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

Bullet Collision Detection & Physics Library

btMultiBodyGearConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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
17
18 #ifndef BT_MULTIBODY_GEAR_CONSTRAINT_H
19 #define BT_MULTIBODY_GEAR_CONSTRAINT_H
20
21 #include "btMultiBodyConstraint.h"
22
23 class btMultiBodyGearConstraint : public btMultiBodyConstraint
24 {
25 protected:
26
27 btRigidBody* m_rigidBodyA;
28 btRigidBody* m_rigidBodyB;
29 btVector3 m_pivotInA;
30 btVector3 m_pivotInB;
31 btMatrix3x3 m_frameInA;
32 btMatrix3x3 m_frameInB;
33 btScalar m_gearRatio;
34 int m_gearAuxLink;
35 btScalar m_erp;
36 btScalar m_relativePositionTarget;
37
38 public:
39
40 //btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
41 btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
42
43 virtual ~btMultiBodyGearConstraint();
44
45 virtual void finalizeMultiDof();
46
47 virtual int getIslandIdA() const;
48 virtual int getIslandIdB() const;
49
50 virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
51 btMultiBodyJacobianData& data,
52 const btContactSolverInfo& infoGlobal);
53
54 const btVector3& getPivotInA() const
55 {
56 return m_pivotInA;
57 }
58
59 void setPivotInA(const btVector3& pivotInA)
60 {
61 m_pivotInA = pivotInA;
62 }
63
64 const btVector3& getPivotInB() const
65 {
66 return m_pivotInB;
67 }
68
69 virtual void setPivotInB(const btVector3& pivotInB)
70 {
71 m_pivotInB = pivotInB;
72 }
73
74 const btMatrix3x3& getFrameInA() const
75 {
76 return m_frameInA;
77 }
78
79 void setFrameInA(const btMatrix3x3& frameInA)
80 {
81 m_frameInA = frameInA;
82 }
83
84 const btMatrix3x3& getFrameInB() const
85 {
86 return m_frameInB;
87 }
88
89 virtual void setFrameInB(const btMatrix3x3& frameInB)
90 {
91 m_frameInB = frameInB;
92 }
93
94 virtual void debugDraw(class btIDebugDraw* drawer)
95 {
96 //todo(erwincoumans)
97 }
98
99 virtual void setGearRatio(btScalar gearRatio)
100 {
101 m_gearRatio = gearRatio;
102 }
103 virtual void setGearAuxLink(int gearAuxLink)
104 {
105 m_gearAuxLink = gearAuxLink;
106 }
107 virtual void setRelativePositionTarget(btScalar relPosTarget)
108 {
109 m_relativePositionTarget = relPosTarget;
110 }
111 virtual void setErp(btScalar erp)
112 {
113 m_erp = erp;
114 }
115 };
116
117 #endif //BT_MULTIBODY_GEAR_CONSTRAINT_H
btMultiBodyGearConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition: btMultiBodyGearConstraint.h:54
btMultiBodyGearConstraint::setRelativePositionTarget
virtual void setRelativePositionTarget(btScalar relPosTarget)
Definition: btMultiBodyGearConstraint.h:107
btMultiBodyGearConstraint::m_pivotInB
btVector3 m_pivotInB
Definition: btMultiBodyGearConstraint.h:30
btMultiBodyGearConstraint::setFrameInB
virtual void setFrameInB(const btMatrix3x3 &frameInB)
Definition: btMultiBodyGearConstraint.h:89
btAlignedObjectArray< btMultiBodySolverConstraint >
btMultiBodyGearConstraint::getIslandIdB
virtual int getIslandIdB() const
Definition: btMultiBodyGearConstraint.cpp:63
btMultiBodyGearConstraint::m_pivotInA
btVector3 m_pivotInA
Definition: btMultiBodyGearConstraint.h:29
btMultiBodyGearConstraint::setFrameInA
void setFrameInA(const btMatrix3x3 &frameInA)
Definition: btMultiBodyGearConstraint.h:79
btMultiBodyGearConstraint::m_erp
btScalar m_erp
Definition: btMultiBodyGearConstraint.h:35
btMultiBodyConstraint.h
btMultiBodyGearConstraint::m_frameInA
btMatrix3x3 m_frameInA
Definition: btMultiBodyGearConstraint.h:31
btMultiBodyGearConstraint::m_rigidBodyA
btRigidBody * m_rigidBodyA
Definition: btMultiBodyGearConstraint.h:27
btMultiBodyGearConstraint::m_relativePositionTarget
btScalar m_relativePositionTarget
Definition: btMultiBodyGearConstraint.h:36
btMultiBody
Definition: btMultiBody.h:51
btMultiBodyGearConstraint::setPivotInB
virtual void setPivotInB(const btVector3 &pivotInB)
Definition: btMultiBodyGearConstraint.h:69
btMultiBodyGearConstraint::getIslandIdA
virtual int getIslandIdA() const
Definition: btMultiBodyGearConstraint.cpp:46
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:42
btMultiBodyGearConstraint::getFrameInA
const btMatrix3x3 & getFrameInA() const
Definition: btMultiBodyGearConstraint.h:74
btMultiBodyGearConstraint::m_gearRatio
btScalar m_gearRatio
Definition: btMultiBodyGearConstraint.h:33
btMultiBodyGearConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition: btMultiBodyGearConstraint.h:64
btMultiBodyGearConstraint::~btMultiBodyGearConstraint
virtual ~btMultiBodyGearConstraint()
Definition: btMultiBodyGearConstraint.cpp:41
btMultiBodyGearConstraint::m_frameInB
btMatrix3x3 m_frameInB
Definition: btMultiBodyGearConstraint.h:32
btMultiBodyGearConstraint::setGearAuxLink
virtual void setGearAuxLink(int gearAuxLink)
Definition: btMultiBodyGearConstraint.h:103
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:28
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btMultiBodyGearConstraint::setGearRatio
virtual void setGearRatio(btScalar gearRatio)
Definition: btMultiBodyGearConstraint.h:99
btMultiBodyGearConstraint::createConstraintRows
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
Definition: btMultiBodyGearConstraint.cpp:82
btMultiBodyGearConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)
Definition: btMultiBodyGearConstraint.h:94
btMultiBodyGearConstraint::getFrameInB
const btMatrix3x3 & getFrameInB() const
Definition: btMultiBodyGearConstraint.h:84
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btMultiBodyGearConstraint::finalizeMultiDof
virtual void finalizeMultiDof()
Definition: btMultiBodyGearConstraint.cpp:33
btMultiBodyGearConstraint::setPivotInA
void setPivotInA(const btVector3 &pivotInA)
Definition: btMultiBodyGearConstraint.h:59
btMultiBodyGearConstraint::m_rigidBodyB
btRigidBody * m_rigidBodyB
Definition: btMultiBodyGearConstraint.h:28
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
btMultiBodyGearConstraint::btMultiBodyGearConstraint
btMultiBodyGearConstraint(btMultiBody *bodyA, int linkA, btMultiBody *bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
This file was written by Erwin Coumans.
Definition: btMultiBodyGearConstraint.cpp:23
btMultiBodyGearConstraint::m_gearAuxLink
int m_gearAuxLink
Definition: btMultiBodyGearConstraint.h:34
btMultiBodyGearConstraint
This file was written by Erwin Coumans.
Definition: btMultiBodyGearConstraint.h:23
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btMultiBodyGearConstraint::setErp
virtual void setErp(btScalar erp)
Definition: btMultiBodyGearConstraint.h:111