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| author | Rémi Verschelde <rverschelde@gmail.com> | 2019-01-07 15:08:41 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2019-01-07 15:08:41 +0100 |
| commit | dab650fcaa3eb37deee5118d678a3763ac78a58a (patch) | |
| tree | 3131df01280f91a61b4721eed132a5b6b21881ba /thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h | |
| parent | a3a537c2cf86ff4bf82385bbd17606654f8013c4 (diff) | |
| parent | 22b7c9dfa80d0f7abca40f061865c2ab3c136a74 (diff) | |
Merge pull request #24740 from OBKF/update-bullet-physics
Update Bullet physics to commit 126b676
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h | 81 |
1 files changed, 39 insertions, 42 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h index 036025136e..adb1cb47da 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h @@ -23,16 +23,14 @@ subject to the following restrictions: class btMultiBodyFixedConstraint : public btMultiBodyConstraint { protected: - - btRigidBody* m_rigidBodyA; - btRigidBody* m_rigidBodyB; - btVector3 m_pivotInA; - btVector3 m_pivotInB; - btMatrix3x3 m_frameInA; - btMatrix3x3 m_frameInB; + btRigidBody* m_rigidBodyA; + btRigidBody* m_rigidBodyB; + btVector3 m_pivotInA; + btVector3 m_pivotInB; + btMatrix3x3 m_frameInA; + btMatrix3x3 m_frameInB; public: - btMultiBodyFixedConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB); btMultiBodyFixedConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB); @@ -44,18 +42,18 @@ public: virtual int getIslandIdB() const; virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, - btMultiBodyJacobianData& data, - const btContactSolverInfo& infoGlobal); - - const btVector3& getPivotInA() const - { - return m_pivotInA; - } - - void setPivotInA(const btVector3& pivotInA) - { - m_pivotInA = pivotInA; - } + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal); + + const btVector3& getPivotInA() const + { + return m_pivotInA; + } + + void setPivotInA(const btVector3& pivotInA) + { + m_pivotInA = pivotInA; + } const btVector3& getPivotInB() const { @@ -66,29 +64,28 @@ public: { m_pivotInB = pivotInB; } - - const btMatrix3x3& getFrameInA() const - { - return m_frameInA; - } - - void setFrameInA(const btMatrix3x3& frameInA) - { - m_frameInA = frameInA; - } - - const btMatrix3x3& getFrameInB() const - { - return m_frameInB; - } - - virtual void setFrameInB(const btMatrix3x3& frameInB) - { - m_frameInB = frameInB; - } - virtual void debugDraw(class btIDebugDraw* drawer); + const btMatrix3x3& getFrameInA() const + { + return m_frameInA; + } + void setFrameInA(const btMatrix3x3& frameInA) + { + m_frameInA = frameInA; + } + + const btMatrix3x3& getFrameInB() const + { + return m_frameInB; + } + + virtual void setFrameInB(const btMatrix3x3& frameInB) + { + m_frameInB = frameInB; + } + + virtual void debugDraw(class btIDebugDraw* drawer); }; -#endif //BT_MULTIBODY_FIXED_CONSTRAINT_H +#endif //BT_MULTIBODY_FIXED_CONSTRAINT_H |