Panda3D

bulletConeTwistConstraint.h

00001 // Filename: bulletConeTwistConstraint.h
00002 // Created by:  enn0x (01Mar10)
00003 //
00004 ////////////////////////////////////////////////////////////////////
00005 //
00006 // PANDA 3D SOFTWARE
00007 // Copyright (c) Carnegie Mellon University.  All rights reserved.
00008 //
00009 // All use of this software is subject to the terms of the revised BSD
00010 // license.  You should have received a copy of this license along
00011 // with this source code in a file named "LICENSE."
00012 //
00013 ////////////////////////////////////////////////////////////////////
00014 
00015 #ifndef __BULLET_CONE_TWIST_CONSTRAINT_H__
00016 #define __BULLET_CONE_TWIST_CONSTRAINT_H__
00017 
00018 #include "pandabase.h"
00019 
00020 #include "bullet_includes.h"
00021 #include "bullet_utils.h"
00022 #include "bulletConstraint.h"
00023 
00024 #include "transformState.h"
00025 
00026 class BulletRigidBodyNode;
00027 
00028 ////////////////////////////////////////////////////////////////////
00029 //       Class : BulletConeTwistConstraint
00030 // Description : 
00031 ////////////////////////////////////////////////////////////////////
00032 class EXPCL_PANDABULLET BulletConeTwistConstraint : public BulletConstraint {
00033 
00034 PUBLISHED:
00035   BulletConeTwistConstraint(const BulletRigidBodyNode *node_a, 
00036                             CPT(TransformState) frame_a);
00037   BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
00038                             const BulletRigidBodyNode *node_b,
00039                             CPT(TransformState) frame_a,
00040                             CPT(TransformState) frame_b);
00041   INLINE ~BulletConeTwistConstraint();
00042 
00043   void set_limit(int index, PN_stdfloat value);
00044   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);
00045 
00046   void set_damping(PN_stdfloat damping);
00047 
00048   PN_stdfloat get_fix_threshold() const;
00049   void set_fix_threshold(PN_stdfloat threshold);
00050 
00051   void enable_motor(bool enable);
00052   void set_max_motor_impulse(PN_stdfloat max_impulse);
00053   void set_max_motor_impulse_normalized(PN_stdfloat max_impulse);
00054   void set_motor_target(const LQuaternion &quat);
00055   void set_motor_target_in_constraint_space(const LQuaternion &quat);
00056 
00057 public:
00058   virtual btTypedConstraint *ptr() const;
00059 
00060 private:
00061   btConeTwistConstraint *_constraint;
00062 
00063 ////////////////////////////////////////////////////////////////////
00064 public:
00065   static TypeHandle get_class_type() {
00066     return _type_handle;
00067   }
00068   static void init_type() {
00069     BulletConstraint::init_type();
00070     register_type(_type_handle, "BulletConeTwistConstraint", 
00071                   BulletConstraint::get_class_type());
00072   }
00073   virtual TypeHandle get_type() const {
00074     return get_class_type();
00075   }
00076   virtual TypeHandle force_init_type() {
00077     init_type();
00078     return get_class_type();
00079   }
00080 
00081 private:
00082   static TypeHandle _type_handle;
00083 };
00084 
00085 #include "bulletConeTwistConstraint.I"
00086 
00087 #endif // __BULLET_CONE_TWIST_CONSTRAINT_H__
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