99 lines
2.8 KiB
C
99 lines
2.8 KiB
C
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/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file bulletGenericConstraint.h
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* @author enn0x
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* @date 2010-03-02
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*/
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#ifndef __BULLET_GENERIC_CONSTRAINT_H__
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#define __BULLET_GENERIC_CONSTRAINT_H__
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#include "pandabase.h"
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#include "bullet_includes.h"
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#include "bullet_utils.h"
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#include "bulletConstraint.h"
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#include "bulletRotationalLimitMotor.h"
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#include "bulletTranslationalLimitMotor.h"
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#include "transformState.h"
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#include "luse.h"
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class BulletRigidBodyNode;
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/**
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*
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*/
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class EXPCL_PANDABULLET BulletGenericConstraint : public BulletConstraint {
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PUBLISHED:
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explicit BulletGenericConstraint(const BulletRigidBodyNode *node_a,
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const TransformState *frame_a,
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bool use_frame_a);
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explicit BulletGenericConstraint(const BulletRigidBodyNode *node_a,
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const BulletRigidBodyNode *node_b,
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const TransformState *frame_a,
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const TransformState *frame_b,
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bool use_frame_a);
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INLINE ~BulletGenericConstraint();
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// Geometry
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LVector3 get_axis(int axis) const;
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PN_stdfloat get_pivot(int axis) const;
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PN_stdfloat get_angle(int axis) const;
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// Limit
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void set_linear_limit(int axis, PN_stdfloat low, PN_stdfloat high);
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void set_angular_limit(int axis, PN_stdfloat low, PN_stdfloat high);
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// Motors
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BulletRotationalLimitMotor get_rotational_limit_motor(int axis);
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BulletTranslationalLimitMotor get_translational_limit_motor();
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// Frames
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void set_frames(const TransformState *ts_a, const TransformState *ts_b);
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CPT(TransformState) get_frame_a() const;
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CPT(TransformState) get_frame_b() const;
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MAKE_PROPERTY(translational_limit_motor, get_translational_limit_motor);
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MAKE_PROPERTY(frame_a, get_frame_a);
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MAKE_PROPERTY(frame_b, get_frame_b);
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public:
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virtual btTypedConstraint *ptr() const;
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private:
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btGeneric6DofConstraint *_constraint;
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// TODO btRotationalLimitMotor * getRotationalLimitMotor (int index)
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type() {
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BulletConstraint::init_type();
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register_type(_type_handle, "BulletGenericConstraint",
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BulletConstraint::get_class_type());
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}
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virtual TypeHandle get_type() const {
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return get_class_type();
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}
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virtual TypeHandle force_init_type() {
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init_type();
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return get_class_type();
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}
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private:
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static TypeHandle _type_handle;
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};
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#include "bulletGenericConstraint.I"
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#endif // __BULLET_GENERIC_CONSTRAINT_H__
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