Panda3D
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bulletHingeConstraint.h
00001 // Filename: bulletHingeConstraint.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_HINGE_CONSTRAINT_H__
00016 #define __BULLET_HINGE_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 "luse.h"
00025 
00026 class BulletRigidBodyNode;
00027 
00028 ////////////////////////////////////////////////////////////////////
00029 //       Class : BulletHingeConstraint
00030 // Description : The hinge constraint lets two bodies rotate around
00031 //               a given axis while adhering to specified limits.
00032 //               It's motor can apply angular force to them.
00033 ////////////////////////////////////////////////////////////////////
00034 class EXPCL_PANDABULLET BulletHingeConstraint : public BulletConstraint {
00035 
00036 PUBLISHED:
00037   BulletHingeConstraint(const BulletRigidBodyNode *node_a, 
00038                         const LPoint3 &pivot_a,
00039                         const LVector3 &axis_a,
00040                         bool use_frame_a=false);
00041   BulletHingeConstraint(const BulletRigidBodyNode *node_a,
00042                         const BulletRigidBodyNode *node_b,
00043                         const LPoint3 &pivot_a,
00044                         const LPoint3 &pivot_b,
00045                         const LVector3 &axis_a,
00046                         const LVector3 &axis_b,
00047                         bool use_frame_a=false);
00048   INLINE ~BulletHingeConstraint();
00049 
00050   PN_stdfloat get_hinge_angle();
00051   PN_stdfloat get_lower_limit() const;
00052   PN_stdfloat get_upper_limit() const;
00053   bool get_angular_only() const;
00054 
00055   void set_angular_only(bool value);
00056   void set_limit(PN_stdfloat low, PN_stdfloat high, PN_stdfloat softness=0.9f, PN_stdfloat bias=0.3f, PN_stdfloat relaxation=1.0f);
00057   void set_axis(const LVector3 &axis);
00058 
00059   void enable_angular_motor(bool enable, PN_stdfloat target_velocity, PN_stdfloat max_impulse);
00060   void enable_motor(bool enable);
00061   void set_max_motor_impulse(PN_stdfloat max_impulse);
00062   void set_motor_target(const LQuaternion &quat, PN_stdfloat dt);
00063   void set_motor_target(PN_stdfloat target_angle, PN_stdfloat dt);
00064 
00065 public:
00066   virtual btTypedConstraint *ptr() const;
00067 
00068 private:
00069   btHingeConstraint *_constraint;
00070 
00071 ////////////////////////////////////////////////////////////////////
00072 public:
00073   static TypeHandle get_class_type() {
00074     return _type_handle;
00075   }
00076   static void init_type() {
00077     BulletConstraint::init_type();
00078     register_type(_type_handle, "BulletHingeConstraint", 
00079                   BulletConstraint::get_class_type());
00080   }
00081   virtual TypeHandle get_type() const {
00082     return get_class_type();
00083   }
00084   virtual TypeHandle force_init_type() {
00085     init_type();
00086     return get_class_type();
00087   }
00088 
00089 private:
00090   static TypeHandle _type_handle;
00091 };
00092 
00093 #include "bulletHingeConstraint.I"
00094 
00095 #endif // __BULLET_HINGE_CONSTRAINT_H__
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