bulletSphericalConstraint.h

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/**
 * PANDA 3D SOFTWARE
 * Copyright (c) Carnegie Mellon University.  All rights reserved.
 *
 * All use of this software is subject to the terms of the revised BSD
 * license.  You should have received a copy of this license along
 * with this source code in a file named "LICENSE."
 *
 * @file bulletSphericalConstraint.h
 * @author enn0x
 * @date 2010-03-01
 */

#ifndef __BULLET_SPHERICAL_CONSTRAINT_H__
#define __BULLET_SPHERICAL_CONSTRAINT_H__

#include "pandabase.h"

#include "bullet_includes.h"
#include "bullet_utils.h"
#include "bulletConstraint.h"

#include "luse.h"

class BulletRigidBodyNode;

/**
 * A constraint between two rigid bodies, each with a pivot point.  The pivot
 * points are described in the body's local space.  The constraint limits
 * movement of the two rigid bodies in such a way that the pivot points match
 * in global space.  The spherical constraint can be seen as a "ball and
 * socket" joint.
 */
class EXPCL_PANDABULLET BulletSphericalConstraint : public BulletConstraint {
PUBLISHED:
  explicit BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
                                     const LPoint3 &pivot_a);
  explicit BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
                                     const BulletRigidBodyNode *node_b,
                                     const LPoint3 &pivot_a,
                                     const LPoint3 &pivot_b);
  INLINE ~BulletSphericalConstraint();

  // Pivots
  void set_pivot_a(const LPoint3 &pivot_a);
  void set_pivot_b(const LPoint3 &pivot_b);
  LPoint3 get_pivot_in_a() const;
  LPoint3 get_pivot_in_b() const;

  MAKE_PROPERTY(pivot_a, get_pivot_in_a, set_pivot_a);
  MAKE_PROPERTY(pivot_b, get_pivot_in_b, set_pivot_b);

public:
  virtual btTypedConstraint *ptr() const;

private:
  btPoint2PointConstraint *_constraint;

public:
  static TypeHandle get_class_type() {
    return _type_handle;
  }
  static void init_type() {
    BulletConstraint::init_type();
    register_type(_type_handle, "BulletSphericalConstraint",
                  BulletConstraint::get_class_type());
  }
  virtual TypeHandle get_type() const {
    return get_class_type();
  }
  virtual TypeHandle force_init_type() {
    init_type();
    return get_class_type();
  }

private:
  static TypeHandle _type_handle;
};

#include "bulletSphericalConstraint.I"

#endif // __BULLET_SPHERICAL_CONSTRAINT_H__