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Added 3 fetch methods and made other methods Const.

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This commit is contained in:
MakoEnergy
2015-05-17 16:48:53 -05:00
parent 3bf26c8bbe
commit 26c533f02c
1 changed files with 17 additions and 10 deletions
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27
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -111,14 +111,14 @@ public:
//! Is limited //! Is limited
bool isLimited() bool isLimited() const
{ {
if(m_loLimit > m_hiLimit) return false; if(m_loLimit > m_hiLimit) return false;
return true; return true;
} }
//! Need apply correction //! Need apply correction
bool needApplyTorques() bool needApplyTorques() const
{ {
if(m_currentLimit == 0 && m_enableMotor == false) return false; if(m_currentLimit == 0 && m_enableMotor == false) return false;
return true; return true;
@@ -207,11 +207,11 @@ public:
- limited means upper > lower - limited means upper > lower
- limitIndex: first 3 are linear, next 3 are angular - limitIndex: first 3 are linear, next 3 are angular
*/ */
inline bool isLimited(int limitIndex) inline bool isLimited(int limitIndex) const
{ {
return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]); return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
} }
inline bool needApplyForce(int limitIndex) inline bool needApplyForce(int limitIndex) const
{ {
if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false; if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
return true; return true;
@@ -457,7 +457,7 @@ public:
m_linearLimits.m_lowerLimit = linearLower; m_linearLimits.m_lowerLimit = linearLower;
} }
void getLinearLowerLimit(btVector3& linearLower) void getLinearLowerLimit(btVector3& linearLower) const
{ {
linearLower = m_linearLimits.m_lowerLimit; linearLower = m_linearLimits.m_lowerLimit;
} }
@@ -467,7 +467,7 @@ public:
m_linearLimits.m_upperLimit = linearUpper; m_linearLimits.m_upperLimit = linearUpper;
} }
void getLinearUpperLimit(btVector3& linearUpper) void getLinearUpperLimit(btVector3& linearUpper) const
{ {
linearUpper = m_linearLimits.m_upperLimit; linearUpper = m_linearLimits.m_upperLimit;
} }
@@ -478,7 +478,7 @@ public:
m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]); m_angularLimits[i].m_loLimit = btNormalizeAngle(angularLower[i]);
} }
void getAngularLowerLimit(btVector3& angularLower) void getAngularLowerLimit(btVector3& angularLower) const
{ {
for(int i = 0; i < 3; i++) for(int i = 0; i < 3; i++)
angularLower[i] = m_angularLimits[i].m_loLimit; angularLower[i] = m_angularLimits[i].m_loLimit;
@@ -490,7 +490,7 @@ public:
m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]); m_angularLimits[i].m_hiLimit = btNormalizeAngle(angularUpper[i]);
} }
void getAngularUpperLimit(btVector3& angularUpper) void getAngularUpperLimit(btVector3& angularUpper) const
{ {
for(int i = 0; i < 3; i++) for(int i = 0; i < 3; i++)
angularUpper[i] = m_angularLimits[i].m_hiLimit; angularUpper[i] = m_angularLimits[i].m_hiLimit;
@@ -532,7 +532,7 @@ public:
- limited means upper > lower - limited means upper > lower
- limitIndex: first 3 are linear, next 3 are angular - limitIndex: first 3 are linear, next 3 are angular
*/ */
bool isLimited(int limitIndex) bool isLimited(int limitIndex) const
{ {
if(limitIndex<3) if(limitIndex<3)
{ {
@@ -549,8 +549,11 @@ public:
btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false); btConstraintInfo2 *info, int row, btVector3& ax1, int rotational, int rotAllowed = false);
// access for UseFrameOffset // access for UseFrameOffset
bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } bool getUseFrameOffset() const { return m_useOffsetForConstraintFrame; }
void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
bool getUseLinearReferenceFrameA() const { return m_useLinearReferenceFrameA; }
void setUseLinearReferenceFrameA(bool linearReferenceFrameA) { m_useLinearReferenceFrameA = linearReferenceFrameA; }
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint. ///If no axis is provided, it uses the default axis for this constraint.
@@ -560,6 +563,10 @@ public:
void setAxis( const btVector3& axis1, const btVector3& axis2); void setAxis( const btVector3& axis1, const btVector3& axis2);
virtual int getFlags() const
{
return m_flags;
}
virtual int calculateSerializeBufferSize() const; virtual int calculateSerializeBufferSize() const;