Bullet Collision Detection & Physics Library: btUniversalConstraint.h Source File

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btUniversalConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3 Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_UNIVERSAL_CONSTRAINT_H
17 #define BT_UNIVERSAL_CONSTRAINT_H
18
19
20
21 #include "LinearMath/btVector3.h"
22 #include "btTypedConstraint.h"
23 #include "btGeneric6DofConstraint.h"
24
25
26
33
34 ATTRIBUTE_ALIGNED16(class) btUniversalConstraint : public btGeneric6DofConstraint
35 {
36 protected:
37 btVector3 m_anchor;
38 btVector3 m_axis1;
39 btVector3 m_axis2;
40 public:
41
42 BT_DECLARE_ALIGNED_ALLOCATOR();
43
44 // constructor
45 // anchor, axis1 and axis2 are in world coordinate system
46 // axis1 must be orthogonal to axis2
47 btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
48 // access
49 const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
50 const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
51 const btVector3& getAxis1() { return m_axis1; }
52 const btVector3& getAxis2() { return m_axis2; }
53 btScalar getAngle1() { return getAngle(2); }
54 btScalar getAngle2() { return getAngle(1); }
55 // limits
56 void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
57 void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
58
59 void setAxis( const btVector3& axis1, const btVector3& axis2);
60 };
61
62
63
64 #endif // BT_UNIVERSAL_CONSTRAINT_H
65
btVector3.h
btUniversalConstraint::getAnchor
const btVector3 & getAnchor()
Definition: btUniversalConstraint.h:49
btGeneric6DofConstraint
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
Definition: btGeneric6DofConstraint.h:279
btUniversalConstraint::m_axis1
btVector3 m_axis1
Definition: btUniversalConstraint.h:38
btUniversalConstraint
Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rota...
Definition: btUniversalConstraint.h:34
btTypedConstraint.h
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
btUniversalConstraint::getAxis2
const btVector3 & getAxis2()
Definition: btUniversalConstraint.h:52
btUniversalConstraint::getAxis1
const btVector3 & getAxis1()
Definition: btUniversalConstraint.h:51
btUniversalConstraint::m_axis2
btVector3 m_axis2
Definition: btUniversalConstraint.h:39
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btUniversalConstraint::setUpperLimit
void setUpperLimit(btScalar ang1max, btScalar ang2max)
Definition: btUniversalConstraint.h:56
btUniversalConstraint::getAngle1
btScalar getAngle1()
Definition: btUniversalConstraint.h:53
btUniversalConstraint::getAngle2
btScalar getAngle2()
Definition: btUniversalConstraint.h:54
btUniversalConstraint::m_anchor
btVector3 m_anchor
Definition: btUniversalConstraint.h:37
btGeneric6DofConstraint.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btUniversalConstraint::setLowerLimit
void setLowerLimit(btScalar ang1min, btScalar ang2min)
Definition: btUniversalConstraint.h:57
btUniversalConstraint::getAnchor2
const btVector3 & getAnchor2()
Definition: btUniversalConstraint.h:50