Blender  V3.3
btMultiBodyGearConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
17 
18 #ifndef BT_MULTIBODY_GEAR_CONSTRAINT_H
19 #define BT_MULTIBODY_GEAR_CONSTRAINT_H
20 
21 #include "btMultiBodyConstraint.h"
22 
24 {
25 protected:
36 
37 public:
38  //btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
39  btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
40 
42 
43  virtual void finalizeMultiDof();
44 
45  virtual int getIslandIdA() const;
46  virtual int getIslandIdB() const;
47 
48  virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
51 
52  const btVector3& getPivotInA() const
53  {
54  return m_pivotInA;
55  }
56 
57  void setPivotInA(const btVector3& pivotInA)
58  {
59  m_pivotInA = pivotInA;
60  }
61 
62  const btVector3& getPivotInB() const
63  {
64  return m_pivotInB;
65  }
66 
67  virtual void setPivotInB(const btVector3& pivotInB)
68  {
69  m_pivotInB = pivotInB;
70  }
71 
72  const btMatrix3x3& getFrameInA() const
73  {
74  return m_frameInA;
75  }
76 
78  {
80  }
81 
82  const btMatrix3x3& getFrameInB() const
83  {
84  return m_frameInB;
85  }
86 
87  virtual void setFrameInB(const btMatrix3x3& frameInB)
88  {
90  }
91 
92  virtual void debugDraw(class btIDebugDraw* drawer)
93  {
94  //todo(erwincoumans)
95  }
96 
97  virtual void setGearRatio(btScalar gearRatio)
98  {
99  m_gearRatio = gearRatio;
100  }
101  virtual void setGearAuxLink(int gearAuxLink)
102  {
103  m_gearAuxLink = gearAuxLink;
104  }
105  virtual void setRelativePositionTarget(btScalar relPosTarget)
106  {
107  m_relativePositionTarget = relPosTarget;
108  }
109  virtual void setErp(btScalar erp)
110  {
111  m_erp = erp;
112  }
113 };
114 
115 #endif //BT_MULTIBODY_GEAR_CONSTRAINT_H
btFixedConstraint btRigidBody const btTransform & frameInA
btFixedConstraint btRigidBody const btTransform const btTransform & frameInB
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
btMultiBodyConstraint
btMultiBody
Definition: btMultiBody.h:51
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo & infoGlobal
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
This file was written by Erwin Coumans.
void setFrameInA(const btMatrix3x3 &frameInA)
virtual void setGearAuxLink(int gearAuxLink)
const btVector3 & getPivotInB() const
void setPivotInA(const btVector3 &pivotInA)
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
const btMatrix3x3 & getFrameInA() const
const btMatrix3x3 & getFrameInB() const
btMultiBodyGearConstraint(btMultiBody *bodyA, int linkA, btMultiBody *bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
This file was written by Erwin Coumans.
const btVector3 & getPivotInA() const
virtual void setPivotInB(const btVector3 &pivotInB)
virtual void setRelativePositionTarget(btScalar relPosTarget)
virtual void debugDraw(class btIDebugDraw *drawer)
virtual void setGearRatio(btScalar gearRatio)
virtual void setErp(btScalar erp)
virtual void setFrameInB(const btMatrix3x3 &frameInB)