00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
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
00031
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__