[7983] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org |
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| 3 | Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 1. 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef UNIVERSAL_CONSTRAINT_H |
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| 17 | #define UNIVERSAL_CONSTRAINT_H |
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| 18 | |
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| 19 | |
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| 20 | |
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| 21 | #include "LinearMath/btVector3.h" |
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| 22 | #include "btTypedConstraint.h" |
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| 23 | #include "btGeneric6DofConstraint.h" |
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| 24 | |
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| 25 | |
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| 26 | |
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| 27 | /// Constraint similar to ODE Universal Joint |
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| 28 | /// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) |
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| 29 | /// and Y (axis 2) |
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| 30 | /// Description from ODE manual : |
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| 31 | /// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. |
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| 32 | /// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal." |
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| 33 | |
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| 34 | class btUniversalConstraint : public btGeneric6DofConstraint |
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| 35 | { |
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| 36 | protected: |
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| 37 | btVector3 m_anchor; |
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| 38 | btVector3 m_axis1; |
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| 39 | btVector3 m_axis2; |
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| 40 | public: |
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| 41 | // constructor |
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| 42 | // anchor, axis1 and axis2 are in world coordinate system |
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| 43 | // axis1 must be orthogonal to axis2 |
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| 44 | btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2); |
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| 45 | // access |
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| 46 | const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); } |
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| 47 | const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); } |
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| 48 | const btVector3& getAxis1() { return m_axis1; } |
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| 49 | const btVector3& getAxis2() { return m_axis2; } |
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| 50 | btScalar getAngle1() { return getAngle(2); } |
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| 51 | btScalar getAngle2() { return getAngle(1); } |
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| 52 | // limits |
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| 53 | void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); } |
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| 54 | void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); } |
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| 55 | }; |
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| 56 | |
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| 57 | |
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| 58 | |
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| 59 | #endif // UNIVERSAL_CONSTRAINT_H |
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| 60 | |
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