Panda3D
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00001 // Filename: bulletGenericConstraint.h 00002 // Created by: enn0x (02Mar10) 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_GENERIC_CONSTRAINT_H__ 00016 #define __BULLET_GENERIC_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 #include "luse.h" 00026 00027 class BulletRigidBodyNode; 00028 00029 //////////////////////////////////////////////////////////////////// 00030 // Class : BulletGenericConstraint 00031 // Description : 00032 //////////////////////////////////////////////////////////////////// 00033 class EXPCL_PANDABULLET BulletGenericConstraint : public BulletConstraint { 00034 00035 PUBLISHED: 00036 BulletGenericConstraint(const BulletRigidBodyNode *node_a, 00037 CPT(TransformState) frame_a, 00038 bool use_frame_a); 00039 BulletGenericConstraint(const BulletRigidBodyNode *node_a, 00040 const BulletRigidBodyNode *node_b, 00041 CPT(TransformState) frame_a, 00042 CPT(TransformState) frame_b, 00043 bool use_frame_a); 00044 INLINE ~BulletGenericConstraint(); 00045 00046 void set_linear_limit(int axis, PN_stdfloat low, PN_stdfloat high); 00047 void set_angular_limit(int axis, PN_stdfloat low, PN_stdfloat high); 00048 00049 LVector3 get_axis(int axis) const; 00050 PN_stdfloat get_pivot(int axis) const; 00051 PN_stdfloat get_angle(int axis) const; 00052 00053 public: 00054 virtual btTypedConstraint *ptr() const; 00055 00056 private: 00057 btGeneric6DofConstraint *_constraint; 00058 00059 //////////////////////////////////////////////////////////////////// 00060 public: 00061 static TypeHandle get_class_type() { 00062 return _type_handle; 00063 } 00064 static void init_type() { 00065 BulletConstraint::init_type(); 00066 register_type(_type_handle, "BulletGenericConstraint", 00067 BulletConstraint::get_class_type()); 00068 } 00069 virtual TypeHandle get_type() const { 00070 return get_class_type(); 00071 } 00072 virtual TypeHandle force_init_type() { 00073 init_type(); 00074 return get_class_type(); 00075 } 00076 00077 private: 00078 static TypeHandle _type_handle; 00079 }; 00080 00081 #include "bulletGenericConstraint.I" 00082 00083 #endif // __BULLET_GENERIC_CONSTRAINT_H__