Blender  V3.3
btMultiBodyPoint2Point.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
17 
18 #ifndef BT_MULTIBODY_POINT2POINT_H
19 #define BT_MULTIBODY_POINT2POINT_H
20 
21 #include "btMultiBodyConstraint.h"
22 
23 //#define BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST
24 
27 {
28 protected:
29  btRigidBody* m_rigidBodyA;
33 
34 public:
36 
37  btMultiBodyPoint2Point(btMultiBody * body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB);
38  btMultiBodyPoint2Point(btMultiBody * bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB);
39 
40  virtual ~btMultiBodyPoint2Point();
41 
42  virtual void finalizeMultiDof();
43 
44  virtual int getIslandIdA() const;
45  virtual int getIslandIdB() const;
46 
47  virtual void createConstraintRows(btMultiBodyConstraintArray & constraintRows,
50 
51  const btVector3& getPivotInB() const
52  {
53  return m_pivotInB;
54  }
55 
56  virtual void setPivotInB(const btVector3& pivotInB)
57  {
58  m_pivotInB = pivotInB;
59  }
60 
61  virtual void debugDraw(class btIDebugDraw * drawer);
62 };
63 
64 #endif //BT_MULTIBODY_POINT2POINT_H
btMultiBodyConstraint
virtual int getIslandIdB() const
BT_DECLARE_ALIGNED_ALLOCATOR()
btMultiBodyPoint2Point(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB)
virtual ~btMultiBodyPoint2Point()
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
virtual void debugDraw(class btIDebugDraw *drawer)
btVector3 m_pivotInA
btRigidBody * m_rigidBodyB
btVector3 m_pivotInB
virtual void finalizeMultiDof()
virtual int getIslandIdA() const
virtual void setPivotInB(const btVector3 &pivotInB)
const btVector3 & getPivotInB() const
btMultiBody
Definition: btMultiBody.h:51
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo & infoGlobal
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82