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

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btMultiBodyFixedConstraint.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_FIXED_CONSTRAINT_H
19#define BT_MULTIBODY_FIXED_CONSTRAINT_H
20
21#include "btMultiBodyConstraint.h"
22
23 class btMultiBodyFixedConstraint : 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
33public:
34 btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
35 btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
36
37 virtual ~btMultiBodyFixedConstraint();
38
39 virtual void finalizeMultiDof();
40
41 virtual int getIslandIdA() const;
42 virtual int getIslandIdB() const;
43
44 virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
45 btMultiBodyJacobianData& data,
46 const btContactSolverInfo& infoGlobal);
47
48 const btVector3& getPivotInA() const
49 {
50 return m_pivotInA;
51 }
52
53 void setPivotInA(const btVector3& pivotInA)
54 {
55 m_pivotInA = pivotInA;
56 }
57
58 const btVector3& getPivotInB() const
59 {
60 return m_pivotInB;
61 }
62
63 virtual void setPivotInB(const btVector3& pivotInB)
64 {
65 m_pivotInB = pivotInB;
66 }
67
68 const btMatrix3x3& getFrameInA() const
69 {
70 return m_frameInA;
71 }
72
73 void setFrameInA(const btMatrix3x3& frameInA)
74 {
75 m_frameInA = frameInA;
76 }
77
78 const btMatrix3x3& getFrameInB() const
79 {
80 return m_frameInB;
81 }
82
83 virtual void setFrameInB(const btMatrix3x3& frameInB)
84 {
85 m_frameInB = frameInB;
86 }
87
88 virtual void debugDraw(class btIDebugDraw* drawer);
89};
90
91#endif //BT_MULTIBODY_FIXED_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
btMultiBodyFixedConstraint
This file was written by Erwin Coumans.
Definition btMultiBodyFixedConstraint.h:24
btMultiBodyFixedConstraint::getIslandIdB
virtual int getIslandIdB() const
Definition btMultiBodyFixedConstraint.cpp:82
btMultiBodyFixedConstraint::getFrameInB
const btMatrix3x3 & getFrameInB() const
Definition btMultiBodyFixedConstraint.h:78
btMultiBodyFixedConstraint::m_frameInA
btMatrix3x3 m_frameInA
Definition btMultiBodyFixedConstraint.h:30
btMultiBodyFixedConstraint::setFrameInA
void setFrameInA(const btMatrix3x3 &frameInA)
Definition btMultiBodyFixedConstraint.h:73
btMultiBodyFixedConstraint::setPivotInA
void setPivotInA(const btVector3 &pivotInA)
Definition btMultiBodyFixedConstraint.h:53
btMultiBodyFixedConstraint::finalizeMultiDof
virtual void finalizeMultiDof()
Definition btMultiBodyFixedConstraint.cpp:50
btMultiBodyFixedConstraint::m_frameInB
btMatrix3x3 m_frameInB
Definition btMultiBodyFixedConstraint.h:31
btMultiBodyFixedConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)
Definition btMultiBodyFixedConstraint.cpp:185
btMultiBodyFixedConstraint::getFrameInA
const btMatrix3x3 & getFrameInA() const
Definition btMultiBodyFixedConstraint.h:68
btMultiBodyFixedConstraint::btMultiBodyFixedConstraint
btMultiBodyFixedConstraint(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
Definition btMultiBodyFixedConstraint.cpp:26
btMultiBodyFixedConstraint::setFrameInB
virtual void setFrameInB(const btMatrix3x3 &frameInB)
Definition btMultiBodyFixedConstraint.h:83
btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint
virtual ~btMultiBodyFixedConstraint()
Definition btMultiBodyFixedConstraint.cpp:56
btMultiBodyFixedConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition btMultiBodyFixedConstraint.h:48
btMultiBodyFixedConstraint::setPivotInB
virtual void setPivotInB(const btVector3 &pivotInB)
Definition btMultiBodyFixedConstraint.h:63
btMultiBodyFixedConstraint::m_pivotInA
btVector3 m_pivotInA
Definition btMultiBodyFixedConstraint.h:28
btMultiBodyFixedConstraint::createConstraintRows
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
Definition btMultiBodyFixedConstraint.cpp:103
btMultiBodyFixedConstraint::m_rigidBodyA
btRigidBody * m_rigidBodyA
Definition btMultiBodyFixedConstraint.h:26
btMultiBodyFixedConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition btMultiBodyFixedConstraint.h:58
btMultiBodyFixedConstraint::m_rigidBodyB
btRigidBody * m_rigidBodyB
Definition btMultiBodyFixedConstraint.h:27
btMultiBodyFixedConstraint::getIslandIdA
virtual int getIslandIdA() const
Definition btMultiBodyFixedConstraint.cpp:60
btMultiBodyFixedConstraint::m_pivotInB
btVector3 m_pivotInB
Definition btMultiBodyFixedConstraint.h:29
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