55 lines
2.3 KiB
C++
55 lines
2.3 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
|
|
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_HINGE2_CONSTRAINT_H
|
|
#define BT_HINGE2_CONSTRAINT_H
|
|
|
|
#include "LinearMath/btVector3.h"
|
|
#include "btTypedConstraint.h"
|
|
#include "btGeneric6DofSpring2Constraint.h"
|
|
|
|
// Constraint similar to ODE Hinge2 Joint
|
|
// has 3 degrees of frredom:
|
|
// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
|
|
// 1 translational (along axis Z) with suspension spring
|
|
|
|
ATTRIBUTE_ALIGNED16(class)
|
|
btHinge2Constraint : public btGeneric6DofSpring2Constraint
|
|
{
|
|
protected:
|
|
btVector3 m_anchor;
|
|
btVector3 m_axis1;
|
|
btVector3 m_axis2;
|
|
|
|
public:
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
|
|
|
// constructor
|
|
// anchor, axis1 and axis2 are in world coordinate system
|
|
// axis1 must be orthogonal to axis2
|
|
btHinge2Constraint(btRigidBody & rbA, btRigidBody & rbB, btVector3 & anchor, btVector3 & axis1, btVector3 & axis2);
|
|
// access
|
|
const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
|
|
const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
|
|
const btVector3& getAxis1() { return m_axis1; }
|
|
const btVector3& getAxis2() { return m_axis2; }
|
|
btScalar getAngle1() { return getAngle(2); }
|
|
btScalar getAngle2() { return getAngle(0); }
|
|
// limits
|
|
void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
|
|
void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3(1.f, 0.f, ang1min)); }
|
|
};
|
|
|
|
#endif // BT_HINGE2_CONSTRAINT_H
|