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bulletSphericalConstraint.h
00001 // Filename: bulletSphericalConstraint.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_SPHERICAL_CONSTRAINT_H__
00016 #define __BULLET_SPHERICAL_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 : BulletSphericalConstraint
00030 // Description : A constraint between two rigid bodies, each with a
00031 //               pivot point. The pivot points are described in the
00032 //               body's local space. The constraint limits movement
00033 //               of the two rigid bodies in such a way that the 
00034 //               pivot points match in global space. The spherical
00035 //               constraint can be seen as a "ball and socket"
00036 //               joint.
00037 ////////////////////////////////////////////////////////////////////
00038 class EXPCL_PANDABULLET BulletSphericalConstraint : public BulletConstraint {
00039 
00040 PUBLISHED:
00041   BulletSphericalConstraint(const BulletRigidBodyNode *node_a, 
00042                             const LPoint3 &pivot_a);
00043   BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
00044                             const BulletRigidBodyNode *node_b,
00045                             const LPoint3 &pivot_a,
00046                             const LPoint3 &pivot_b);
00047   INLINE ~BulletSphericalConstraint();
00048 
00049   void set_pivot_a(const LPoint3 &pivot_a);
00050   void set_pivot_b(const LPoint3 &pivot_b);
00051 
00052   LPoint3 get_pivot_in_a() const;
00053   LPoint3 get_pivot_in_b() const;
00054 
00055 public:
00056   virtual btTypedConstraint *ptr() const;
00057 
00058 private:
00059   btPoint2PointConstraint *_constraint;
00060 
00061 ////////////////////////////////////////////////////////////////////
00062 public:
00063   static TypeHandle get_class_type() {
00064     return _type_handle;
00065   }
00066   static void init_type() {
00067     BulletConstraint::init_type();
00068     register_type(_type_handle, "BulletSphericalConstraint", 
00069                   BulletConstraint::get_class_type());
00070   }
00071   virtual TypeHandle get_type() const {
00072     return get_class_type();
00073   }
00074   virtual TypeHandle force_init_type() {
00075     init_type();
00076     return get_class_type();
00077   }
00078 
00079 private:
00080   static TypeHandle _type_handle;
00081 };
00082 
00083 #include "bulletSphericalConstraint.I"
00084 
00085 #endif // __BULLET_SPHERICAL_CONSTRAINT_H__
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