Bullet Collision Detection & Physics Library
btUniversalConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3 Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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 
16 #ifndef BT_UNIVERSAL_CONSTRAINT_H
17 #define BT_UNIVERSAL_CONSTRAINT_H
18 
19 #include "LinearMath/btVector3.h"
20 #include "btTypedConstraint.h"
22 
29 
32 {
33 protected:
37 
38 public:
40 
41  // constructor
42  // anchor, axis1 and axis2 are in world coordinate system
43  // axis1 must be orthogonal to axis2
44  btUniversalConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
45  // access
46  const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
47  const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
48  const btVector3& getAxis1() { return m_axis1; }
49  const btVector3& getAxis2() { return m_axis2; }
50  btScalar getAngle1() { return getAngle(2); }
51  btScalar getAngle2() { return getAngle(1); }
52  // limits
53  void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
54  void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
55 
56  void setAxis(const btVector3& axis1, const btVector3& axis2);
57 };
58 
59 #endif // BT_UNIVERSAL_CONSTRAINT_H
btUniversalConstraint::getAngle2
btScalar getAngle2()
Definition: btUniversalConstraint.h:51
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btUniversalConstraint::getAxis1
const btVector3 & getAxis1()
Definition: btUniversalConstraint.h:48
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btUniversalConstraint::getAxis2
const btVector3 & getAxis2()
Definition: btUniversalConstraint.h:49
btGeneric6DofConstraint
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
Definition: btGeneric6DofConstraint.h:266
btVector3.h
btUniversalConstraint::m_axis2
btVector3 m_axis2
Definition: btUniversalConstraint.h:36
btUniversalConstraint::setLowerLimit
void setLowerLimit(btScalar ang1min, btScalar ang2min)
Definition: btUniversalConstraint.h:54
btTypedConstraint.h
btUniversalConstraint::setUpperLimit
void setUpperLimit(btScalar ang1max, btScalar ang2max)
Definition: btUniversalConstraint.h:53
btUniversalConstraint::getAnchor2
const btVector3 & getAnchor2()
Definition: btUniversalConstraint.h:47
btUniversalConstraint
Constraint similar to ODE Universal Joint has 2 rotatioonal degrees of freedom, similar to Euler rota...
Definition: btUniversalConstraint.h:30
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btUniversalConstraint::getAnchor
const btVector3 & getAnchor()
Definition: btUniversalConstraint.h:46
btUniversalConstraint::getAngle1
btScalar getAngle1()
Definition: btUniversalConstraint.h:50
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btUniversalConstraint::m_axis1
btVector3 m_axis1
Definition: btUniversalConstraint.h:35
btGeneric6DofConstraint.h
btUniversalConstraint::m_anchor
btVector3 m_anchor
Definition: btUniversalConstraint.h:34