[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef TYPED_CONSTRAINT_H |
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| 17 | #define TYPED_CONSTRAINT_H |
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| 18 | |
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| 19 | class btRigidBody; |
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| 20 | #include "LinearMath/btScalar.h" |
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| 21 | |
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| 22 | enum btTypedConstraintType |
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| 23 | { |
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| 24 | POINT2POINT_CONSTRAINT_TYPE, |
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| 25 | HINGE_CONSTRAINT_TYPE, |
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| 26 | CONETWIST_CONSTRAINT_TYPE, |
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| 27 | D6_CONSTRAINT_TYPE, |
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| 28 | VEHICLE_CONSTRAINT_TYPE, |
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| 29 | SLIDER_CONSTRAINT_TYPE |
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| 30 | }; |
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| 31 | |
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| 32 | ///TypedConstraint is the baseclass for Bullet constraints and vehicles |
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| 33 | class btTypedConstraint |
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| 34 | { |
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| 35 | int m_userConstraintType; |
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| 36 | int m_userConstraintId; |
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| 37 | |
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| 38 | btTypedConstraintType m_constraintType; |
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| 39 | |
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| 40 | btTypedConstraint& operator=(btTypedConstraint& other) |
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| 41 | { |
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| 42 | btAssert(0); |
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| 43 | (void) other; |
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| 44 | return *this; |
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| 45 | } |
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| 46 | |
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| 47 | protected: |
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| 48 | btRigidBody& m_rbA; |
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| 49 | btRigidBody& m_rbB; |
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| 50 | btScalar m_appliedImpulse; |
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| 51 | |
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| 52 | |
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| 53 | public: |
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| 54 | |
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| 55 | btTypedConstraint(btTypedConstraintType type); |
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| 56 | virtual ~btTypedConstraint() {}; |
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| 57 | btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA); |
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| 58 | |
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| 59 | btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB); |
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| 60 | |
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| 61 | virtual void buildJacobian() = 0; |
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| 62 | |
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| 63 | virtual void solveConstraint(btScalar timeStep) = 0; |
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| 64 | |
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| 65 | const btRigidBody& getRigidBodyA() const |
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| 66 | { |
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| 67 | return m_rbA; |
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| 68 | } |
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| 69 | const btRigidBody& getRigidBodyB() const |
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| 70 | { |
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| 71 | return m_rbB; |
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| 72 | } |
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| 73 | |
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| 74 | btRigidBody& getRigidBodyA() |
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| 75 | { |
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| 76 | return m_rbA; |
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| 77 | } |
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| 78 | btRigidBody& getRigidBodyB() |
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| 79 | { |
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| 80 | return m_rbB; |
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| 81 | } |
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| 82 | |
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| 83 | int getUserConstraintType() const |
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| 84 | { |
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| 85 | return m_userConstraintType ; |
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| 86 | } |
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| 87 | |
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| 88 | void setUserConstraintType(int userConstraintType) |
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| 89 | { |
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| 90 | m_userConstraintType = userConstraintType; |
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| 91 | }; |
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| 92 | |
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| 93 | void setUserConstraintId(int uid) |
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| 94 | { |
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| 95 | m_userConstraintId = uid; |
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| 96 | } |
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| 97 | |
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| 98 | int getUserConstraintId() const |
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| 99 | { |
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| 100 | return m_userConstraintId; |
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| 101 | } |
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| 102 | |
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| 103 | int getUid() const |
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| 104 | { |
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| 105 | return m_userConstraintId; |
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| 106 | } |
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| 107 | |
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| 108 | btScalar getAppliedImpulse() const |
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| 109 | { |
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| 110 | return m_appliedImpulse; |
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| 111 | } |
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| 112 | |
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| 113 | btTypedConstraintType getConstraintType () const |
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| 114 | { |
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| 115 | return m_constraintType; |
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| 116 | } |
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| 117 | |
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| 118 | }; |
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| 119 | |
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| 120 | #endif //TYPED_CONSTRAINT_H |
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