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

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btMultiBodySliderConstraint.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_SLIDER_CONSTRAINT_H
19#define BT_MULTIBODY_SLIDER_CONSTRAINT_H
20
21#include "btMultiBodyConstraint.h"
22
23 class btMultiBodySliderConstraint : public btMultiBodyConstraint
24{
25protected:
26 btRigidBody* m_rigidBodyA;
27 btRigidBody* m_rigidBodyB;
28 btVector3 m_pivotInA;
29 btVector3 m_pivotInB;
30 btMatrix3x3 m_frameInA;
31 btMatrix3x3 m_frameInB;
32 btVector3 m_jointAxis;
33
34public:
35 btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis);
36 btMultiBodySliderConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis);
37
38 virtual ~btMultiBodySliderConstraint();
39
40 virtual void finalizeMultiDof();
41
42 virtual int getIslandIdA() const;
43 virtual int getIslandIdB() const;
44
45 virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
46 btMultiBodyJacobianData& data,
47 const btContactSolverInfo& infoGlobal);
48
49 const btVector3& getPivotInA() const
50 {
51 return m_pivotInA;
52 }
53
54 void setPivotInA(const btVector3& pivotInA)
55 {
56 m_pivotInA = pivotInA;
57 }
58
59 const btVector3& getPivotInB() const
60 {
61 return m_pivotInB;
62 }
63
64 virtual void setPivotInB(const btVector3& pivotInB)
65 {
66 m_pivotInB = pivotInB;
67 }
68
69 const btMatrix3x3& getFrameInA() const
70 {
71 return m_frameInA;
72 }
73
74 void setFrameInA(const btMatrix3x3& frameInA)
75 {
76 m_frameInA = frameInA;
77 }
78
79 const btMatrix3x3& getFrameInB() const
80 {
81 return m_frameInB;
82 }
83
84 virtual void setFrameInB(const btMatrix3x3& frameInB)
85 {
86 m_frameInB = frameInB;
87 }
88
89 const btVector3& getJointAxis() const
90 {
91 return m_jointAxis;
92 }
93
94 void setJointAxis(const btVector3& jointAxis)
95 {
96 m_jointAxis = jointAxis;
97 }
98
99 virtual void debugDraw(class btIDebugDraw* drawer);
100};
101
102#endif //BT_MULTIBODY_SLIDER_CONSTRAINT_H
btMultiBodyConstraint.h
btAlignedObjectArray< btMultiBodySolverConstraint >
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:57
btMultiBodySliderConstraint
This file was written by Erwin Coumans.
Definition: btMultiBodySliderConstraint.h:24
btMultiBodySliderConstraint::m_pivotInB
btVector3 m_pivotInB
Definition: btMultiBodySliderConstraint.h:29
btMultiBodySliderConstraint::m_rigidBodyA
btRigidBody * m_rigidBodyA
Definition: btMultiBodySliderConstraint.h:26
btMultiBodySliderConstraint::m_jointAxis
btVector3 m_jointAxis
Definition: btMultiBodySliderConstraint.h:32
btMultiBodySliderConstraint::m_pivotInA
btVector3 m_pivotInA
Definition: btMultiBodySliderConstraint.h:28
btMultiBodySliderConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition: btMultiBodySliderConstraint.h:59
btMultiBodySliderConstraint::setFrameInA
void setFrameInA(const btMatrix3x3 &frameInA)
Definition: btMultiBodySliderConstraint.h:74
btMultiBodySliderConstraint::~btMultiBodySliderConstraint
virtual ~btMultiBodySliderConstraint()
Definition: btMultiBodySliderConstraint.cpp:59
btMultiBodySliderConstraint::setPivotInA
void setPivotInA(const btVector3 &pivotInA)
Definition: btMultiBodySliderConstraint.h:54
btMultiBodySliderConstraint::getFrameInA
const btMatrix3x3 & getFrameInA() const
Definition: btMultiBodySliderConstraint.h:69
btMultiBodySliderConstraint::createConstraintRows
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
Definition: btMultiBodySliderConstraint.cpp:105
btMultiBodySliderConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition: btMultiBodySliderConstraint.h:49
btMultiBodySliderConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)
Definition: btMultiBodySliderConstraint.cpp:204
btMultiBodySliderConstraint::getJointAxis
const btVector3 & getJointAxis() const
Definition: btMultiBodySliderConstraint.h:89
btMultiBodySliderConstraint::setFrameInB
virtual void setFrameInB(const btMatrix3x3 &frameInB)
Definition: btMultiBodySliderConstraint.h:84
btMultiBodySliderConstraint::m_frameInB
btMatrix3x3 m_frameInB
Definition: btMultiBodySliderConstraint.h:31
btMultiBodySliderConstraint::getIslandIdB
virtual int getIslandIdB() const
Definition: btMultiBodySliderConstraint.cpp:85
btMultiBodySliderConstraint::getIslandIdA
virtual int getIslandIdA() const
Definition: btMultiBodySliderConstraint.cpp:63
btMultiBodySliderConstraint::setJointAxis
void setJointAxis(const btVector3 &jointAxis)
Definition: btMultiBodySliderConstraint.h:94
btMultiBodySliderConstraint::m_frameInA
btMatrix3x3 m_frameInA
Definition: btMultiBodySliderConstraint.h:30
btMultiBodySliderConstraint::finalizeMultiDof
virtual void finalizeMultiDof()
Definition: btMultiBodySliderConstraint.cpp:53
btMultiBodySliderConstraint::getFrameInB
const btMatrix3x3 & getFrameInB() const
Definition: btMultiBodySliderConstraint.h:79
btMultiBodySliderConstraint::m_rigidBodyB
btRigidBody * m_rigidBodyB
Definition: btMultiBodySliderConstraint.h:27
btMultiBodySliderConstraint::setPivotInB
virtual void setPivotInB(const btVector3 &pivotInB)
Definition: btMultiBodySliderConstraint.h:64
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