Bullet Collision Detection & Physics Library
btMultiBodyGearConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
17 
18 #ifndef BT_MULTIBODY_GEAR_CONSTRAINT_H
19 #define BT_MULTIBODY_GEAR_CONSTRAINT_H
20 
21 #include "btMultiBodyConstraint.h"
22 
24 {
25 protected:
36 
37 public:
38  //btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
39  btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
40 
42 
43  virtual void finalizeMultiDof();
44 
45  virtual int getIslandIdA() const;
46  virtual int getIslandIdB() const;
47 
48  virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
50  const btContactSolverInfo& infoGlobal);
51 
52  const btVector3& getPivotInA() const
53  {
54  return m_pivotInA;
55  }
56 
57  void setPivotInA(const btVector3& pivotInA)
58  {
59  m_pivotInA = pivotInA;
60  }
61 
62  const btVector3& getPivotInB() const
63  {
64  return m_pivotInB;
65  }
66 
67  virtual void setPivotInB(const btVector3& pivotInB)
68  {
69  m_pivotInB = pivotInB;
70  }
71 
72  const btMatrix3x3& getFrameInA() const
73  {
74  return m_frameInA;
75  }
76 
77  void setFrameInA(const btMatrix3x3& frameInA)
78  {
79  m_frameInA = frameInA;
80  }
81 
82  const btMatrix3x3& getFrameInB() const
83  {
84  return m_frameInB;
85  }
86 
87  virtual void setFrameInB(const btMatrix3x3& frameInB)
88  {
89  m_frameInB = frameInB;
90  }
91 
92  virtual void debugDraw(class btIDebugDraw* drawer)
93  {
94  //todo(erwincoumans)
95  }
96 
97  virtual void setGearRatio(btScalar gearRatio)
98  {
99  m_gearRatio = gearRatio;
100  }
101  virtual void setGearAuxLink(int gearAuxLink)
102  {
103  m_gearAuxLink = gearAuxLink;
104  }
105  virtual void setRelativePositionTarget(btScalar relPosTarget)
106  {
107  m_relativePositionTarget = relPosTarget;
108  }
109  virtual void setErp(btScalar erp)
110  {
111  m_erp = erp;
112  }
113 };
114 
115 #endif //BT_MULTIBODY_GEAR_CONSTRAINT_H
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btMultiBodyGearConstraint::createConstraintRows
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
Definition: btMultiBodyGearConstraint.cpp:81
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btMultiBodyGearConstraint::finalizeMultiDof
virtual void finalizeMultiDof()
Definition: btMultiBodyGearConstraint.cpp:32
btMultiBodyGearConstraint::getIslandIdB
virtual int getIslandIdB() const
Definition: btMultiBodyGearConstraint.cpp:62
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:40
btMultiBodyGearConstraint::m_frameInB
btMatrix3x3 m_frameInB
Definition: btMultiBodyGearConstraint.h:31
btMultiBodyGearConstraint::setFrameInA
void setFrameInA(const btMatrix3x3 &frameInA)
Definition: btMultiBodyGearConstraint.h:77
btMultiBodyGearConstraint::~btMultiBodyGearConstraint
virtual ~btMultiBodyGearConstraint()
Definition: btMultiBodyGearConstraint.cpp:39
btMultiBodyGearConstraint::m_rigidBodyA
btRigidBody * m_rigidBodyA
Definition: btMultiBodyGearConstraint.h:26
btMultiBodyGearConstraint::m_rigidBodyB
btRigidBody * m_rigidBodyB
Definition: btMultiBodyGearConstraint.h:27
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:28
btMultiBodyGearConstraint::m_relativePositionTarget
btScalar m_relativePositionTarget
Definition: btMultiBodyGearConstraint.h:35
btMultiBodyGearConstraint::m_pivotInA
btVector3 m_pivotInA
Definition: btMultiBodyGearConstraint.h:28
btMultiBodyGearConstraint::m_frameInA
btMatrix3x3 m_frameInA
Definition: btMultiBodyGearConstraint.h:30
btMultiBodyGearConstraint
This file was written by Erwin Coumans.
Definition: btMultiBodyGearConstraint.h:23
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btMultiBodyGearConstraint::setRelativePositionTarget
virtual void setRelativePositionTarget(btScalar relPosTarget)
Definition: btMultiBodyGearConstraint.h:105
btMultiBodyGearConstraint::getIslandIdA
virtual int getIslandIdA() const
Definition: btMultiBodyGearConstraint.cpp:43
btMultiBodyGearConstraint::setGearRatio
virtual void setGearRatio(btScalar gearRatio)
Definition: btMultiBodyGearConstraint.h:97
btMultiBodyGearConstraint::setGearAuxLink
virtual void setGearAuxLink(int gearAuxLink)
Definition: btMultiBodyGearConstraint.h:101
btMultiBodyGearConstraint::getFrameInA
const btMatrix3x3 & getFrameInA() const
Definition: btMultiBodyGearConstraint.h:72
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:46
btMultiBodyGearConstraint::setFrameInB
virtual void setFrameInB(const btMatrix3x3 &frameInB)
Definition: btMultiBodyGearConstraint.h:87
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btMultiBody
Definition: btMultiBody.h:49
btMultiBodyGearConstraint::btMultiBodyGearConstraint
btMultiBodyGearConstraint(btMultiBody *bodyA, int linkA, btMultiBody *bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
This file was written by Erwin Coumans.
Definition: btMultiBodyGearConstraint.cpp:23
btMultiBodyGearConstraint::setErp
virtual void setErp(btScalar erp)
Definition: btMultiBodyGearConstraint.h:109
btAlignedObjectArray< btMultiBodySolverConstraint >
btMultiBodyGearConstraint::m_pivotInB
btVector3 m_pivotInB
Definition: btMultiBodyGearConstraint.h:29
btMultiBodyGearConstraint::setPivotInA
void setPivotInA(const btVector3 &pivotInA)
Definition: btMultiBodyGearConstraint.h:57
btMultiBodyGearConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)
Definition: btMultiBodyGearConstraint.h:92
btMultiBodyGearConstraint::getFrameInB
const btMatrix3x3 & getFrameInB() const
Definition: btMultiBodyGearConstraint.h:82
btMultiBodyConstraint.h
btMultiBodyGearConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition: btMultiBodyGearConstraint.h:52
btMultiBodyGearConstraint::m_erp
btScalar m_erp
Definition: btMultiBodyGearConstraint.h:34
btMultiBodyGearConstraint::m_gearAuxLink
int m_gearAuxLink
Definition: btMultiBodyGearConstraint.h:33
btMultiBodyGearConstraint::m_gearRatio
btScalar m_gearRatio
Definition: btMultiBodyGearConstraint.h:32
btMultiBodyGearConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition: btMultiBodyGearConstraint.h:62
btMultiBodyGearConstraint::setPivotInB
virtual void setPivotInB(const btVector3 &pivotInB)
Definition: btMultiBodyGearConstraint.h:67