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

Bullet Collision Detection & Physics Library

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
btMultiBodyConstraintArray
btAlignedObjectArray< btMultiBodySolverConstraint > btMultiBodyConstraintArray
Definition btMultiBodySolverConstraint.h:88
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition btIDebugDraw.h:27
btMultiBodyConstraint::btMultiBodyConstraint
btMultiBodyConstraint(btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type)
Definition btMultiBodyConstraint.cpp:5
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
btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint
btMultiBodyJointLimitConstraint(btMultiBody *body, int link, btScalar lower, btScalar upper)
This file was written by Erwin Coumans.
Definition btMultiBodyJointLimitConstraint.cpp:23
btMultiBody
Definition btMultiBody.h:51
btContactSolverInfo
Definition btContactSolverInfo.h:76
btMultiBodyJacobianData
Definition btMultiBodyConstraint.h:44