112 lines
3.7 KiB
C
112 lines
3.7 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 bulletHingeConstraint.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_HINGE_CONSTRAINT_H__
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#define __BULLET_HINGE_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 "luse.h"
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class BulletRigidBodyNode;
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/**
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* The hinge constraint lets two bodies rotate around a given axis while
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* adhering to specified limits. It's motor can apply angular force to them.
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*/
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class EXPCL_PANDABULLET BulletHingeConstraint : public BulletConstraint {
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PUBLISHED:
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explicit BulletHingeConstraint(const BulletRigidBodyNode *node_a,
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const LPoint3 &pivot_a,
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const LVector3 &axis_a,
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bool use_frame_a=false);
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explicit BulletHingeConstraint(const BulletRigidBodyNode *node_a,
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const BulletRigidBodyNode *node_b,
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const LPoint3 &pivot_a,
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const LPoint3 &pivot_b,
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const LVector3 &axis_a,
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const LVector3 &axis_b,
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bool use_frame_a=false);
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explicit BulletHingeConstraint(const BulletRigidBodyNode *node_a,
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const TransformState *ts_a,
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bool use_frame_a=false);
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explicit BulletHingeConstraint(const BulletRigidBodyNode *node_a,
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const BulletRigidBodyNode *node_b,
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const TransformState *ts_a,
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const TransformState *ts_b,
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bool use_frame_a=false);
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INLINE ~BulletHingeConstraint();
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PN_stdfloat get_hinge_angle();
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PN_stdfloat get_lower_limit() const;
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PN_stdfloat get_upper_limit() const;
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bool get_angular_only() const;
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void set_angular_only(bool value);
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void set_limit(PN_stdfloat low, PN_stdfloat high, PN_stdfloat softness=0.9f, PN_stdfloat bias=0.3f, PN_stdfloat relaxation=1.0f);
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void set_axis(const LVector3 &axis);
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void enable_angular_motor(bool enable, PN_stdfloat target_velocity, PN_stdfloat max_impulse);
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void enable_motor(bool enable);
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void set_max_motor_impulse(PN_stdfloat max_impulse);
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void set_motor_target(const LQuaternion &quat, PN_stdfloat dt);
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void set_motor_target(PN_stdfloat target_angle, PN_stdfloat dt);
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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(hinge_angle, get_hinge_angle);
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MAKE_PROPERTY(lower_limit, get_lower_limit);
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MAKE_PROPERTY(upper_limit, get_upper_limit);
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MAKE_PROPERTY(angular_only, get_angular_only, set_angular_only);
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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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btHingeConstraint *_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, "BulletHingeConstraint",
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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 "bulletHingeConstraint.I"
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#endif // __BULLET_HINGE_CONSTRAINT_H__
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