82 lines
2.3 KiB
C++
82 lines
2.3 KiB
C++
/**
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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 bulletSphericalConstraint.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_SPHERICAL_CONSTRAINT_H__
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#define __BULLET_SPHERICAL_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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* A constraint between two rigid bodies, each with a pivot point. The pivot
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* points are described in the body's local space. The constraint limits
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* movement of the two rigid bodies in such a way that the pivot points match
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* in global space. The spherical constraint can be seen as a "ball and
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* socket" joint.
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*/
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class EXPCL_PANDABULLET BulletSphericalConstraint : public BulletConstraint {
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PUBLISHED:
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explicit BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
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const LPoint3 &pivot_a);
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explicit BulletSphericalConstraint(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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INLINE ~BulletSphericalConstraint();
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// Pivots
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void set_pivot_a(const LPoint3 &pivot_a);
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void set_pivot_b(const LPoint3 &pivot_b);
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LPoint3 get_pivot_in_a() const;
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LPoint3 get_pivot_in_b() const;
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MAKE_PROPERTY(pivot_a, get_pivot_in_a, set_pivot_a);
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MAKE_PROPERTY(pivot_b, get_pivot_in_b, set_pivot_b);
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public:
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virtual btTypedConstraint *ptr() const;
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private:
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btPoint2PointConstraint *_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, "BulletSphericalConstraint",
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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 "bulletSphericalConstraint.I"
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#endif // __BULLET_SPHERICAL_CONSTRAINT_H__
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