Bullet Collision Detection & Physics Library: btMultiBodyPoint2Point.h Source File

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btMultiBodyPoint2Point.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
17
18#ifndef BT_MULTIBODY_POINT2POINT_H
19#define BT_MULTIBODY_POINT2POINT_H
20
21#include "btMultiBodyConstraint.h"
22
23//#define BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
24
25 ATTRIBUTE_ALIGNED16(class)
26 btMultiBodyPoint2Point : public btMultiBodyConstraint
27{
28protected:
29 btRigidBody* m_rigidBodyA;
30 btRigidBody* m_rigidBodyB;
31 btVector3 m_pivotInA;
32 btVector3 m_pivotInB;
33
34public:
35 BT_DECLARE_ALIGNED_ALLOCATOR();
36
37 btMultiBodyPoint2Point(btMultiBody * body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB);
38 btMultiBodyPoint2Point(btMultiBody * bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB);
39
40 virtual ~btMultiBodyPoint2Point();
41
42 virtual void finalizeMultiDof();
43
44 virtual int getIslandIdA() const;
45 virtual int getIslandIdB() const;
46
47 virtual void createConstraintRows(btMultiBodyConstraintArray & constraintRows,
48 btMultiBodyJacobianData & data,
49 const btContactSolverInfo& infoGlobal);
50
51 const btVector3& getPivotInB() const
52 {
53 return m_pivotInB;
54 }
55
56 virtual void setPivotInB(const btVector3& pivotInB)
57 {
58 m_pivotInB = pivotInB;
59 }
60
61 virtual void debugDraw(class btIDebugDraw * drawer);
62};
63
64#endif //BT_MULTIBODY_POINT2POINT_H
btMultiBodyConstraint.h
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btAlignedObjectArray< btMultiBodySolverConstraint >
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:57
btMultiBodyPoint2Point
This file was written by Erwin Coumans.
Definition: btMultiBodyPoint2Point.h:27
btMultiBodyPoint2Point::m_rigidBodyA
btRigidBody * m_rigidBodyA
Definition: btMultiBodyPoint2Point.h:29
btMultiBodyPoint2Point::getPivotInB
const btVector3 & getPivotInB() const
Definition: btMultiBodyPoint2Point.h:51
btMultiBodyPoint2Point::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btMultiBodyPoint2Point::setPivotInB
virtual void setPivotInB(const btVector3 &pivotInB)
Definition: btMultiBodyPoint2Point.h:56
btMultiBodyPoint2Point::m_rigidBodyB
btRigidBody * m_rigidBodyB
Definition: btMultiBodyPoint2Point.h:30
btMultiBodyPoint2Point::m_pivotInB
btVector3 m_pivotInB
Definition: btMultiBodyPoint2Point.h:32
btMultiBodyPoint2Point::m_pivotInA
btVector3 m_pivotInA
Definition: btMultiBodyPoint2Point.h:31
btMultiBody
Definition: btMultiBody.h:51
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btContactSolverInfo
Definition: btContactSolverInfo.h:76
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:44