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

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btMultiBodyJointLimitConstraint.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2013 Erwin Coumans 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
16#ifndef BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
17#define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
18
19#include "btMultiBodyConstraint.h"
20struct btSolverInfo;
21
22 class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint
23{
24protected:
25 btScalar m_lowerBound;
26 btScalar m_upperBound;
27
28public:
29 btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);
30 virtual ~btMultiBodyJointLimitConstraint();
31
32 virtual void finalizeMultiDof();
33
34 virtual int getIslandIdA() const;
35 virtual int getIslandIdB() const;
36
37 virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
38 btMultiBodyJacobianData& data,
39 const btContactSolverInfo& infoGlobal);
40
41 virtual void debugDraw(class btIDebugDraw* drawer)
42 {
43 //todo(erwincoumans)
44 }
45 btScalar getLowerBound() const
46 {
47 return m_lowerBound;
48 }
49 btScalar getUpperBound() const
50 {
51 return m_upperBound;
52 }
53 void setLowerBound(btScalar lower)
54 {
55 m_lowerBound = lower;
56 }
57 void setUpperBound(btScalar upper)
58 {
59 m_upperBound = upper;
60 }
61};
62
63#endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
btMultiBodyConstraint.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btAlignedObjectArray< btMultiBodySolverConstraint >
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:57
btMultiBodyJointLimitConstraint
Definition: btMultiBodyJointLimitConstraint.h:23
btMultiBodyJointLimitConstraint::m_lowerBound
btScalar m_lowerBound
Definition: btMultiBodyJointLimitConstraint.h:25
btMultiBodyJointLimitConstraint::getLowerBound
btScalar getLowerBound() const
Definition: btMultiBodyJointLimitConstraint.h:45
btMultiBodyJointLimitConstraint::getIslandIdB
virtual int getIslandIdB() const
Definition: btMultiBodyJointLimitConstraint.cpp:72
btMultiBodyJointLimitConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)
Definition: btMultiBodyJointLimitConstraint.h:41
btMultiBodyJointLimitConstraint::m_upperBound
btScalar m_upperBound
Definition: btMultiBodyJointLimitConstraint.h:26
btMultiBodyJointLimitConstraint::finalizeMultiDof
virtual void finalizeMultiDof()
Definition: btMultiBodyJointLimitConstraint.cpp:31
btMultiBodyJointLimitConstraint::getIslandIdA
virtual int getIslandIdA() const
Definition: btMultiBodyJointLimitConstraint.cpp:53
btMultiBodyJointLimitConstraint::getUpperBound
btScalar getUpperBound() const
Definition: btMultiBodyJointLimitConstraint.h:49
btMultiBodyJointLimitConstraint::setUpperBound
void setUpperBound(btScalar upper)
Definition: btMultiBodyJointLimitConstraint.h:57
btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint
virtual ~btMultiBodyJointLimitConstraint()
Definition: btMultiBodyJointLimitConstraint.cpp:49
btMultiBodyJointLimitConstraint::createConstraintRows
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
Definition: btMultiBodyJointLimitConstraint.cpp:91
btMultiBodyJointLimitConstraint::setLowerBound
void setLowerBound(btScalar lower)
Definition: btMultiBodyJointLimitConstraint.h:53
btMultiBody
Definition: btMultiBody.h:51
btContactSolverInfo
Definition: btContactSolverInfo.h:76
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:44