Bullet Collision Detection & Physics Library: btMultiBodyJointLimitConstraint.h Source File

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btMultiBodyJointLimitConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
17 #define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
18
19 #include "btMultiBodyConstraint.h"
20 struct btSolverInfo;
21
22 class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint
23 {
24 protected:
25
26 btScalar m_lowerBound;
27 btScalar m_upperBound;
28 public:
29
30 btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);
31 virtual ~btMultiBodyJointLimitConstraint();
32
33 virtual int getIslandIdA() const;
34 virtual int getIslandIdB() const;
35
36 virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
37 btMultiBodyJacobianData& data,
38 const btContactSolverInfo& infoGlobal);
39
40 virtual void debugDraw(class btIDebugDraw* drawer)
41 {
42 //todo(erwincoumans)
43 }
44
45 };
46
47 #endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
48
btMultiBodyJointLimitConstraint::createConstraintRows
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
Definition: btMultiBodyJointLimitConstraint.cpp:84
btAlignedObjectArray< btMultiBodySolverConstraint >
btMultiBodyJointLimitConstraint::m_upperBound
btScalar m_upperBound
Definition: btMultiBodyJointLimitConstraint.h:27
btMultiBodyConstraint.h
btMultiBodyJointLimitConstraint::m_lowerBound
btScalar m_lowerBound
Definition: btMultiBodyJointLimitConstraint.h:26
btMultiBody
Definition: btMultiBody.h:37
btMultiBodyConstraint
Definition: btMultiBodyConstraint.h:42
btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint
virtual ~btMultiBodyJointLimitConstraint()
Definition: btMultiBodyJointLimitConstraint.cpp:45
btMultiBodyJointLimitConstraint::getIslandIdA
virtual int getIslandIdA() const
Definition: btMultiBodyJointLimitConstraint.cpp:49
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:28
btMultiBodyJointLimitConstraint::debugDraw
virtual void debugDraw(class btIDebugDraw *drawer)
Definition: btMultiBodyJointLimitConstraint.h:40
btMultiBodyJacobianData
Definition: btMultiBodyConstraint.h:28
btMultiBodyJointLimitConstraint::btMultiBodyJointLimitConstraint
btMultiBodyJointLimitConstraint(btMultiBody *body, int link, btScalar lower, btScalar upper)
This file was written by Erwin Coumans.
Definition: btMultiBodyJointLimitConstraint.cpp:24
btContactSolverInfo
Definition: btContactSolverInfo.h:65
btMultiBodyJointLimitConstraint
Definition: btMultiBodyJointLimitConstraint.h:22
btMultiBodyJointLimitConstraint::getIslandIdB
virtual int getIslandIdB() const
Definition: btMultiBodyJointLimitConstraint.cpp:65
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278