96 lines
2.8 KiB
C++
96 lines
2.8 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 odeAMotorJoint.h
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* @author joswilso
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* @date 2006-12-27
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*/
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#ifndef ODEAMOTORJOINT_H
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#define ODEAMOTORJOINT_H
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#include "pandabase.h"
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#include "typedObject.h"
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#include "luse.h"
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#include "ode_includes.h"
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#include "odeJoint.h"
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/**
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*
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*/
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class EXPCL_PANDAODE OdeAMotorJoint : public OdeJoint {
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friend class OdeJoint;
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public:
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OdeAMotorJoint(dJointID id);
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PUBLISHED:
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OdeAMotorJoint(OdeWorld &world);
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OdeAMotorJoint(OdeWorld &world, OdeJointGroup &joint_group);
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virtual ~OdeAMotorJoint();
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INLINE void set_num_axes(int num);
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INLINE void set_axis(int anum, int rel, dReal x, dReal y, dReal z);
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INLINE void set_axis(int anum, int rel, const LVecBase3f &axis);
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INLINE void set_angle(int anum, dReal angle);
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INLINE void set_mode(int mode);
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INLINE void add_torques(dReal torque1, dReal torque2, dReal torque3);
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INLINE int get_num_axes() const;
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INLINE LVecBase3f get_axis(int anum) const;
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MAKE_SEQ(get_axes, get_num_axes, get_axis);
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INLINE int get_axis_rel(int anum) const;
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INLINE dReal get_angle(int anum) const;
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INLINE dReal get_angle_rate(int anum) const;
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INLINE int get_mode() const;
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INLINE void set_param_lo_stop(int axis, dReal val);
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INLINE void set_param_hi_stop(int axis, dReal val);
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INLINE void set_param_vel(int axis, dReal val);
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INLINE void set_param_f_max(int axis, dReal val);
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INLINE void set_param_fudge_factor(int axis, dReal val);
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INLINE void set_param_bounce(int axis, dReal val);
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INLINE void set_param_CFM(int axis, dReal val);
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INLINE void set_param_stop_ERP(int axis, dReal val);
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INLINE void set_param_stop_CFM(int axis, dReal val);
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INLINE dReal get_param_lo_stop(int axis) const;
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INLINE dReal get_param_hi_stop(int axis) const;
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INLINE dReal get_param_vel(int axis) const;
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INLINE dReal get_param_f_max(int axis) const;
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INLINE dReal get_param_fudge_factor(int axis) const;
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INLINE dReal get_param_bounce(int axis) const;
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INLINE dReal get_param_CFM(int axis) const;
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INLINE dReal get_param_stop_ERP(int axis) const;
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INLINE dReal get_param_stop_CFM(int axis) const;
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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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OdeJoint::init_type();
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register_type(_type_handle, "OdeAMotorJoint",
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OdeJoint::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() {init_type(); return get_class_type();}
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private:
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static TypeHandle _type_handle;
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};
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#include "odeAMotorJoint.I"
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#endif
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