Bullet Collision Detection & Physics Library: btHinge2Constraint.h Source File

Bullet Collision Detection & Physics Library

btHinge2Constraint.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_HINGE2_CONSTRAINT_H
17 #define BT_HINGE2_CONSTRAINT_H
18
19
20
21 #include "LinearMath/btVector3.h"
22 #include "btTypedConstraint.h"
23 #include "btGeneric6DofSpring2Constraint.h"
24
25
26
27 // Constraint similar to ODE Hinge2 Joint
28 // has 3 degrees of frredom:
29 // 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
30 // 1 translational (along axis Z) with suspension spring
31
32 ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpring2Constraint
33 {
34 protected:
35 btVector3 m_anchor;
36 btVector3 m_axis1;
37 btVector3 m_axis2;
38 public:
39 BT_DECLARE_ALIGNED_ALLOCATOR();
40
41 // constructor
42 // anchor, axis1 and axis2 are in world coordinate system
43 // axis1 must be orthogonal to axis2
44 btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
45 // access
46 const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
47 const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
48 const btVector3& getAxis1() { return m_axis1; }
49 const btVector3& getAxis2() { return m_axis2; }
50 btScalar getAngle1() { return getAngle(2); }
51 btScalar getAngle2() { return getAngle(0); }
52 // limits
53 void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
54 void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); }
55 };
56
57
58
59 #endif // BT_HINGE2_CONSTRAINT_H
60
btVector3.h
btHinge2Constraint::m_anchor
btVector3 m_anchor
Definition: btHinge2Constraint.h:35
btHinge2Constraint::getAnchor2
const btVector3 & getAnchor2()
Definition: btHinge2Constraint.h:47
btHinge2Constraint::m_axis1
btVector3 m_axis1
Definition: btHinge2Constraint.h:36
btHinge2Constraint::getAnchor
const btVector3 & getAnchor()
Definition: btHinge2Constraint.h:46
btGeneric6DofSpring2Constraint
Definition: btGeneric6DofSpring2Constraint.h:277
btHinge2Constraint::setLowerLimit
void setLowerLimit(btScalar ang1min)
Definition: btHinge2Constraint.h:54
btTypedConstraint.h
btHinge2Constraint::getAngle1
btScalar getAngle1()
Definition: btHinge2Constraint.h:50
btHinge2Constraint
Definition: btHinge2Constraint.h:32
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btHinge2Constraint::setUpperLimit
void setUpperLimit(btScalar ang1max)
Definition: btHinge2Constraint.h:53
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:65
btGeneric6DofSpring2Constraint.h
btHinge2Constraint::getAngle2
btScalar getAngle2()
Definition: btHinge2Constraint.h:51
btHinge2Constraint::getAxis2
const btVector3 & getAxis2()
Definition: btHinge2Constraint.h:49
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:389
btHinge2Constraint::m_axis2
btVector3 m_axis2
Definition: btHinge2Constraint.h:37
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btHinge2Constraint::getAxis1
const btVector3 & getAxis1()
Definition: btHinge2Constraint.h:48