Bullet Collision Detection & Physics Library
btMultiBodyFixedConstraint.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_FIXED_CONSTRAINT_H
19 #define BT_MULTIBODY_FIXED_CONSTRAINT_H
20 
21 #include "btMultiBodyConstraint.h"
22 
24 {
25 protected:
32 
33 public:
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 
38 
39  virtual void finalizeMultiDof();
40 
41  virtual int getIslandIdA() const;
42  virtual int getIslandIdB() const;
43 
44  virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
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
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btMultiBodyFixedConstraint::finalizeMultiDof
virtual void finalizeMultiDof()
Definition: btMultiBodyFixedConstraint.cpp:50
btMultiBodyFixedConstraint::getFrameInB
const btMatrix3x3 & getFrameInB() const
Definition: btMultiBodyFixedConstraint.h:78
btContactSolverInfo
Definition: btContactSolverInfo.h:72
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
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:40
btMultiBodyFixedConstraint::setFrameInA
void setFrameInA(const btMatrix3x3 &frameInA)
Definition: btMultiBodyFixedConstraint.h:73
btMultiBodyFixedConstraint::m_frameInA
btMatrix3x3 m_frameInA
Definition: btMultiBodyFixedConstraint.h:30
btMultiBodyFixedConstraint::getIslandIdA
virtual int getIslandIdA() const
Definition: btMultiBodyFixedConstraint.cpp:60
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:28
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btMultiBodyFixedConstraint::setFrameInB
virtual void setFrameInB(const btMatrix3x3 &frameInB)
Definition: btMultiBodyFixedConstraint.h:83
btMultiBodyFixedConstraint::getFrameInA
const btMatrix3x3 & getFrameInA() const
Definition: btMultiBodyFixedConstraint.h:68
btMultiBodyFixedConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition: btMultiBodyFixedConstraint.h:58
btMultiBodyFixedConstraint::m_rigidBodyA
btRigidBody * m_rigidBodyA
Definition: btMultiBodyFixedConstraint.h:26
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:46
btMultiBodyFixedConstraint::m_pivotInB
btVector3 m_pivotInB
Definition: btMultiBodyFixedConstraint.h:29
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btMultiBody
Definition: btMultiBody.h:49
btMultiBodyFixedConstraint::m_frameInB
btMatrix3x3 m_frameInB
Definition: btMultiBodyFixedConstraint.h:31
btMultiBodyFixedConstraint
This file was written by Erwin Coumans.
Definition: btMultiBodyFixedConstraint.h:23
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
btAlignedObjectArray< btMultiBodySolverConstraint >
btMultiBodyFixedConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition: btMultiBodyFixedConstraint.h:48
btMultiBodyFixedConstraint::m_rigidBodyB
btRigidBody * m_rigidBodyB
Definition: btMultiBodyFixedConstraint.h:27
btMultiBodyFixedConstraint::setPivotInA
void setPivotInA(const btVector3 &pivotInA)
Definition: btMultiBodyFixedConstraint.h:53
btMultiBodyFixedConstraint::getIslandIdB
virtual int getIslandIdB() const
Definition: btMultiBodyFixedConstraint.cpp:82
btMultiBodyFixedConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)
Definition: btMultiBodyFixedConstraint.cpp:185
btMultiBodyConstraint.h
btMultiBodyFixedConstraint::setPivotInB
virtual void setPivotInB(const btVector3 &pivotInB)
Definition: btMultiBodyFixedConstraint.h:63
btMultiBodyFixedConstraint::~btMultiBodyFixedConstraint
virtual ~btMultiBodyFixedConstraint()
Definition: btMultiBodyFixedConstraint.cpp:56