Blender  V3.3
btHinge2Constraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3 Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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 
16 #ifndef BT_HINGE2_CONSTRAINT_H
17 #define BT_HINGE2_CONSTRAINT_H
18 
19 #include "LinearMath/btVector3.h"
20 #include "btTypedConstraint.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 
30 {
31 protected:
32  btVector3 m_anchor;
35 
36 public:
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
btFixedConstraint btRigidBody & rbB
btScalar getAngle(int axis_index) const
Get the relative Euler angle.
void setAngularUpperLimit(const btVector3 &angularUpper)
btTransform m_calculatedTransformB
btTransform m_calculatedTransformA
void setAngularLowerLimit(const btVector3 &angularLower)
btGeneric6DofSpring2Constraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, RotateOrder rotOrder=RO_XYZ)
btScalar getAngle1()
BT_DECLARE_ALIGNED_ALLOCATOR()
const btVector3 & getAxis2()
void setUpperLimit(btScalar ang1max)
btVector3 m_axis1
void setLowerLimit(btScalar ang1min)
btVector3 m_axis2
const btVector3 & getAxis1()
btScalar getAngle2()
btHinge2Constraint(btRigidBody &rbA, btRigidBody &rbB, btVector3 &anchor, btVector3 &axis1, btVector3 &axis2)
const btVector3 & getAnchor2()
const btVector3 & getAnchor()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
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