Bullet Collision Detection & Physics Library
btMultiBodyPoint2Point.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_POINT2POINT_H
19 #define BT_MULTIBODY_POINT2POINT_H
20 
21 #include "btMultiBodyConstraint.h"
22 
23 //#define BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
24 
27 {
28 protected:
33 
34 public:
36 
37  btMultiBodyPoint2Point(btMultiBody * body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB);
38  btMultiBodyPoint2Point(btMultiBody * bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB);
39 
40  virtual ~btMultiBodyPoint2Point();
41 
42  virtual void finalizeMultiDof();
43 
44  virtual int getIslandIdA() const;
45  virtual int getIslandIdB() const;
46 
47  virtual void createConstraintRows(btMultiBodyConstraintArray & constraintRows,
49  const btContactSolverInfo& infoGlobal);
50 
51  const btVector3& getPivotInB() const
52  {
53  return m_pivotInB;
54  }
55 
56  virtual void setPivotInB(const btVector3& pivotInB)
57  {
58  m_pivotInB = pivotInB;
59  }
60 
61  virtual void debugDraw(class btIDebugDraw * drawer);
62 };
63 
64 #endif //BT_MULTIBODY_POINT2POINT_H
btMultiBodyPoint2Point::m_rigidBodyA
btRigidBody * m_rigidBodyA
Definition: btMultiBodyPoint2Point.h:29
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btContactSolverInfo
Definition: btContactSolverInfo.h:72
btMultiBodyPoint2Point
This file was written by Erwin Coumans.
Definition: btMultiBodyPoint2Point.h:25
btMultiBodyPoint2Point::setPivotInB
virtual void setPivotInB(const btVector3 &pivotInB)
Definition: btMultiBodyPoint2Point.h:56
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:40
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:28
btMultiBodyPoint2Point::m_pivotInA
btVector3 m_pivotInA
Definition: btMultiBodyPoint2Point.h:31
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btMultiBodyPoint2Point::getPivotInB
const btVector3 & getPivotInB() const
Definition: btMultiBodyPoint2Point.h:51
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
btMultiBodyPoint2Point::m_pivotInB
btVector3 m_pivotInB
Definition: btMultiBodyPoint2Point.h:32
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btMultiBody
Definition: btMultiBody.h:49
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btAlignedObjectArray< btMultiBodySolverConstraint >
btMultiBodyConstraint.h
btMultiBodyPoint2Point::m_rigidBodyB
btRigidBody * m_rigidBodyB
Definition: btMultiBodyPoint2Point.h:30