121 lines
4.3 KiB
C
121 lines
4.3 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 bulletSliderConstraint.h
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* @author enn0x
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* @date 2010-03-01
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*/
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#ifndef __BULLET_SLIDER_CONSTRAINT_H__
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#define __BULLET_SLIDER_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 "transformState.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 BulletSliderConstraint : public BulletConstraint {
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PUBLISHED:
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explicit BulletSliderConstraint(const BulletRigidBodyNode *node_a,
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const TransformState *frame_a,
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bool useFrame_a);
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explicit BulletSliderConstraint(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 ~BulletSliderConstraint();
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PN_stdfloat get_linear_pos() const;
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PN_stdfloat get_angular_pos() const;
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// Limits
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PN_stdfloat get_lower_linear_limit() const;
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PN_stdfloat get_upper_linear_limit() const;
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PN_stdfloat get_lower_angular_limit() const;
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PN_stdfloat get_upper_angular_limit() const;
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void set_lower_linear_limit(PN_stdfloat value);
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void set_upper_linear_limit(PN_stdfloat value);
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void set_lower_angular_limit(PN_stdfloat value);
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void set_upper_angular_limit(PN_stdfloat value);
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// Linear motor
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void set_powered_linear_motor(bool on);
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void set_target_linear_motor_velocity (PN_stdfloat target_velocity);
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void set_max_linear_motor_force(PN_stdfloat max_force);
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bool get_powered_linear_motor() const;
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PN_stdfloat get_target_linear_motor_velocity() const;
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PN_stdfloat get_max_linear_motor_force() const;
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// Angular motor
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void set_powered_angular_motor(bool on);
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void set_target_angular_motor_velocity (PN_stdfloat target_velocity);
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void set_max_angular_motor_force(PN_stdfloat max_force);
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bool get_powered_angular_motor() const;
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PN_stdfloat get_target_angular_motor_velocity() const;
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PN_stdfloat get_max_angular_motor_force() const;
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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(linear_pos, get_linear_pos);
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MAKE_PROPERTY(angular_pos, get_angular_pos);
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MAKE_PROPERTY(lower_linear_limit, get_lower_linear_limit, set_lower_linear_limit);
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MAKE_PROPERTY(upper_linear_limit, get_upper_linear_limit, set_upper_linear_limit);
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MAKE_PROPERTY(lower_angular_limit, get_lower_angular_limit, set_lower_angular_limit);
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MAKE_PROPERTY(upper_angular_limit, get_upper_angular_limit, set_upper_angular_limit);
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MAKE_PROPERTY(powered_linear_motor, get_powered_linear_motor, set_powered_linear_motor);
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MAKE_PROPERTY(target_linear_motor_velocity, get_target_linear_motor_velocity, set_target_linear_motor_velocity);
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MAKE_PROPERTY(max_linear_motor_force, get_max_linear_motor_force, set_max_linear_motor_force);
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MAKE_PROPERTY(powered_angular_motor, get_powered_angular_motor, set_powered_angular_motor);
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MAKE_PROPERTY(target_angular_motor_velocity, get_target_angular_motor_velocity, set_target_angular_motor_velocity);
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MAKE_PROPERTY(max_angular_motor_force, get_max_angular_motor_force, set_max_angular_motor_force);
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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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btSliderConstraint *_constraint;
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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, "BulletSliderConstraint",
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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 "bulletSliderConstraint.I"
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#endif // __BULLET_SLIDER_CONSTRAINT_H__
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