56 lines
2.7 KiB
C++
56 lines
2.7 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
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Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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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 GENERIC_6DOF_SPRING_CONSTRAINT_H
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#define GENERIC_6DOF_SPRING_CONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btTypedConstraint.h"
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#include "btGeneric6DofConstraint.h"
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/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF
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/// DOF index used in enableSpring() and setStiffness() means:
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/// 0 : translation X
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/// 1 : translation Y
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/// 2 : translation Z
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/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] )
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/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] )
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/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] )
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class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
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{
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protected:
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bool m_springEnabled[6];
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btScalar m_equilibriumPoint[6];
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btScalar m_springStiffness[6];
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btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping)
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void internalUpdateSprings(btConstraintInfo2* info);
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public:
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btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
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void enableSpring(int index, bool onOff);
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void setStiffness(int index, btScalar stiffness);
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void setDamping(int index, btScalar damping);
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void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
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void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF
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void setEquilibriumPoint(int index, btScalar val);
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virtual void getInfo2 (btConstraintInfo2* info);
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};
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#endif // GENERIC_6DOF_SPRING_CONSTRAINT_H
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