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source: code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h @ 9700

Last change on this file since 9700 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 2.3 KB
RevLine 
[7983]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
[8393]16#ifndef BT_HINGE2_CONSTRAINT_H
17#define BT_HINGE2_CONSTRAINT_H
[7983]18
19
20
21#include "LinearMath/btVector3.h"
22#include "btTypedConstraint.h"
23#include "btGeneric6DofSpringConstraint.h"
24
25
26
27// Constraint similar to ODE Hinge2 Joint
28// has 3 degrees of frredom:
29// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
30// 1 translational (along axis Z) with suspension spring
31
32class btHinge2Constraint : public btGeneric6DofSpringConstraint
33{
34protected:
35        btVector3       m_anchor;
36        btVector3       m_axis1;
37        btVector3       m_axis2;
38public:
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
56
[8393]57#endif // BT_HINGE2_CONSTRAINT_H
[7983]58
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