Bullet Collision Detection & Physics Library: btHinge2Constraint.h Source File

Bullet Collision Detection & Physics Library

btHinge2Constraint.h
Go to the documentation of this file.
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_HINGE2_CONSTRAINT_H
17#define BT_HINGE2_CONSTRAINT_H
18
19#include "LinearMath/btVector3.h"
20#include "btTypedConstraint.h"
21#include "btGeneric6DofSpring2Constraint.h"
22
23// Constraint similar to ODE Hinge2 Joint
24// has 3 degrees of frredom:
25// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
26// 1 translational (along axis Z) with suspension spring
27
28 ATTRIBUTE_ALIGNED16(class)
29 btHinge2Constraint : public btGeneric6DofSpring2Constraint
30{
31protected:
32 btVector3 m_anchor;
33 btVector3 m_axis1;
34 btVector3 m_axis2;
35
36public:
37 BT_DECLARE_ALIGNED_ALLOCATOR();
38
39 // constructor
40 // anchor, axis1 and axis2 are in world coordinate system
41 // axis1 must be orthogonal to axis2
42 btHinge2Constraint(btRigidBody & rbA, btRigidBody & rbB, btVector3 & anchor, btVector3 & axis1, btVector3 & axis2);
43 // access
44 const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
45 const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
46 const btVector3& getAxis1() { return m_axis1; }
47 const btVector3& getAxis2() { return m_axis2; }
48 btScalar getAngle1() { return getAngle(2); }
49 btScalar getAngle2() { return getAngle(0); }
50 // limits
51 void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
52 void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3(1.f, 0.f, ang1min)); }
53};
54
55#endif // BT_HINGE2_CONSTRAINT_H
btGeneric6DofSpring2Constraint.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
btGeneric6DofSpring2Constraint::m_calculatedTransformA
btTransform m_calculatedTransformA
Definition btGeneric6DofSpring2Constraint.h:288
btGeneric6DofSpring2Constraint::m_calculatedTransformB
btTransform m_calculatedTransformB
Definition btGeneric6DofSpring2Constraint.h:289
btGeneric6DofSpring2Constraint::setAngularUpperLimit
void setAngularUpperLimit(const btVector3 &angularUpper)
Definition btGeneric6DofSpring2Constraint.h:386
btGeneric6DofSpring2Constraint::setAngularLowerLimit
void setAngularLowerLimit(const btVector3 &angularLower)
Definition btGeneric6DofSpring2Constraint.h:362
btGeneric6DofSpring2Constraint::btGeneric6DofSpring2Constraint
btGeneric6DofSpring2Constraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, RotateOrder rotOrder=RO_XYZ)
2009 March: btGeneric6DofConstraint refactored by Roman Ponomarev Added support for generic constrain...
Definition btGeneric6DofSpring2Constraint.cpp:46
btGeneric6DofSpring2Constraint::getAngle
btScalar getAngle(int axis_index) const
Definition btGeneric6DofSpring2Constraint.h:350
btHinge2Constraint::getAxis2
const btVector3 & getAxis2()
Definition btHinge2Constraint.h:47
btHinge2Constraint::getAnchor
const btVector3 & getAnchor()
Definition btHinge2Constraint.h:44
btHinge2Constraint::m_anchor
btVector3 m_anchor
Definition btHinge2Constraint.h:32
btHinge2Constraint::m_axis2
btVector3 m_axis2
Definition btHinge2Constraint.h:34
btHinge2Constraint::setUpperLimit
void setUpperLimit(btScalar ang1max)
Definition btHinge2Constraint.h:51
btHinge2Constraint::setLowerLimit
void setLowerLimit(btScalar ang1min)
Definition btHinge2Constraint.h:52
btHinge2Constraint::getAnchor2
const btVector3 & getAnchor2()
Definition btHinge2Constraint.h:45
btHinge2Constraint::getAngle1
btScalar getAngle1()
Definition btHinge2Constraint.h:48
btHinge2Constraint::getAxis1
const btVector3 & getAxis1()
Definition btHinge2Constraint.h:46
btHinge2Constraint::btHinge2Constraint
btHinge2Constraint(btRigidBody &rbA, btRigidBody &rbB, btVector3 &anchor, btVector3 &axis1, btVector3 &axis2)
Definition btHinge2Constraint.cpp:23
btHinge2Constraint::getAngle2
btScalar getAngle2()
Definition btHinge2Constraint.h:49
btHinge2Constraint::m_axis1
btVector3 m_axis1
Definition btHinge2Constraint.h:33
btHinge2Constraint::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82