75 lines
1.9 KiB
C++
75 lines
1.9 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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#ifndef TYPED_CONSTRAINT_H
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#define TYPED_CONSTRAINT_H
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class RigidBody;
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#include "SimdScalar.h"
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//TypedConstraint is the baseclass for Bullet constraints and vehicles
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class TypedConstraint
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{
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int m_userConstraintType;
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int m_userConstraintId;
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protected:
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RigidBody& m_rbA;
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RigidBody& m_rbB;
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public:
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TypedConstraint();
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virtual ~TypedConstraint() {};
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TypedConstraint(RigidBody& rbA);
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TypedConstraint(RigidBody& rbA,RigidBody& rbB);
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virtual void BuildJacobian() = 0;
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virtual void SolveConstraint(SimdScalar timeStep) = 0;
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const RigidBody& GetRigidBodyA() const
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{
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return m_rbA;
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}
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const RigidBody& GetRigidBodyB() const
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{
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return m_rbB;
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}
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int GetUserConstraintType() const
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{
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return m_userConstraintType ;
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}
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void SetUserConstraintType(int userConstraintType)
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{
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m_userConstraintType = userConstraintType;
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};
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void SetUserConstraintId(int uid)
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{
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m_userConstraintId = uid;
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}
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int GetUserConstraintId()
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{
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return m_userConstraintId;
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}
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};
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#endif //TYPED_CONSTRAINT_H
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