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

Bullet Collision Detection & Physics Library

btUniversalConstraint.h
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1/*
2Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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_UNIVERSAL_CONSTRAINT_H
17#define BT_UNIVERSAL_CONSTRAINT_H
18
19#include "LinearMath/btVector3.h"
20#include "btTypedConstraint.h"
21#include "btGeneric6DofConstraint.h"
22
29
30 ATTRIBUTE_ALIGNED16(class)
31 btUniversalConstraint : public btGeneric6DofConstraint
32{
33protected:
34 btVector3 m_anchor;
35 btVector3 m_axis1;
36 btVector3 m_axis2;
37
38public:
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 btUniversalConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& anchor, const btVector3& axis1, const 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(1); }
52 // limits
53 void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
54 void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
55
56 void setAxis(const btVector3& axis1, const btVector3& axis2);
57};
58
59#endif // BT_UNIVERSAL_CONSTRAINT_H
btGeneric6DofConstraint.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btTypedConstraint.h
btVector3.h
btGeneric6DofConstraint
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
Definition: btGeneric6DofConstraint.h:268
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btUniversalConstraint
Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rota...
Definition: btUniversalConstraint.h:32
btUniversalConstraint::getAxis2
const btVector3 & getAxis2()
Definition: btUniversalConstraint.h:49
btUniversalConstraint::setUpperLimit
void setUpperLimit(btScalar ang1max, btScalar ang2max)
Definition: btUniversalConstraint.h:53
btUniversalConstraint::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btUniversalConstraint::getAxis1
const btVector3 & getAxis1()
Definition: btUniversalConstraint.h:48
btUniversalConstraint::getAngle2
btScalar getAngle2()
Definition: btUniversalConstraint.h:51
btUniversalConstraint::getAnchor2
const btVector3 & getAnchor2()
Definition: btUniversalConstraint.h:47
btUniversalConstraint::setLowerLimit
void setLowerLimit(btScalar ang1min, btScalar ang2min)
Definition: btUniversalConstraint.h:54
btUniversalConstraint::getAngle1
btScalar getAngle1()
Definition: btUniversalConstraint.h:50
btUniversalConstraint::m_axis2
btVector3 m_axis2
Definition: btUniversalConstraint.h:36
btUniversalConstraint::m_anchor
btVector3 m_anchor
Definition: btUniversalConstraint.h:34
btUniversalConstraint::m_axis1
btVector3 m_axis1
Definition: btUniversalConstraint.h:35
btUniversalConstraint::getAnchor
const btVector3 & getAnchor()
Definition: btUniversalConstraint.h:46
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82