83 lines
2.3 KiB
C
83 lines
2.3 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 bulletSphericalConstraint.h
|
||
|
|
* @author enn0x
|
||
|
|
* @date 2010-03-01
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef __BULLET_SPHERICAL_CONSTRAINT_H__
|
||
|
|
#define __BULLET_SPHERICAL_CONSTRAINT_H__
|
||
|
|
|
||
|
|
#include "pandabase.h"
|
||
|
|
|
||
|
|
#include "bullet_includes.h"
|
||
|
|
#include "bullet_utils.h"
|
||
|
|
#include "bulletConstraint.h"
|
||
|
|
|
||
|
|
#include "luse.h"
|
||
|
|
|
||
|
|
class BulletRigidBodyNode;
|
||
|
|
|
||
|
|
/**
|
||
|
|
* A constraint between two rigid bodies, each with a pivot point. The pivot
|
||
|
|
* points are described in the body's local space. The constraint limits
|
||
|
|
* movement of the two rigid bodies in such a way that the pivot points match
|
||
|
|
* in global space. The spherical constraint can be seen as a "ball and
|
||
|
|
* socket" joint.
|
||
|
|
*/
|
||
|
|
class EXPCL_PANDABULLET BulletSphericalConstraint : public BulletConstraint {
|
||
|
|
PUBLISHED:
|
||
|
|
explicit BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
|
||
|
|
const LPoint3 &pivot_a);
|
||
|
|
explicit BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
|
||
|
|
const BulletRigidBodyNode *node_b,
|
||
|
|
const LPoint3 &pivot_a,
|
||
|
|
const LPoint3 &pivot_b);
|
||
|
|
INLINE ~BulletSphericalConstraint();
|
||
|
|
|
||
|
|
// Pivots
|
||
|
|
void set_pivot_a(const LPoint3 &pivot_a);
|
||
|
|
void set_pivot_b(const LPoint3 &pivot_b);
|
||
|
|
LPoint3 get_pivot_in_a() const;
|
||
|
|
LPoint3 get_pivot_in_b() const;
|
||
|
|
|
||
|
|
MAKE_PROPERTY(pivot_a, get_pivot_in_a, set_pivot_a);
|
||
|
|
MAKE_PROPERTY(pivot_b, get_pivot_in_b, set_pivot_b);
|
||
|
|
|
||
|
|
public:
|
||
|
|
virtual btTypedConstraint *ptr() const;
|
||
|
|
|
||
|
|
private:
|
||
|
|
btPoint2PointConstraint *_constraint;
|
||
|
|
|
||
|
|
public:
|
||
|
|
static TypeHandle get_class_type() {
|
||
|
|
return _type_handle;
|
||
|
|
}
|
||
|
|
static void init_type() {
|
||
|
|
BulletConstraint::init_type();
|
||
|
|
register_type(_type_handle, "BulletSphericalConstraint",
|
||
|
|
BulletConstraint::get_class_type());
|
||
|
|
}
|
||
|
|
virtual TypeHandle get_type() const {
|
||
|
|
return get_class_type();
|
||
|
|
}
|
||
|
|
virtual TypeHandle force_init_type() {
|
||
|
|
init_type();
|
||
|
|
return get_class_type();
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
static TypeHandle _type_handle;
|
||
|
|
};
|
||
|
|
|
||
|
|
#include "bulletSphericalConstraint.I"
|
||
|
|
|
||
|
|
#endif // __BULLET_SPHERICAL_CONSTRAINT_H__
|