113 lines
2.7 KiB
C++
113 lines
2.7 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 TYPED_CONSTRAINT_H
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#define TYPED_CONSTRAINT_H
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class btRigidBody;
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#include "LinearMath/btScalar.h"
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enum btTypedConstraintType
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{
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POINT2POINT_CONSTRAINT_TYPE,
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HINGE_CONSTRAINT_TYPE,
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CONETWIST_CONSTRAINT_TYPE,
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D6_CONSTRAINT_TYPE,
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VEHICLE_CONSTRAINT_TYPE
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};
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///TypedConstraint is the baseclass for Bullet constraints and vehicles
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class btTypedConstraint
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{
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int m_userConstraintType;
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int m_userConstraintId;
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btTypedConstraintType m_constraintType;
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btTypedConstraint& operator=(btTypedConstraint& other)
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{
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btAssert(0);
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(void) other;
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return *this;
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}
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protected:
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btRigidBody& m_rbA;
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btRigidBody& m_rbB;
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btScalar m_appliedImpulse;
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public:
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btTypedConstraint(btTypedConstraintType type);
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virtual ~btTypedConstraint() {};
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btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
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btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
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virtual void buildJacobian() = 0;
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virtual void solveConstraint(btScalar timeStep) = 0;
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const btRigidBody& getRigidBodyA() const
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{
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return m_rbA;
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}
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const btRigidBody& getRigidBodyB() const
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{
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return m_rbB;
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}
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btRigidBody& getRigidBodyA()
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{
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return m_rbA;
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}
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btRigidBody& getRigidBodyB()
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{
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return m_rbB;
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}
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int getUserConstraintType() const
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{
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return m_userConstraintType ;
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}
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void setUserConstraintType(int userConstraintType)
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{
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m_userConstraintType = userConstraintType;
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};
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void setUserConstraintId(int uid)
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{
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m_userConstraintId = uid;
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}
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int getUserConstraintId() const
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{
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return m_userConstraintId;
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}
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btScalar getAppliedImpulse() const
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{
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return m_appliedImpulse;
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}
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btTypedConstraintType getConstraintType () const
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{
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return m_constraintType;
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}
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};
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#endif //TYPED_CONSTRAINT_H
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