Panda3D
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bulletSphericalConstraint.cxx
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1/**
2 * PANDA 3D SOFTWARE
3 * Copyright (c) Carnegie Mellon University. All rights reserved.
4 *
5 * All use of this software is subject to the terms of the revised BSD
6 * license. You should have received a copy of this license along
7 * with this source code in a file named "LICENSE."
8 *
9 * @file bulletSphericalConstraint.cxx
10 * @author enn0x
11 * @date 2010-03-01
12 */
13
15
16#include "bulletRigidBodyNode.h"
17#include "bulletWorld.h"
18
19TypeHandle BulletSphericalConstraint::_type_handle;
20
21/**
22 *
23 */
24BulletSphericalConstraint::
25BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
26 const LPoint3 &pivot_a) {
27
28 btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
29 btVector3 pos_a = LVecBase3_to_btVector3(pivot_a);
30
31 _constraint = new btPoint2PointConstraint(*ptr_a, pos_a);
32}
33
34/**
35 *
36 */
37BulletSphericalConstraint::
38BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
39 const BulletRigidBodyNode *node_b,
40 const LPoint3 &pivot_a,
41 const LPoint3 &pivot_b) {
42
43 btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
44 btVector3 pos_a = LVecBase3_to_btVector3(pivot_a);
45
46 btRigidBody *ptr_b = btRigidBody::upcast(node_b->get_object());
47 btVector3 pos_b = LVecBase3_to_btVector3(pivot_b);
48
49 _constraint = new btPoint2PointConstraint(*ptr_a, *ptr_b, pos_a, pos_b);
50}
51
52/**
53 *
54 */
55btTypedConstraint *BulletSphericalConstraint::
56ptr() const {
57
58 return _constraint;
59}
60
61/**
62 *
63 */
64void BulletSphericalConstraint::
65set_pivot_a(const LPoint3 &pivot_a) {
66 LightMutexHolder holder(BulletWorld::get_global_lock());
67
68 nassertv(!pivot_a.is_nan());
69 _constraint->setPivotA(LVecBase3_to_btVector3(pivot_a));
70}
71
72/**
73 *
74 */
75void BulletSphericalConstraint::
76set_pivot_b(const LPoint3 &pivot_b) {
77 LightMutexHolder holder(BulletWorld::get_global_lock());
78
79 nassertv(!pivot_b.is_nan());
80 _constraint->setPivotB(LVecBase3_to_btVector3(pivot_b));
81}
82
83/**
84 *
85 */
86LPoint3 BulletSphericalConstraint::
87get_pivot_in_a() const {
88 LightMutexHolder holder(BulletWorld::get_global_lock());
89
90 return btVector3_to_LPoint3(_constraint->getPivotInA());
91}
92
93/**
94 *
95 */
96LPoint3 BulletSphericalConstraint::
97get_pivot_in_b() const {
98 LightMutexHolder holder(BulletWorld::get_global_lock());
99
100 return btVector3_to_LPoint3(_constraint->getPivotInB());
101}
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
Similar to MutexHolder, but for a light mutex.
TypeHandle is the identifier used to differentiate C++ class types.
Definition typeHandle.h:81