70 lines
2 KiB
C
70 lines
2 KiB
C
|
/**
|
||
|
|
* PANDA 3D SOFTWARE
|
||
|
|
* Copyright (c) Carnegie Mellon University. All rights reserved.
|
||
|
|
*
|
||
|
|
* All use of this software is subject to the terms of the revised BSD
|
||
|
|
* license. You should have received a copy of this license along
|
||
|
|
* with this source code in a file named "LICENSE."
|
||
|
|
*
|
||
|
|
* @file bulletRotationalLimitMotor.h
|
||
|
|
* @author enn0x
|
||
|
|
* @date 2013-03-03
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef __BULLET_ROTATIONAL_LIMIT_MOTOR_H__
|
||
|
|
#define __BULLET_ROTATIONAL_LIMIT_MOTOR_H__
|
||
|
|
|
||
|
|
#include "pandabase.h"
|
||
|
|
|
||
|
|
#include "bullet_includes.h"
|
||
|
|
#include "bullet_utils.h"
|
||
|
|
|
||
|
|
#include "luse.h"
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Rotation Limit structure for generic joints.
|
||
|
|
*/
|
||
|
|
class EXPCL_PANDABULLET BulletRotationalLimitMotor {
|
||
|
|
|
||
|
|
PUBLISHED:
|
||
|
|
BulletRotationalLimitMotor(const BulletRotationalLimitMotor ©);
|
||
|
|
INLINE ~BulletRotationalLimitMotor();
|
||
|
|
|
||
|
|
void set_motor_enabled(bool enable);
|
||
|
|
void set_low_limit(PN_stdfloat limit);
|
||
|
|
void set_high_limit(PN_stdfloat limit);
|
||
|
|
void set_target_velocity(PN_stdfloat velocity);
|
||
|
|
void set_max_motor_force(PN_stdfloat force);
|
||
|
|
void set_max_limit_force(PN_stdfloat force);
|
||
|
|
void set_damping(PN_stdfloat damping);
|
||
|
|
void set_softness(PN_stdfloat softness);
|
||
|
|
void set_bounce(PN_stdfloat bounce);
|
||
|
|
void set_normal_cfm(PN_stdfloat cfm);
|
||
|
|
void set_stop_cfm(PN_stdfloat cfm);
|
||
|
|
void set_stop_erp(PN_stdfloat erp);
|
||
|
|
|
||
|
|
bool is_limited() const;
|
||
|
|
bool get_motor_enabled() const;
|
||
|
|
int get_current_limit() const;
|
||
|
|
PN_stdfloat get_current_error() const;
|
||
|
|
PN_stdfloat get_current_position() const;
|
||
|
|
PN_stdfloat get_accumulated_impulse() const;
|
||
|
|
|
||
|
|
MAKE_PROPERTY(limited, is_limited);
|
||
|
|
MAKE_PROPERTY(motor_enabled, get_motor_enabled, set_motor_enabled);
|
||
|
|
MAKE_PROPERTY(current_limit, get_current_limit);
|
||
|
|
MAKE_PROPERTY(current_error, get_current_error);
|
||
|
|
MAKE_PROPERTY(current_position, get_current_position);
|
||
|
|
MAKE_PROPERTY(accumulated_impulse, get_accumulated_impulse);
|
||
|
|
|
||
|
|
public:
|
||
|
|
BulletRotationalLimitMotor(btRotationalLimitMotor &motor);
|
||
|
|
|
||
|
|
private:
|
||
|
|
btRotationalLimitMotor &_motor;
|
||
|
|
};
|
||
|
|
|
||
|
|
#include "bulletRotationalLimitMotor.I"
|
||
|
|
|
||
|
|
#endif // __BULLET_ROTATIONAL_LIMIT_MOTOR_H__
|