99 lines
2.8 KiB
C
99 lines
2.8 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 odeUniversalJoint.h
|
||
|
|
* @author joswilso
|
||
|
|
* @date 2006-12-27
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef ODEUNIVERSALJOINT_H
|
||
|
|
#define ODEUNIVERSALJOINT_H
|
||
|
|
|
||
|
|
#include "pandabase.h"
|
||
|
|
#include "typedObject.h"
|
||
|
|
#include "luse.h"
|
||
|
|
|
||
|
|
#include "ode_includes.h"
|
||
|
|
|
||
|
|
#include "odeJoint.h"
|
||
|
|
|
||
|
|
/**
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
class EXPCL_PANDAODE OdeUniversalJoint : public OdeJoint {
|
||
|
|
friend class OdeJoint;
|
||
|
|
|
||
|
|
public:
|
||
|
|
OdeUniversalJoint(dJointID id);
|
||
|
|
|
||
|
|
PUBLISHED:
|
||
|
|
OdeUniversalJoint(OdeWorld &world);
|
||
|
|
OdeUniversalJoint(OdeWorld &world, OdeJointGroup &joint_group);
|
||
|
|
virtual ~OdeUniversalJoint();
|
||
|
|
|
||
|
|
INLINE void set_anchor(dReal x, dReal y, dReal z);
|
||
|
|
INLINE void set_anchor(const LVecBase3f &anchor);
|
||
|
|
INLINE void set_axis1(dReal x, dReal y, dReal z);
|
||
|
|
INLINE void set_axis1(const LVecBase3f &axis);
|
||
|
|
INLINE void set_axis2(dReal x, dReal y, dReal z);
|
||
|
|
INLINE void set_axis2(const LVecBase3f &axis);
|
||
|
|
INLINE void add_torques(dReal torque1, dReal torque2);
|
||
|
|
|
||
|
|
INLINE LVecBase3f get_anchor() const;
|
||
|
|
INLINE LVecBase3f get_anchor2() const;
|
||
|
|
INLINE LVecBase3f get_axis1() const;
|
||
|
|
INLINE LVecBase3f get_axis2() const;
|
||
|
|
INLINE dReal get_angle1() const;
|
||
|
|
INLINE dReal get_angle2() const;
|
||
|
|
INLINE dReal get_angle1_rate() const;
|
||
|
|
INLINE dReal get_angle2_rate() const;
|
||
|
|
|
||
|
|
INLINE void set_param_lo_stop(int axis, dReal val);
|
||
|
|
INLINE void set_param_hi_stop(int axis, dReal val);
|
||
|
|
INLINE void set_param_vel(int axis, dReal val);
|
||
|
|
INLINE void set_param_f_max(int axis, dReal val);
|
||
|
|
INLINE void set_param_fudge_factor(int axis, dReal val);
|
||
|
|
INLINE void set_param_bounce(int axis, dReal val);
|
||
|
|
INLINE void set_param_CFM(int axis, dReal val);
|
||
|
|
INLINE void set_param_stop_ERP(int axis, dReal val);
|
||
|
|
INLINE void set_param_stop_CFM(int axis, dReal val);
|
||
|
|
|
||
|
|
INLINE dReal get_param_lo_stop(int axis) const;
|
||
|
|
INLINE dReal get_param_hi_stop(int axis) const;
|
||
|
|
INLINE dReal get_param_vel(int axis) const;
|
||
|
|
INLINE dReal get_param_f_max(int axis) const;
|
||
|
|
INLINE dReal get_param_fudge_factor(int axis) const;
|
||
|
|
INLINE dReal get_param_bounce(int axis) const;
|
||
|
|
INLINE dReal get_param_CFM(int axis) const;
|
||
|
|
INLINE dReal get_param_stop_ERP(int axis) const;
|
||
|
|
INLINE dReal get_param_stop_CFM(int axis) const;
|
||
|
|
|
||
|
|
public:
|
||
|
|
static TypeHandle get_class_type() {
|
||
|
|
return _type_handle;
|
||
|
|
}
|
||
|
|
static void init_type() {
|
||
|
|
OdeJoint::init_type();
|
||
|
|
register_type(_type_handle, "OdeUniversalJoint",
|
||
|
|
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 "odeUniversalJoint.I"
|
||
|
|
|
||
|
|
#endif
|