60 lines
2.6 KiB
C++
60 lines
2.6 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
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Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_UNIVERSAL_CONSTRAINT_H
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#define BT_UNIVERSAL_CONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btTypedConstraint.h"
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#include "btGeneric6DofConstraint.h"
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/// Constraint similar to ODE Universal Joint
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/// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
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/// and Y (axis 2)
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/// Description from ODE manual :
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/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular.
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/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
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ATTRIBUTE_ALIGNED16(class)
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btUniversalConstraint : public btGeneric6DofConstraint
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{
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protected:
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btVector3 m_anchor;
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btVector3 m_axis1;
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btVector3 m_axis2;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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// constructor
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// anchor, axis1 and axis2 are in world coordinate system
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// axis1 must be orthogonal to axis2
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btUniversalConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
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// access
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const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
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const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
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const btVector3& getAxis1() { return m_axis1; }
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const btVector3& getAxis2() { return m_axis2; }
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btScalar getAngle1() { return getAngle(2); }
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btScalar getAngle2() { return getAngle(1); }
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// limits
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void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
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void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
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void setAxis(const btVector3& axis1, const btVector3& axis2);
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};
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#endif // BT_UNIVERSAL_CONSTRAINT_H
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