81 lines
2.2 KiB
C++
81 lines
2.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef POINT2POINTCONSTRAINT_H
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#define POINT2POINTCONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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#include "btTypedConstraint.h"
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class btRigidBody;
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struct btConstraintSetting
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{
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btConstraintSetting() :
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m_tau(btScalar(0.3)),
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m_damping(btScalar(1.))
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{
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}
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btScalar m_tau;
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btScalar m_damping;
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};
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/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
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class btPoint2PointConstraint : public btTypedConstraint
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{
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#ifdef IN_PARALLELL_SOLVER
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public:
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#endif
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btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
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btVector3 m_pivotInA;
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btVector3 m_pivotInB;
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public:
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btConstraintSetting m_setting;
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btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
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btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
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btPoint2PointConstraint();
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virtual void buildJacobian();
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virtual void solveConstraint(btScalar timeStep);
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void updateRHS(btScalar timeStep);
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void setPivotA(const btVector3& pivotA)
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{
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m_pivotInA = pivotA;
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}
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void setPivotB(const btVector3& pivotB)
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{
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m_pivotInB = pivotB;
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}
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};
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#endif //POINT2POINTCONSTRAINT_H
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