61 lines
2.3 KiB
C++
61 lines
2.3 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_HINGE2_CONSTRAINT_H
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#define BT_HINGE2_CONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btTypedConstraint.h"
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#include "btGeneric6DofSpring2Constraint.h"
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// Constraint similar to ODE Hinge2 Joint
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// has 3 degrees of frredom:
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// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
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// 1 translational (along axis Z) with suspension spring
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ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpring2Constraint
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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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btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, 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(0); }
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// limits
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void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
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void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); }
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};
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#endif // BT_HINGE2_CONSTRAINT_H
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