Bullet Collision Detection & Physics Library: btMultiBodyGearConstraint.h Source File

Bullet Collision Detection & Physics Library

btMultiBodyGearConstraint.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
17
18#ifndef BT_MULTIBODY_GEAR_CONSTRAINT_H
19#define BT_MULTIBODY_GEAR_CONSTRAINT_H
20
21#include "btMultiBodyConstraint.h"
22
23 class btMultiBodyGearConstraint : public btMultiBodyConstraint
24{
25protected:
26 btRigidBody* m_rigidBodyA;
27 btRigidBody* m_rigidBodyB;
28 btVector3 m_pivotInA;
29 btVector3 m_pivotInB;
30 btMatrix3x3 m_frameInA;
31 btMatrix3x3 m_frameInB;
32 btScalar m_gearRatio;
33 int m_gearAuxLink;
34 btScalar m_erp;
35 btScalar m_relativePositionTarget;
36
37public:
38 //btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
39 btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
40
41 virtual ~btMultiBodyGearConstraint();
42
43 virtual void finalizeMultiDof();
44
45 virtual int getIslandIdA() const;
46 virtual int getIslandIdB() const;
47
48 virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
49 btMultiBodyJacobianData& data,
50 const btContactSolverInfo& infoGlobal);
51
52 const btVector3& getPivotInA() const
53 {
54 return m_pivotInA;
55 }
56
57 void setPivotInA(const btVector3& pivotInA)
58 {
59 m_pivotInA = pivotInA;
60 }
61
62 const btVector3& getPivotInB() const
63 {
64 return m_pivotInB;
65 }
66
67 virtual void setPivotInB(const btVector3& pivotInB)
68 {
69 m_pivotInB = pivotInB;
70 }
71
72 const btMatrix3x3& getFrameInA() const
73 {
74 return m_frameInA;
75 }
76
77 void setFrameInA(const btMatrix3x3& frameInA)
78 {
79 m_frameInA = frameInA;
80 }
81
82 const btMatrix3x3& getFrameInB() const
83 {
84 return m_frameInB;
85 }
86
87 virtual void setFrameInB(const btMatrix3x3& frameInB)
88 {
89 m_frameInB = frameInB;
90 }
91
92 virtual void debugDraw(class btIDebugDraw* drawer)
93 {
94 //todo(erwincoumans)
95 }
96
97 virtual void setGearRatio(btScalar gearRatio)
98 {
99 m_gearRatio = gearRatio;
100 }
101 virtual void setGearAuxLink(int gearAuxLink)
102 {
103 m_gearAuxLink = gearAuxLink;
104 }
105 virtual void setRelativePositionTarget(btScalar relPosTarget)
106 {
107 m_relativePositionTarget = relPosTarget;
108 }
109 virtual void setErp(btScalar erp)
110 {
111 m_erp = erp;
112 }
113};
114
115#endif //BT_MULTIBODY_GEAR_CONSTRAINT_H
btMultiBodyConstraint.h
btMultiBodyConstraintArray
btAlignedObjectArray< btMultiBodySolverConstraint > btMultiBodyConstraintArray
Definition btMultiBodySolverConstraint.h:88
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition btIDebugDraw.h:27
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition btMatrix3x3.h:50
btMultiBodyConstraint::btMultiBodyConstraint
btMultiBodyConstraint(btMultiBody *bodyA, btMultiBody *bodyB, int linkA, int linkB, int numRows, bool isUnilateral, int type)
Definition btMultiBodyConstraint.cpp:5
btMultiBodyGearConstraint::~btMultiBodyGearConstraint
virtual ~btMultiBodyGearConstraint()
Definition btMultiBodyGearConstraint.cpp:39
btMultiBodyGearConstraint::setFrameInA
void setFrameInA(const btMatrix3x3 &frameInA)
Definition btMultiBodyGearConstraint.h:77
btMultiBodyGearConstraint::setGearAuxLink
virtual void setGearAuxLink(int gearAuxLink)
Definition btMultiBodyGearConstraint.h:101
btMultiBodyGearConstraint::m_erp
btScalar m_erp
Definition btMultiBodyGearConstraint.h:34
btMultiBodyGearConstraint::setPivotInA
void setPivotInA(const btVector3 &pivotInA)
Definition btMultiBodyGearConstraint.h:57
btMultiBodyGearConstraint::createConstraintRows
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
Definition btMultiBodyGearConstraint.cpp:81
btMultiBodyGearConstraint::m_rigidBodyA
btRigidBody * m_rigidBodyA
Definition btMultiBodyGearConstraint.h:26
btMultiBodyGearConstraint::m_gearAuxLink
int m_gearAuxLink
Definition btMultiBodyGearConstraint.h:33
btMultiBodyGearConstraint::getFrameInB
const btMatrix3x3 & getFrameInB() const
Definition btMultiBodyGearConstraint.h:82
btMultiBodyGearConstraint::m_frameInA
btMatrix3x3 m_frameInA
Definition btMultiBodyGearConstraint.h:30
btMultiBodyGearConstraint::getPivotInB
const btVector3 & getPivotInB() const
Definition btMultiBodyGearConstraint.h:62
btMultiBodyGearConstraint::getPivotInA
const btVector3 & getPivotInA() const
Definition btMultiBodyGearConstraint.h:52
btMultiBodyGearConstraint::m_frameInB
btMatrix3x3 m_frameInB
Definition btMultiBodyGearConstraint.h:31
btMultiBodyGearConstraint::m_relativePositionTarget
btScalar m_relativePositionTarget
Definition btMultiBodyGearConstraint.h:35
btMultiBodyGearConstraint::m_rigidBodyB
btRigidBody * m_rigidBodyB
Definition btMultiBodyGearConstraint.h:27
btMultiBodyGearConstraint::btMultiBodyGearConstraint
btMultiBodyGearConstraint(btMultiBody *bodyA, int linkA, btMultiBody *bodyB, int linkB, const btVector3 &pivotInA, const btVector3 &pivotInB, const btMatrix3x3 &frameInA, const btMatrix3x3 &frameInB)
This file was written by Erwin Coumans.
Definition btMultiBodyGearConstraint.cpp:23
btMultiBodyGearConstraint::getFrameInA
const btMatrix3x3 & getFrameInA() const
Definition btMultiBodyGearConstraint.h:72
btMultiBodyGearConstraint::m_pivotInB
btVector3 m_pivotInB
Definition btMultiBodyGearConstraint.h:29
btMultiBodyGearConstraint::m_pivotInA
btVector3 m_pivotInA
Definition btMultiBodyGearConstraint.h:28
btMultiBodyGearConstraint::setPivotInB
virtual void setPivotInB(const btVector3 &pivotInB)
Definition btMultiBodyGearConstraint.h:67
btMultiBodyGearConstraint::setRelativePositionTarget
virtual void setRelativePositionTarget(btScalar relPosTarget)
Definition btMultiBodyGearConstraint.h:105
btMultiBodyGearConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)
Definition btMultiBodyGearConstraint.h:92
btMultiBodyGearConstraint::finalizeMultiDof
virtual void finalizeMultiDof()
Definition btMultiBodyGearConstraint.cpp:32
btMultiBodyGearConstraint::setGearRatio
virtual void setGearRatio(btScalar gearRatio)
Definition btMultiBodyGearConstraint.h:97
btMultiBodyGearConstraint::setErp
virtual void setErp(btScalar erp)
Definition btMultiBodyGearConstraint.h:109
btMultiBodyGearConstraint::getIslandIdA
virtual int getIslandIdA() const
Definition btMultiBodyGearConstraint.cpp:43
btMultiBodyGearConstraint::m_gearRatio
btScalar m_gearRatio
Definition btMultiBodyGearConstraint.h:32
btMultiBodyGearConstraint::getIslandIdB
virtual int getIslandIdB() const
Definition btMultiBodyGearConstraint.cpp:62
btMultiBodyGearConstraint::setFrameInB
virtual void setFrameInB(const btMatrix3x3 &frameInB)
Definition btMultiBodyGearConstraint.h:87
btMultiBody
Definition btMultiBody.h:51
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btContactSolverInfo
Definition btContactSolverInfo.h:76
btMultiBodyJacobianData
Definition btMultiBodyConstraint.h:44