Panda3D

bulletSliderConstraint.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 bulletSliderConstraint.h
10 * @author enn0x
11 * @date 2010-03-01
12 */
13
14 #ifndef __BULLET_SLIDER_CONSTRAINT_H__
15 #define __BULLET_SLIDER_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
25 class BulletRigidBodyNode;
26
27 /**
28 *
29 */
30 class EXPCL_PANDABULLET BulletSliderConstraint : public BulletConstraint {
31 PUBLISHED:
32 explicit BulletSliderConstraint(const BulletRigidBodyNode *node_a,
33 const TransformState *frame_a,
34 bool useFrame_a);
35 explicit BulletSliderConstraint(const BulletRigidBodyNode *node_a,
36 const BulletRigidBodyNode *node_b,
37 const TransformState *frame_a,
38 const TransformState *frame_b,
39 bool use_frame_a);
40 INLINE ~BulletSliderConstraint();
41
42 PN_stdfloat get_linear_pos() const;
43 PN_stdfloat get_angular_pos() const;
44
45 // Limits
46 PN_stdfloat get_lower_linear_limit() const;
47 PN_stdfloat get_upper_linear_limit() const;
48 PN_stdfloat get_lower_angular_limit() const;
49 PN_stdfloat get_upper_angular_limit() const;
50 void set_lower_linear_limit(PN_stdfloat value);
51 void set_upper_linear_limit(PN_stdfloat value);
52 void set_lower_angular_limit(PN_stdfloat value);
53 void set_upper_angular_limit(PN_stdfloat value);
54
55 // Linear motor
56 void set_powered_linear_motor(bool on);
57 void set_target_linear_motor_velocity (PN_stdfloat target_velocity);
58 void set_max_linear_motor_force(PN_stdfloat max_force);
59 bool get_powered_linear_motor() const;
60 PN_stdfloat get_target_linear_motor_velocity() const;
61 PN_stdfloat get_max_linear_motor_force() const;
62
63 // Angular motor
64 void set_powered_angular_motor(bool on);
65 void set_target_angular_motor_velocity (PN_stdfloat target_velocity);
66 void set_max_angular_motor_force(PN_stdfloat max_force);
67 bool get_powered_angular_motor() const;
68 PN_stdfloat get_target_angular_motor_velocity() const;
69 PN_stdfloat get_max_angular_motor_force() const;
70
71 // Frames
72 void set_frames(const TransformState *ts_a, const TransformState *ts_b);
73 CPT(TransformState) get_frame_a() const;
74 CPT(TransformState) get_frame_b() const;
75
76 MAKE_PROPERTY(linear_pos, get_linear_pos);
77 MAKE_PROPERTY(angular_pos, get_angular_pos);
78 MAKE_PROPERTY(lower_linear_limit, get_lower_linear_limit, set_lower_linear_limit);
79 MAKE_PROPERTY(upper_linear_limit, get_upper_linear_limit, set_upper_linear_limit);
80 MAKE_PROPERTY(lower_angular_limit, get_lower_angular_limit, set_lower_angular_limit);
81 MAKE_PROPERTY(upper_angular_limit, get_upper_angular_limit, set_upper_angular_limit);
82 MAKE_PROPERTY(powered_linear_motor, get_powered_linear_motor, set_powered_linear_motor);
83 MAKE_PROPERTY(target_linear_motor_velocity, get_target_linear_motor_velocity, set_target_linear_motor_velocity);
84 MAKE_PROPERTY(max_linear_motor_force, get_max_linear_motor_force, set_max_linear_motor_force);
85 MAKE_PROPERTY(powered_angular_motor, get_powered_angular_motor, set_powered_angular_motor);
86 MAKE_PROPERTY(target_angular_motor_velocity, get_target_angular_motor_velocity, set_target_angular_motor_velocity);
87 MAKE_PROPERTY(max_angular_motor_force, get_max_angular_motor_force, set_max_angular_motor_force);
88 MAKE_PROPERTY(frame_a, get_frame_a);
89 MAKE_PROPERTY(frame_b, get_frame_b);
90
91 public:
92 virtual btTypedConstraint *ptr() const;
93
94 private:
95 btSliderConstraint *_constraint;
96
97 public:
98 static TypeHandle get_class_type() {
99 return _type_handle;
100 }
101 static void init_type() {
102 BulletConstraint::init_type();
103 register_type(_type_handle, "BulletSliderConstraint",
104 BulletConstraint::get_class_type());
105 }
106 virtual TypeHandle get_type() const {
107 return get_class_type();
108 }
109 virtual TypeHandle force_init_type() {
110 init_type();
111 return get_class_type();
112 }
113
114 private:
115 static TypeHandle _type_handle;
116 };
117
118 #include "bulletSliderConstraint.I"
119
120 #endif // __BULLET_SLIDER_CONSTRAINT_H__
bulletConstraint.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
bulletSliderConstraint.I
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
bullet_includes.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
bullet_utils.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
BulletConstraint
Definition: bulletConstraint.h:28
BulletRigidBodyNode
Definition: bulletRigidBodyNode.h:31
BulletSliderConstraint
Definition: bulletSliderConstraint.h:30
TransformState
Indicates a coordinate-system transform on vertices.
Definition: transformState.h:54
TypeHandle
TypeHandle is the identifier used to differentiate C++ class types.
Definition: typeHandle.h:81
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
transformState.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.