Panda3D
bulletGenericConstraint.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 bulletGenericConstraint.h
10  * @author enn0x
11  * @date 2010-03-02
12  */
13 
14 #ifndef __BULLET_GENERIC_CONSTRAINT_H__
15 #define __BULLET_GENERIC_CONSTRAINT_H__
16 
17 #include "pandabase.h"
18 
19 #include "bullet_includes.h"
20 #include "bullet_utils.h"
21 #include "bulletConstraint.h"
24 
25 #include "transformState.h"
26 #include "luse.h"
27 
29 
30 /**
31  *
32  */
33 class EXPCL_PANDABULLET BulletGenericConstraint : public BulletConstraint {
34 PUBLISHED:
35  explicit BulletGenericConstraint(const BulletRigidBodyNode *node_a,
36  const TransformState *frame_a,
37  bool use_frame_a);
38  explicit BulletGenericConstraint(const BulletRigidBodyNode *node_a,
39  const BulletRigidBodyNode *node_b,
40  const TransformState *frame_a,
41  const TransformState *frame_b,
42  bool use_frame_a);
43  INLINE ~BulletGenericConstraint();
44 
45  // Geometry
46  LVector3 get_axis(int axis) const;
47  PN_stdfloat get_pivot(int axis) const;
48  PN_stdfloat get_angle(int axis) const;
49 
50  // Limit
51  void set_linear_limit(int axis, PN_stdfloat low, PN_stdfloat high);
52  void set_angular_limit(int axis, PN_stdfloat low, PN_stdfloat high);
53 
54  // Motors
55  BulletRotationalLimitMotor get_rotational_limit_motor(int axis);
56  BulletTranslationalLimitMotor get_translational_limit_motor();
57 
58  // Frames
59  void set_frames(const TransformState *ts_a, const TransformState *ts_b);
60  CPT(TransformState) get_frame_a() const;
61  CPT(TransformState) get_frame_b() const;
62 
63  MAKE_PROPERTY(translational_limit_motor, get_translational_limit_motor);
64  MAKE_PROPERTY(frame_a, get_frame_a);
65  MAKE_PROPERTY(frame_b, get_frame_b);
66 
67 public:
68  virtual btTypedConstraint *ptr() const;
69 
70 private:
71  btGeneric6DofConstraint *_constraint;
72 
73 // TODO btRotationalLimitMotor * getRotationalLimitMotor (int index)
74 
75 public:
76  static TypeHandle get_class_type() {
77  return _type_handle;
78  }
79  static void init_type() {
80  BulletConstraint::init_type();
81  register_type(_type_handle, "BulletGenericConstraint",
82  BulletConstraint::get_class_type());
83  }
84  virtual TypeHandle get_type() const {
85  return get_class_type();
86  }
87  virtual TypeHandle force_init_type() {
88  init_type();
89  return get_class_type();
90  }
91 
92 private:
93  static TypeHandle _type_handle;
94 };
95 
97 
98 #endif // __BULLET_GENERIC_CONSTRAINT_H__
BulletTranslationalLimitMotor
Rotation Limit structure for generic joints.
Definition: bulletTranslationalLimitMotor.h:27
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.
BulletGenericConstraint
Definition: bulletGenericConstraint.h:33
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
bulletGenericConstraint.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
bulletTranslationalLimitMotor.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
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
luse.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
BulletRotationalLimitMotor
Rotation Limit structure for generic joints.
Definition: bulletRotationalLimitMotor.h:27
BulletConstraint
Definition: bulletConstraint.h:28
bulletRotationalLimitMotor.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.