Panda3D
bulletSphericalConstraint.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 bulletSphericalConstraint.h
10  * @author enn0x
11  * @date 2010-03-01
12  */
13 
14 #ifndef __BULLET_SPHERICAL_CONSTRAINT_H__
15 #define __BULLET_SPHERICAL_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 "luse.h"
24 
26 
27 /**
28  * A constraint between two rigid bodies, each with a pivot point. The pivot
29  * points are described in the body's local space. The constraint limits
30  * movement of the two rigid bodies in such a way that the pivot points match
31  * in global space. The spherical constraint can be seen as a "ball and
32  * socket" joint.
33  */
34 class EXPCL_PANDABULLET BulletSphericalConstraint : public BulletConstraint {
35 PUBLISHED:
36  explicit BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
37  const LPoint3 &pivot_a);
38  explicit BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
39  const BulletRigidBodyNode *node_b,
40  const LPoint3 &pivot_a,
41  const LPoint3 &pivot_b);
42  INLINE ~BulletSphericalConstraint();
43 
44  // Pivots
45  void set_pivot_a(const LPoint3 &pivot_a);
46  void set_pivot_b(const LPoint3 &pivot_b);
47  LPoint3 get_pivot_in_a() const;
48  LPoint3 get_pivot_in_b() const;
49 
50  MAKE_PROPERTY(pivot_a, get_pivot_in_a, set_pivot_a);
51  MAKE_PROPERTY(pivot_b, get_pivot_in_b, set_pivot_b);
52 
53 public:
54  virtual btTypedConstraint *ptr() const;
55 
56 private:
57  btPoint2PointConstraint *_constraint;
58 
59 public:
60  static TypeHandle get_class_type() {
61  return _type_handle;
62  }
63  static void init_type() {
64  BulletConstraint::init_type();
65  register_type(_type_handle, "BulletSphericalConstraint",
66  BulletConstraint::get_class_type());
67  }
68  virtual TypeHandle get_type() const {
69  return get_class_type();
70  }
71  virtual TypeHandle force_init_type() {
72  init_type();
73  return get_class_type();
74  }
75 
76 private:
77  static TypeHandle _type_handle;
78 };
79 
81 
82 #endif // __BULLET_SPHERICAL_CONSTRAINT_H__
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
bullet_includes.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
bulletSphericalConstraint.I
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
TypeHandle
TypeHandle is the identifier used to differentiate C++ class types.
Definition: typeHandle.h:81
bullet_utils.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
luse.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
BulletConstraint
Definition: bulletConstraint.h:28
BulletSphericalConstraint
A constraint between two rigid bodies, each with a pivot point.
Definition: bulletSphericalConstraint.h:34