d9c4529a26
Thanks Benoit for pointing this out, and bugfix: http://code.google.com/p/bullet/issues/detail?id=218 + Added point to point, hinge, slider and generic 6dof constraints to Maya Dynamica plugin Thanks to Herbert Law for the constribution: http://code.google.com/p/bullet/issues/detail?id=221
117 lines
3.8 KiB
C++
117 lines
3.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library Maya Plugin
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Copyright (c) 2008 Herbert Law
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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
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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
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not claim that you wrote the original software. If you use this
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software in a product, an acknowledgment in the product documentation
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would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must
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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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Written by: Herbert Law <Herbert.Law@gmail.com>
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*/
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//sixdof_constraint.h
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#ifndef DYN_SIXDOF_CONSTRAINT_H
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#define DYN_SIXDOF_CONSTRAINT_H
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#include "shared_ptr.h"
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#include "rigid_body.h"
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#include "mathUtils.h"
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#include "constraint.h"
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#include "sixdof_constraint_impl.h"
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class sixdof_constraint_t: public constraint_t
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{
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public:
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//typedefs
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typedef shared_ptr<sixdof_constraint_t> pointer;
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//
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rigid_body_t::pointer rigid_bodyA() { return m_rigid_bodyA; }
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rigid_body_t::pointer rigid_bodyB() { return m_rigid_bodyB; }
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//
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void set_pivot(vec3f const& p)
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{
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sixdof_constraint_impl_t* sixdof_impl = dynamic_cast<sixdof_constraint_impl_t*>(impl());
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sixdof_impl->set_pivot(p);
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}
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//local space pivot
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void get_pivot(vec3f& p) const {
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sixdof_constraint_impl_t const* sixdof_impl = dynamic_cast<sixdof_constraint_impl_t const*>(impl());
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sixdof_impl->get_pivot(p);
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}
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//
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void get_world_pivot(vec3f& p) const {
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sixdof_constraint_impl_t const* sixdof_impl = dynamic_cast<sixdof_constraint_impl_t const*>(impl());
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sixdof_impl->get_world_pivot(p);
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}
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//
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void set_damping(float d) {
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sixdof_constraint_impl_t* sixdof_impl = dynamic_cast<sixdof_constraint_impl_t*>(impl());
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sixdof_impl->set_damping(d);
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}
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float damping() const {
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sixdof_constraint_impl_t const* sixdof_impl = dynamic_cast<sixdof_constraint_impl_t const*>(impl());
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return sixdof_impl->damping();
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}
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void set_world(vec3f const& p)
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{
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sixdof_constraint_impl_t* sixdof_impl = dynamic_cast<sixdof_constraint_impl_t*>(impl());
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sixdof_impl->set_world(p);
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}
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//local space pivot
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void get_world(vec3f& p) const {
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sixdof_constraint_impl_t const* sixdof_impl = dynamic_cast<sixdof_constraint_impl_t const*>(impl());
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sixdof_impl->get_world(p);
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}
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void set_LinLimit(float lower, float upper) {
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sixdof_constraint_impl_t* sixdof_impl = dynamic_cast<sixdof_constraint_impl_t*>(impl());
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sixdof_impl->set_LinLimit(lower, upper);
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}
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void set_AngLimit(float lower, float upper) {
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sixdof_constraint_impl_t* sixdof_impl = dynamic_cast<sixdof_constraint_impl_t*>(impl());
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sixdof_impl->set_AngLimit(lower, upper);
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}
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public:
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virtual ~sixdof_constraint_t() {};
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protected:
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friend class solver_t;
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sixdof_constraint_t(sixdof_constraint_impl_t* impl, rigid_body_t::pointer& rigid_bodyA, rigid_body_t::pointer& rigid_bodyB):
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constraint_t(impl),
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m_rigid_bodyA(rigid_bodyA),
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m_rigid_bodyB(rigid_bodyB)
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{
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}
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private:
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rigid_body_t::pointer m_rigid_bodyA;
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rigid_body_t::pointer m_rigid_bodyB;
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};
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#endif //DYN_SIXDOF_CONSTRAINT_H
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