Panda3D
bulletConeTwistConstraint.h
Go to the documentation of this file.
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 bulletConeTwistConstraint.h
10  * @author enn0x
11  * @date 2010-03-01
12  */
13 
14 #ifndef __BULLET_CONE_TWIST_CONSTRAINT_H__
15 #define __BULLET_CONE_TWIST_CONSTRAINT_H__
16 
17 #include "pandabase.h"
18 
19 #include "bullet_includes.h"
20 #include "bullet_utils.h"
21 #include "bulletConstraint.h"
22 
23 #include "transformState.h"
24 
26 
27 /**
28  *
29  */
30 class EXPCL_PANDABULLET BulletConeTwistConstraint : public BulletConstraint {
31 
32 PUBLISHED:
33  explicit BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
34  const TransformState *frame_a);
35  explicit BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
36  const BulletRigidBodyNode *node_b,
37  const TransformState *frame_a,
38  const TransformState *frame_b);
39  INLINE ~BulletConeTwistConstraint();
40 
41  void set_limit(int index, PN_stdfloat value);
42  void set_limit(PN_stdfloat swing1, PN_stdfloat swing2, PN_stdfloat twist, PN_stdfloat softness=1.0f, PN_stdfloat bias=0.3f, PN_stdfloat relaxation=1.0f);
43 
44  void set_damping(PN_stdfloat damping);
45 
46  PN_stdfloat get_fix_threshold() const;
47  void set_fix_threshold(PN_stdfloat threshold);
48 
49  void enable_motor(bool enable);
50  void set_max_motor_impulse(PN_stdfloat max_impulse);
51  void set_max_motor_impulse_normalized(PN_stdfloat max_impulse);
52  void set_motor_target(const LQuaternion &quat);
53  void set_motor_target_in_constraint_space(const LQuaternion &quat);
54 
55  void set_frames(const TransformState *ts_a, const TransformState *ts_b);
56  CPT(TransformState) get_frame_a() const;
57  CPT(TransformState) get_frame_b() const;
58 
59  MAKE_PROPERTY(fix_threshold, get_fix_threshold, set_fix_threshold);
60  MAKE_PROPERTY(frame_a, get_frame_a);
61  MAKE_PROPERTY(frame_b, get_frame_b);
62 
63 public:
64  virtual btTypedConstraint *ptr() const;
65 
66 private:
67  btConeTwistConstraint *_constraint;
68 
69 public:
70  static TypeHandle get_class_type() {
71  return _type_handle;
72  }
73  static void init_type() {
74  BulletConstraint::init_type();
75  register_type(_type_handle, "BulletConeTwistConstraint",
76  BulletConstraint::get_class_type());
77  }
78  virtual TypeHandle get_type() const {
79  return get_class_type();
80  }
81  virtual TypeHandle force_init_type() {
82  init_type();
83  return get_class_type();
84  }
85 
86 private:
87  static TypeHandle _type_handle;
88 };
89 
91 
92 #endif // __BULLET_CONE_TWIST_CONSTRAINT_H__
BulletConeTwistConstraint
Definition: bulletConeTwistConstraint.h:30
BulletRigidBodyNode
Definition: bulletRigidBodyNode.h:31
bulletConstraint.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
pandabase.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
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
bulletConeTwistConstraint.I
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
bullet_includes.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
TypeHandle
TypeHandle is the identifier used to differentiate C++ class types.
Definition: typeHandle.h:81
transformState.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
bullet_utils.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
TransformState
Indicates a coordinate-system transform on vertices.
Definition: transformState.h:54
BulletConstraint
Definition: bulletConstraint.h:28