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::m_calculatedTransformA
btTransform m_calculatedTransformA
Definition btGeneric6DofConstraint.h:296
btGeneric6DofConstraint::setAngularLowerLimit
void setAngularLowerLimit(const btVector3 &angularLower)
Definition btGeneric6DofConstraint.h:453
btGeneric6DofConstraint::btGeneric6DofConstraint
btGeneric6DofConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
Definition btGeneric6DofConstraint.cpp:31
btGeneric6DofConstraint::getAngle
btScalar getAngle(int axis_index) const
Get the relative Euler angle.
Definition btGeneric6DofConstraint.cpp:655
btGeneric6DofConstraint::setAngularUpperLimit
void setAngularUpperLimit(const btVector3 &angularUpper)
Definition btGeneric6DofConstraint.h:465
btGeneric6DofConstraint::m_calculatedTransformB
btTransform m_calculatedTransformB
Definition btGeneric6DofConstraint.h:297
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
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::btUniversalConstraint
btUniversalConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &anchor, const btVector3 &axis1, const btVector3 &axis2)
Definition btUniversalConstraint.cpp:25
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