Blender  V3.3
btMultiBodyJointLimitConstraint.h
Go to the documentation of this file.
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 
16 #ifndef BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
17 #define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
18 
19 #include "btMultiBodyConstraint.h"
20 struct btSolverInfo;
21 
23 {
24 protected:
27 
28 public:
29  btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);
31 
32  virtual void finalizeMultiDof();
33 
34  virtual int getIslandIdA() const;
35  virtual int getIslandIdB() const;
36 
37  virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
40 
41  virtual void debugDraw(class btIDebugDraw* drawer)
42  {
43  //todo(erwincoumans)
44  }
46  {
47  return m_lowerBound;
48  }
50  {
51  return m_upperBound;
52  }
53  void setLowerBound(btScalar lower)
54  {
55  m_lowerBound = lower;
56  }
57  void setUpperBound(btScalar upper)
58  {
59  m_upperBound = upper;
60  }
61 };
62 
63 #endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
btMultiBodyConstraint
btMultiBody
Definition: btMultiBody.h:51
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSequentialImpulseConstraintSolverMt int btPersistentManifold int btTypedConstraint int const btContactSolverInfo & infoGlobal
virtual void debugDraw(class btIDebugDraw *drawer)
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
btMultiBodyJointLimitConstraint(btMultiBody *body, int link, btScalar lower, btScalar upper)
This file was written by Erwin Coumans.