Panda3D

odeUniversalJoint.h

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
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