d8a5bf2c9c
Disable btSphereBoxCollisionAlgorithm, it is broken. More fixes for btSimpleBroadphase Moved quickstep to Extras/quickstep folder, so developers don't get confused which constraint solver is default.
143 lines
3.7 KiB
C++
143 lines
3.7 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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/*
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2007-09-09
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Added support for typed joints by Francisco Le?n
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email: projectileman@yahoo.com
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http://gimpact.sf.net
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*/
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#ifndef TYPED_JOINT_H
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#define TYPED_JOINT_H
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#include "btOdeJoint.h"
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#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
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struct btOdeSolverBody;
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class btOdeTypedJoint : public btOdeJoint
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{
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public:
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btTypedConstraint * m_constraint;
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int m_index;
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bool m_swapBodies;
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btOdeSolverBody* m_body0;
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btOdeSolverBody* m_body1;
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btOdeTypedJoint(){}
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btOdeTypedJoint(
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btTypedConstraint * constraint,
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int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1):
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m_constraint(constraint),
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m_index(index),
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m_swapBodies(swap),
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m_body0(body0),
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m_body1(body1)
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{
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}
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virtual void GetInfo1(Info1 *info);
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virtual void GetInfo2(Info2 *info);
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};
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class OdeP2PJoint : public btOdeTypedJoint
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{
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protected:
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inline btPoint2PointConstraint * getP2PConstraint()
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{
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return static_cast<btPoint2PointConstraint * >(m_constraint);
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}
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public:
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OdeP2PJoint() {};
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OdeP2PJoint(btTypedConstraint* constraint,int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1);
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//btOdeJoint interface for solver
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virtual void GetInfo1(Info1 *info);
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virtual void GetInfo2(Info2 *info);
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};
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class OdeD6Joint : public btOdeTypedJoint
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{
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protected:
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inline btGeneric6DofConstraint * getD6Constraint()
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{
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return static_cast<btGeneric6DofConstraint * >(m_constraint);
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}
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int setLinearLimits(Info2 *info);
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int setAngularLimits(Info2 *info, int row_offset);
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public:
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OdeD6Joint() {};
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OdeD6Joint(btTypedConstraint* constraint,int index,bool swap,btOdeSolverBody* body0,btOdeSolverBody* body1);
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//btOdeJoint interface for solver
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virtual void GetInfo1(Info1 *info);
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virtual void GetInfo2(Info2 *info);
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};
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//! retrieves the constraint info from a btRotationalLimitMotor object
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/*! \pre testLimitValue must be called on limot*/
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int bt_get_limit_motor_info2(
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btRotationalLimitMotor * limot,
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btRigidBody * body0, btRigidBody * body1,
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btOdeJoint::Info2 *info, int row, btVector3& ax1, int rotational);
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/*
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OdeSliderJoint
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Ported from ODE by Roman Ponomarev (rponom@gmail.com)
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April 24, 2008
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*/
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class OdeSliderJoint : public btOdeTypedJoint
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{
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protected:
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inline btSliderConstraint * getSliderConstraint()
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{
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return static_cast<btSliderConstraint * >(m_constraint);
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}
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public:
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OdeSliderJoint() {};
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OdeSliderJoint(btTypedConstraint* constraint,int index,bool swap, btOdeSolverBody* body0, btOdeSolverBody* body1);
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//BU_Joint interface for solver
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virtual void GetInfo1(Info1 *info);
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virtual void GetInfo2(Info2 *info);
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};
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#endif //CONTACT_JOINT_H
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