94 lines
2.5 KiB
C
94 lines
2.5 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 odeHingeJoint.h
|
||
|
* @author joswilso
|
||
|
* @date 2006-12-27
|
||
|
*/
|
||
|
|
||
|
|
||
|
#ifndef ODEHINGEJOINT_H
|
||
|
#define ODEHINGEJOINT_H
|
||
|
|
||
|
#include "pandabase.h"
|
||
|
#include "luse.h"
|
||
|
|
||
|
#include "ode_includes.h"
|
||
|
|
||
|
#include "odeJoint.h"
|
||
|
|
||
|
/**
|
||
|
*
|
||
|
*/
|
||
|
class EXPCL_PANDAODE OdeHingeJoint : public OdeJoint {
|
||
|
friend class OdeJoint;
|
||
|
|
||
|
public:
|
||
|
OdeHingeJoint(dJointID id);
|
||
|
|
||
|
PUBLISHED:
|
||
|
OdeHingeJoint(OdeWorld &world);
|
||
|
OdeHingeJoint(OdeWorld &world, OdeJointGroup &joint_group);
|
||
|
virtual ~OdeHingeJoint();
|
||
|
|
||
|
INLINE void set_anchor(dReal x, dReal y, dReal z);
|
||
|
INLINE void set_anchor(const LVecBase3f &anchor);
|
||
|
INLINE void set_anchor_delta(dReal x, dReal y, dReal z, dReal ax, dReal ay, dReal az);
|
||
|
INLINE void set_anchor_delta(const LVecBase3f &anchor, const LVecBase3f &vec);
|
||
|
INLINE void set_axis(dReal x, dReal y, dReal z);
|
||
|
INLINE void set_axis(const LVecBase3f &axis);
|
||
|
INLINE void add_torque(dReal torque);
|
||
|
|
||
|
INLINE LVecBase3f get_anchor() const;
|
||
|
INLINE LVecBase3f get_anchor2() const;
|
||
|
INLINE LVecBase3f get_axis() const;
|
||
|
INLINE dReal get_angle() const;
|
||
|
INLINE dReal get_angle_rate() const;
|
||
|
|
||
|
INLINE void set_param_lo_stop(dReal val);
|
||
|
INLINE void set_param_hi_stop(dReal val);
|
||
|
INLINE void set_param_vel(dReal val);
|
||
|
INLINE void set_param_f_max(dReal val);
|
||
|
INLINE void set_param_fudge_factor(dReal val);
|
||
|
INLINE void set_param_bounce(dReal val);
|
||
|
INLINE void set_param_CFM(dReal val);
|
||
|
INLINE void set_param_stop_ERP(dReal val);
|
||
|
INLINE void set_param_stop_CFM(dReal val);
|
||
|
|
||
|
INLINE dReal get_param_lo_stop() const;
|
||
|
INLINE dReal get_param_hi_stop() const;
|
||
|
INLINE dReal get_param_vel() const;
|
||
|
INLINE dReal get_param_f_max() const;
|
||
|
INLINE dReal get_param_fudge_factor() const;
|
||
|
INLINE dReal get_param_bounce() const;
|
||
|
INLINE dReal get_param_CFM() const;
|
||
|
INLINE dReal get_param_stop_ERP() const;
|
||
|
INLINE dReal get_param_stop_CFM() const;
|
||
|
|
||
|
public:
|
||
|
static TypeHandle get_class_type() {
|
||
|
return _type_handle;
|
||
|
}
|
||
|
static void init_type() {
|
||
|
OdeJoint::init_type();
|
||
|
register_type(_type_handle, "OdeHingeJoint",
|
||
|
OdeJoint::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 "odeHingeJoint.I"
|
||
|
|
||
|
#endif
|