Panda3D
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00001 #ifndef ODEUNIVERSALJOINT_H 00002 #define ODEUNIVERSALJOINT_H 00003 00004 #include "pandabase.h" 00005 #include "typedObject.h" 00006 #include "luse.h" 00007 00008 #include "ode_includes.h" 00009 00010 #include "odeJoint.h" 00011 00012 //////////////////////////////////////////////////////////////////// 00013 // Class : OdeUniversalJoint 00014 // Description : 00015 //////////////////////////////////////////////////////////////////// 00016 class EXPCL_PANDAODE OdeUniversalJoint : public OdeJoint { 00017 friend class OdeJoint; 00018 00019 private: 00020 OdeUniversalJoint(dJointID id); 00021 00022 PUBLISHED: 00023 OdeUniversalJoint(OdeWorld &world); 00024 OdeUniversalJoint(OdeWorld &world, OdeJointGroup &joint_group); 00025 virtual ~OdeUniversalJoint(); 00026 00027 INLINE void set_anchor(dReal x, dReal y, dReal z); 00028 INLINE void set_anchor(const LVecBase3f &anchor); 00029 INLINE void set_axis1(dReal x, dReal y, dReal z); 00030 INLINE void set_axis1(const LVecBase3f &axis); 00031 INLINE void set_axis2(dReal x, dReal y, dReal z); 00032 INLINE void set_axis2(const LVecBase3f &axis); 00033 INLINE void add_torques(dReal torque1, dReal torque2); 00034 00035 INLINE LVecBase3f get_anchor() const; 00036 INLINE LVecBase3f get_anchor2() const; 00037 INLINE LVecBase3f get_axis1() const; 00038 INLINE LVecBase3f get_axis2() const; 00039 INLINE dReal get_angle1() const; 00040 INLINE dReal get_angle2() const; 00041 INLINE dReal get_angle1_rate() const; 00042 INLINE dReal get_angle2_rate() const; 00043 00044 INLINE void set_param_lo_stop(int axis, dReal val); 00045 INLINE void set_param_hi_stop(int axis, dReal val); 00046 INLINE void set_param_vel(int axis, dReal val); 00047 INLINE void set_param_f_max(int axis, dReal val); 00048 INLINE void set_param_fudge_factor(int axis, dReal val); 00049 INLINE void set_param_bounce(int axis, dReal val); 00050 INLINE void set_param_CFM(int axis, dReal val); 00051 INLINE void set_param_stop_ERP(int axis, dReal val); 00052 INLINE void set_param_stop_CFM(int axis, dReal val); 00053 00054 INLINE dReal get_param_lo_stop(int axis) const; 00055 INLINE dReal get_param_hi_stop(int axis) const; 00056 INLINE dReal get_param_vel(int axis) const; 00057 INLINE dReal get_param_f_max(int axis) const; 00058 INLINE dReal get_param_fudge_factor(int axis) const; 00059 INLINE dReal get_param_bounce(int axis) const; 00060 INLINE dReal get_param_CFM(int axis) const; 00061 INLINE dReal get_param_stop_ERP(int axis) const; 00062 INLINE dReal get_param_stop_CFM(int axis) const; 00063 00064 public: 00065 static TypeHandle get_class_type() { 00066 return _type_handle; 00067 } 00068 static void init_type() { 00069 OdeJoint::init_type(); 00070 register_type(_type_handle, "OdeUniversalJoint", 00071 OdeJoint::get_class_type()); 00072 } 00073 virtual TypeHandle get_type() const { 00074 return get_class_type(); 00075 } 00076 virtual TypeHandle force_init_type() {init_type(); return get_class_type();} 00077 00078 private: 00079 static TypeHandle _type_handle; 00080 }; 00081 00082 #include "odeUniversalJoint.I" 00083 00084 #endif