59 lines
3.1 KiB
C++
59 lines
3.1 KiB
C++
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/*************************************************************************/
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/* cone_twist_joint_bullet.h */
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/* Author: AndreaCatania */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef CONE_TWIST_JOINT_BULLET_H
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#define CONE_TWIST_JOINT_BULLET_H
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#include "joint_bullet.h"
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class RigidBodyBullet;
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class ConeTwistJointBullet : public JointBullet {
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class btConeTwistConstraint *coneConstraint;
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public:
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ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame);
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virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; }
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void set_angular_only(bool angularOnly);
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void set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f);
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int get_solve_twist_limit();
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int get_solve_swing_limit();
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real_t get_twist_limit_sign();
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void set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value);
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real_t get_param(PhysicsServer::ConeTwistJointParam p_param) const;
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};
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#endif
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