103 lines
2.9 KiB
C++
103 lines
2.9 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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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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///This file was written by Erwin Coumans
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#ifndef BT_MULTIBODY_SLIDER_CONSTRAINT_H
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#define BT_MULTIBODY_SLIDER_CONSTRAINT_H
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#include "btMultiBodyConstraint.h"
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class btMultiBodySliderConstraint : public btMultiBodyConstraint
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{
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protected:
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btRigidBody* m_rigidBodyA;
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btRigidBody* m_rigidBodyB;
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btVector3 m_pivotInA;
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btVector3 m_pivotInB;
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btMatrix3x3 m_frameInA;
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btMatrix3x3 m_frameInB;
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btVector3 m_jointAxis;
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public:
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btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis);
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btMultiBodySliderConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis);
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virtual ~btMultiBodySliderConstraint();
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virtual void finalizeMultiDof();
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virtual int getIslandIdA() const;
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virtual int getIslandIdB() const;
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virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
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btMultiBodyJacobianData& data,
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const btContactSolverInfo& infoGlobal);
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const btVector3& getPivotInA() const
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{
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return m_pivotInA;
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}
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void setPivotInA(const btVector3& pivotInA)
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{
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m_pivotInA = pivotInA;
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}
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const btVector3& getPivotInB() const
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{
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return m_pivotInB;
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}
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virtual void setPivotInB(const btVector3& pivotInB)
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{
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m_pivotInB = pivotInB;
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}
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const btMatrix3x3& getFrameInA() const
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{
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return m_frameInA;
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}
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void setFrameInA(const btMatrix3x3& frameInA)
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{
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m_frameInA = frameInA;
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}
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const btMatrix3x3& getFrameInB() const
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{
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return m_frameInB;
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}
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virtual void setFrameInB(const btMatrix3x3& frameInB)
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{
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m_frameInB = frameInB;
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}
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const btVector3& getJointAxis() const
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{
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return m_jointAxis;
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}
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void setJointAxis(const btVector3& jointAxis)
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{
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m_jointAxis = jointAxis;
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}
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virtual void debugDraw(class btIDebugDraw* drawer);
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};
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#endif //BT_MULTIBODY_SLIDER_CONSTRAINT_H
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