inherited from dgConstraint
void * m_userData
 
dgBody * m_body0
 
dgBody * m_body1
 
dgBodyMasterListRow::dgListNode * m_link0
 
dgBodyMasterListRow::dgListNode * m_link1
 
ConstraintsForceFeedback m_updaFeedbackCallback
 
dgUnsigned32 m_dynamicsLru
 
dgUnsigned32 m_index: 16
 
dgUnsigned32 m_maxDOF: 6
 
dgUnsigned32 m_constId: 6
 
dgUnsigned32 m_enableCollision: 1
 
dgUnsigned32 m_isUnilateral: 1
 
The documentation for this class was generated from the following file: