68 lines
2 KiB
C
68 lines
2 KiB
C
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#ifndef PIN_JOINT_SW_H
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#define PIN_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 PinJointSW : 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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real_t m_tau; //bias
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real_t m_damping;
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real_t m_impulseClamp;
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real_t m_appliedImpulse;
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JacobianEntrySW m_jac[3]; //3 orthogonal linear constraints
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Vector3 m_pivotInA;
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Vector3 m_pivotInB;
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public:
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virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_PIN; }
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virtual bool setup(float p_step);
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virtual void solve(float p_step);
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void set_param(PhysicsServer::PinJointParam p_param,float p_value);
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float get_param(PhysicsServer::PinJointParam p_param) const;
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void set_pos_A(const Vector3& p_pos) { m_pivotInA=p_pos; }
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void set_pos_B(const Vector3& p_pos) { m_pivotInB=p_pos; }
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Vector3 get_pos_A() { return m_pivotInB; }
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Vector3 get_pos_B() { return m_pivotInA; }
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PinJointSW(BodySW* p_body_a,const Vector3& p_pos_a,BodySW* p_body_b,const Vector3& p_pos_b);
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~PinJointSW();
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};
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#endif // PIN_JOINT_SW_H
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