48 lines
1.7 KiB
C++
48 lines
1.7 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.
|
|
*/
|
|
|
|
#ifndef BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
|
|
#define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
|
|
|
|
#include "btMultiBodyConstraint.h"
|
|
struct btSolverInfo;
|
|
|
|
class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint
|
|
{
|
|
protected:
|
|
btScalar m_lowerBound;
|
|
btScalar m_upperBound;
|
|
|
|
public:
|
|
btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);
|
|
virtual ~btMultiBodyJointLimitConstraint();
|
|
|
|
virtual void finalizeMultiDof();
|
|
|
|
virtual int getIslandIdA() const;
|
|
virtual int getIslandIdB() const;
|
|
|
|
virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
|
|
btMultiBodyJacobianData& data,
|
|
const btContactSolverInfo& infoGlobal);
|
|
|
|
virtual void debugDraw(class btIDebugDraw* drawer)
|
|
{
|
|
//todo(erwincoumans)
|
|
}
|
|
};
|
|
|
|
#endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
|