mirror of https://github.com/axmolengine/axmol.git
116 lines
3.1 KiB
C++
116 lines
3.1 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
|
|
|
|
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.
|
|
*/
|
|
|
|
///This file was written by Erwin Coumans
|
|
|
|
#ifndef BT_MULTIBODY_GEAR_CONSTRAINT_H
|
|
#define BT_MULTIBODY_GEAR_CONSTRAINT_H
|
|
|
|
#include "btMultiBodyConstraint.h"
|
|
|
|
class btMultiBodyGearConstraint : public btMultiBodyConstraint
|
|
{
|
|
protected:
|
|
btRigidBody* m_rigidBodyA;
|
|
btRigidBody* m_rigidBodyB;
|
|
btVector3 m_pivotInA;
|
|
btVector3 m_pivotInB;
|
|
btMatrix3x3 m_frameInA;
|
|
btMatrix3x3 m_frameInB;
|
|
btScalar m_gearRatio;
|
|
int m_gearAuxLink;
|
|
btScalar m_erp;
|
|
btScalar m_relativePositionTarget;
|
|
|
|
public:
|
|
//btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
|
|
btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
|
|
|
|
virtual ~btMultiBodyGearConstraint();
|
|
|
|
virtual void finalizeMultiDof();
|
|
|
|
virtual int getIslandIdA() const;
|
|
virtual int getIslandIdB() const;
|
|
|
|
virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
|
|
btMultiBodyJacobianData& data,
|
|
const btContactSolverInfo& infoGlobal);
|
|
|
|
const btVector3& getPivotInA() const
|
|
{
|
|
return m_pivotInA;
|
|
}
|
|
|
|
void setPivotInA(const btVector3& pivotInA)
|
|
{
|
|
m_pivotInA = pivotInA;
|
|
}
|
|
|
|
const btVector3& getPivotInB() const
|
|
{
|
|
return m_pivotInB;
|
|
}
|
|
|
|
virtual void setPivotInB(const btVector3& pivotInB)
|
|
{
|
|
m_pivotInB = pivotInB;
|
|
}
|
|
|
|
const btMatrix3x3& getFrameInA() const
|
|
{
|
|
return m_frameInA;
|
|
}
|
|
|
|
void setFrameInA(const btMatrix3x3& frameInA)
|
|
{
|
|
m_frameInA = frameInA;
|
|
}
|
|
|
|
const btMatrix3x3& getFrameInB() const
|
|
{
|
|
return m_frameInB;
|
|
}
|
|
|
|
virtual void setFrameInB(const btMatrix3x3& frameInB)
|
|
{
|
|
m_frameInB = frameInB;
|
|
}
|
|
|
|
virtual void debugDraw(class btIDebugDraw* drawer)
|
|
{
|
|
//todo(erwincoumans)
|
|
}
|
|
|
|
virtual void setGearRatio(btScalar gearRatio)
|
|
{
|
|
m_gearRatio = gearRatio;
|
|
}
|
|
virtual void setGearAuxLink(int gearAuxLink)
|
|
{
|
|
m_gearAuxLink = gearAuxLink;
|
|
}
|
|
virtual void setRelativePositionTarget(btScalar relPosTarget)
|
|
{
|
|
m_relativePositionTarget = relPosTarget;
|
|
}
|
|
virtual void setErp(btScalar erp)
|
|
{
|
|
m_erp = erp;
|
|
}
|
|
};
|
|
|
|
#endif //BT_MULTIBODY_GEAR_CONSTRAINT_H
|