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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
00030
00031
00032
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__