66 lines
1.9 KiB
C
66 lines
1.9 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 bulletTranslationalLimitMotor.h
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* @author enn0x
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* @date 2013-03-03
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*/
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#ifndef __BULLET_TRANSLATIONAL_LIMIT_MOTOR_H__
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#define __BULLET_TRANSLATIONAL_LIMIT_MOTOR_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 "luse.h"
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/**
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* Rotation Limit structure for generic joints.
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*/
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class EXPCL_PANDABULLET BulletTranslationalLimitMotor {
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PUBLISHED:
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BulletTranslationalLimitMotor(const BulletTranslationalLimitMotor ©);
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INLINE ~BulletTranslationalLimitMotor();
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void set_motor_enabled(int axis, bool enable);
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void set_low_limit(const LVecBase3 &limit);
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void set_high_limit(const LVecBase3 &limit);
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void set_target_velocity(const LVecBase3 &velocity);
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void set_max_motor_force(const LVecBase3 &force);
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void set_damping(PN_stdfloat damping);
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void set_softness(PN_stdfloat softness);
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void set_restitution(PN_stdfloat restitution);
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void set_normal_cfm(const LVecBase3 &cfm);
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void set_stop_erp(const LVecBase3 &erp);
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void set_stop_cfm(const LVecBase3 &cfm);
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bool is_limited(int axis) const;
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bool get_motor_enabled(int axis) const;
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int get_current_limit(int axis) const;
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LVector3 get_current_error() const;
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LPoint3 get_current_diff() const;
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LVector3 get_accumulated_impulse() const;
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MAKE_PROPERTY(current_error, get_current_error);
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MAKE_PROPERTY(current_diff, get_current_diff);
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MAKE_PROPERTY(accumulated_impulse, get_accumulated_impulse);
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public:
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BulletTranslationalLimitMotor(btTranslationalLimitMotor &motor);
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private:
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btTranslationalLimitMotor &_motor;
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};
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#include "bulletTranslationalLimitMotor.I"
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#endif // __BULLET_TRANSLATIONAL_LIMIT_MOTOR_H__
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