90 lines
2.5 KiB
C
90 lines
2.5 KiB
C
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#ifndef HINGE_JOINT_SW_H
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#define HINGE_JOINT_SW_H
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#include "servers/physics/joints_sw.h"
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#include "servers/physics/joints/jacobian_entry_sw.h"
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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class HingeJointSW : public JointSW {
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union {
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struct {
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BodySW *A;
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BodySW *B;
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};
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BodySW *_arr[2];
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};
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JacobianEntrySW m_jac[3]; //3 orthogonal linear constraints
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JacobianEntrySW m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
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Transform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
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Transform m_rbBFrame;
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real_t m_motorTargetVelocity;
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real_t m_maxMotorImpulse;
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real_t m_limitSoftness;
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real_t m_biasFactor;
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real_t m_relaxationFactor;
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real_t m_lowerLimit;
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real_t m_upperLimit;
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real_t m_kHinge;
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real_t m_limitSign;
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real_t m_correction;
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real_t m_accLimitImpulse;
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real_t tau;
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bool m_useLimit;
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bool m_angularOnly;
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bool m_enableAngularMotor;
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bool m_solveLimit;
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real_t m_appliedImpulse;
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public:
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virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_HINGE; }
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virtual bool setup(float p_step);
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virtual void solve(float p_step);
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real_t get_hinge_angle();
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void set_param(PhysicsServer::HingeJointParam p_param, float p_value);
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float get_param(PhysicsServer::HingeJointParam p_param) const;
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void set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value);
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bool get_flag(PhysicsServer::HingeJointFlag p_flag) const;
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HingeJointSW(BodySW* rbA,BodySW* rbB, const Transform& frameA, const Transform& frameB);
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HingeJointSW(BodySW* rbA,BodySW* rbB, const Vector3& pivotInA,const Vector3& pivotInB, const Vector3& axisInA,const Vector3& axisInB);
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};
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#endif // HINGE_JOINT_SW_H
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