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dondickied
2006-06-13 21:48:15 +00:00
parent a88cee3a20
commit 63e05649ee
5 changed files with 120 additions and 132 deletions
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19
BulletDynamics/ConstraintSolver/Generic6DofConstraint.h
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@@ -30,20 +30,19 @@ class RigidBody;
/// Work in progress (is still a Hinge actually)
class Generic6DofConstraint : public TypedConstraint
{
JacobianEntry m_jac[3]; //3 orthogonal linear constraints
JacobianEntry m_jacAng[3]; //3 orthogonal angular constraints
JacobianEntry m_jac[3]; // 3 orthogonal linear constraints
JacobianEntry m_jacAng[3]; // 3 orthogonal angular constraints
SimdVector3 m_pivotInA;
SimdVector3 m_pivotInB;
SimdVector3 m_axisInA;
SimdVector3 m_axisInB;
SimdTransform m_frameInA; // the constraint space w.r.t body A
SimdTransform m_frameInB; // the constraint space w.r.t body B
SimdScalar m_lowerLimit[6]; // the constraint lower limits
SimdScalar m_upperLimit[6]; // the constraint upper limits
public:
Generic6DofConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB,SimdVector3& axisInA,SimdVector3& axisInB);
Generic6DofConstraint(RigidBody& rbA,const SimdVector3& pivotInA,SimdVector3& axisInA);
Generic6DofConstraint(RigidBody& rbA, RigidBody& rbB, const SimdTransform& frameInA, const SimdTransform& frameInB );
Generic6DofConstraint();