Panda3D
odeHinge2Joint.h
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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 odeHinge2Joint.h
10  * @author joswilso
11  * @date 2006-12-27
12  */
13 
14 #ifndef ODEHINGE2JOINT_H
15 #define ODEHINGE2JOINT_H
16 
17 #include "pandabase.h"
18 #include "typedObject.h"
19 #include "luse.h"
20 
21 #include "ode_includes.h"
22 
23 #include "odeJoint.h"
24 
25 /**
26  *
27  */
28 class EXPCL_PANDAODE OdeHinge2Joint : public OdeJoint {
29  friend class OdeJoint;
30 
31 public:
32  OdeHinge2Joint(dJointID id);
33 
34 PUBLISHED:
35  OdeHinge2Joint(OdeWorld &world, OdeJointGroup &joint_group);
36  OdeHinge2Joint(OdeWorld &world);
37  virtual ~OdeHinge2Joint();
38 
39  INLINE void set_anchor(dReal x, dReal y, dReal z);
40  INLINE void set_anchor(const LVecBase3f &anchor);
41  INLINE void set_axis1(dReal x, dReal y, dReal z);
42  INLINE void set_axis1(const LVecBase3f &axis);
43  INLINE void set_axis2(dReal x, dReal y, dReal z);
44  INLINE void set_axis2(const LVecBase3f &axis);
45  INLINE void add_torques(dReal torque1, dReal torque2);
46 
47  INLINE LVecBase3f get_anchor() const;
48  INLINE LVecBase3f get_anchor2() const;
49  INLINE LVecBase3f get_axis1() const;
50  INLINE LVecBase3f get_axis2() const;
51  INLINE dReal get_angle1() const;
52  INLINE dReal get_angle1_rate() const;
53  INLINE dReal get_angle2_rate() const;
54 
55  INLINE void set_param_lo_stop(int axis, dReal val);
56  INLINE void set_param_hi_stop(int axis, dReal val);
57  INLINE void set_param_vel(int axis, dReal val);
58  INLINE void set_param_f_max(int axis, dReal val);
59  INLINE void set_param_fudge_factor(int axis, dReal val);
60  INLINE void set_param_bounce(int axis, dReal val);
61  INLINE void set_param_CFM(int axis, dReal val);
62  INLINE void set_param_stop_ERP(int axis, dReal val);
63  INLINE void set_param_stop_CFM(int axis, dReal val);
64  INLINE void set_param_suspension_ERP(int axis, dReal val);
65  INLINE void set_param_suspension_CFM(int axis, dReal val);
66 
67  INLINE dReal get_param_lo_stop(int axis) const;
68  INLINE dReal get_param_hi_stop(int axis) const;
69  INLINE dReal get_param_vel(int axis) const;
70  INLINE dReal get_param_f_max(int axis) const;
71  INLINE dReal get_param_fudge_factor(int axis) const;
72  INLINE dReal get_param_bounce(int axis) const;
73  INLINE dReal get_param_CFM(int axis) const;
74  INLINE dReal get_param_stop_ERP(int axis) const;
75  INLINE dReal get_param_stop_CFM(int axis) const;
76  INLINE dReal get_param_suspension_ERP(int axis) const;
77  INLINE dReal get_param_suspension_CFM(int axis) const;
78 
79 public:
80  static TypeHandle get_class_type() {
81  return _type_handle;
82  }
83  static void init_type() {
84  OdeJoint::init_type();
85  register_type(_type_handle, "OdeHinge2Joint",
86  OdeJoint::get_class_type());
87  }
88  virtual TypeHandle get_type() const {
89  return get_class_type();
90  }
91  virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
92 
93 private:
94  static TypeHandle _type_handle;
95 };
96 
97 #include "odeHinge2Joint.I"
98 
99 #endif
pandabase.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
OdeJointGroup
Definition: odeJointGroup.h:26
register_type
void register_type(TypeHandle &type_handle, const std::string &name)
This inline function is just a convenient way to call TypeRegistry::register_type(),...
Definition: register_type.I:22
OdeJoint
Definition: odeJoint.h:51
TypeHandle
TypeHandle is the identifier used to differentiate C++ class types.
Definition: typeHandle.h:81
typedObject.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
luse.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
ode_includes.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
OdeHinge2Joint
Definition: odeHinge2Joint.h:28
odeHinge2Joint.I
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
odeJoint.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
OdeWorld
Definition: odeWorld.h:33