Bullet Collision Detection & Physics Library: btGearConstraint.cpp Source File

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btGearConstraint.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
17
18#include "btGearConstraint.h"
19
20btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio)
21 : btTypedConstraint(GEAR_CONSTRAINT_TYPE, rbA, rbB),
22 m_axisInA(axisInA),
23 m_axisInB(axisInB),
24 m_ratio(ratio)
25{
26}
27
28btGearConstraint::~btGearConstraint()
29{
30}
31
32 void btGearConstraint::getInfo1(btConstraintInfo1* info)
33{
34 info->m_numConstraintRows = 1;
35 info->nub = 1;
36}
37
38 void btGearConstraint::getInfo2(btConstraintInfo2* info)
39{
40 btVector3 globalAxisA, globalAxisB;
41
42 globalAxisA = m_rbA.getWorldTransform().getBasis() * this->m_axisInA;
43 globalAxisB = m_rbB.getWorldTransform().getBasis() * this->m_axisInB;
44
45 info->m_J1angularAxis[0] = globalAxisA[0];
46 info->m_J1angularAxis[1] = globalAxisA[1];
47 info->m_J1angularAxis[2] = globalAxisA[2];
48
49 info->m_J2angularAxis[0] = m_ratio * globalAxisB[0];
50 info->m_J2angularAxis[1] = m_ratio * globalAxisB[1];
51 info->m_J2angularAxis[2] = m_ratio * globalAxisB[2];
52}
btGearConstraint.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
GEAR_CONSTRAINT_TYPE
@ GEAR_CONSTRAINT_TYPE
Definition: btTypedConstraint.h:43
btCollisionObject::getWorldTransform
btTransform & getWorldTransform()
Definition: btCollisionObject.h:379
btGearConstraint::~btGearConstraint
virtual ~btGearConstraint()
Definition: btGearConstraint.cpp:28
btGearConstraint::m_ratio
btScalar m_ratio
Definition: btGearConstraint.h:37
btGearConstraint::m_axisInB
btVector3 m_axisInB
Definition: btGearConstraint.h:35
btGearConstraint::m_axisInA
btVector3 m_axisInA
Definition: btGearConstraint.h:34
btGearConstraint::getInfo2
virtual void getInfo2(btConstraintInfo2 *info)
internal method used by the constraint solver, don't use them directly
Definition: btGearConstraint.cpp:38
btGearConstraint::getInfo1
virtual void getInfo1(btConstraintInfo1 *info)
internal method used by the constraint solver, don't use them directly
Definition: btGearConstraint.cpp:32
btGearConstraint::btGearConstraint
btGearConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &axisInA, const btVector3 &axisInB, btScalar ratio=1.f)
Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou.
Definition: btGearConstraint.cpp:20
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:109
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:76
btTypedConstraint::m_rbA
btRigidBody & m_rbA
Definition: btTypedConstraint.h:97
btTypedConstraint::m_rbB
btRigidBody & m_rbB
Definition: btTypedConstraint.h:98
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btTypedConstraint::btConstraintInfo1
Definition: btTypedConstraint.h:114
btTypedConstraint::btConstraintInfo1::m_numConstraintRows
int m_numConstraintRows
Definition: btTypedConstraint.h:115
btTypedConstraint::btConstraintInfo1::nub
int nub
Definition: btTypedConstraint.h:115
btTypedConstraint::btConstraintInfo2
Definition: btTypedConstraint.h:121
btTypedConstraint::btConstraintInfo2::m_J2angularAxis
btScalar * m_J2angularAxis
Definition: btTypedConstraint.h:130
btTypedConstraint::btConstraintInfo2::m_J1angularAxis
btScalar * m_J1angularAxis
Definition: btTypedConstraint.h:130