diff options
| author | Oussama <o.boukhelf@gmail.com> | 2019-01-03 14:26:51 +0100 |
|---|---|---|
| committer | Rémi Verschelde <rverschelde@gmail.com> | 2019-01-07 12:30:35 +0100 |
| commit | 22b7c9dfa80d0f7abca40f061865c2ab3c136a74 (patch) | |
| tree | 311cd3f22b012329160f9d43810aea429994af48 /thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h | |
| parent | a6722cf36251ddcb538e6ebed9fa4950342b68ba (diff) | |
Update Bullet to the latest commit 126b676
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h | 103 |
1 files changed, 50 insertions, 53 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h index 0a6cf3df12..b192b6f8f3 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodySliderConstraint.h @@ -23,17 +23,15 @@ subject to the following restrictions: class btMultiBodySliderConstraint : public btMultiBodyConstraint { protected: - - btRigidBody* m_rigidBodyA; - btRigidBody* m_rigidBodyB; - btVector3 m_pivotInA; - btVector3 m_pivotInB; - btMatrix3x3 m_frameInA; - btMatrix3x3 m_frameInB; - btVector3 m_jointAxis; + btRigidBody* m_rigidBodyA; + btRigidBody* m_rigidBodyB; + btVector3 m_pivotInA; + btVector3 m_pivotInB; + btMatrix3x3 m_frameInA; + btMatrix3x3 m_frameInB; + btVector3 m_jointAxis; public: - btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis); btMultiBodySliderConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis); @@ -45,18 +43,18 @@ 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 { @@ -67,39 +65,38 @@ 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; - } - - const btVector3& getJointAxis() const - { - return m_jointAxis; - } - - void setJointAxis(const btVector3& jointAxis) - { - m_jointAxis = jointAxis; - } - 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; + } + + const btVector3& getJointAxis() const + { + return m_jointAxis; + } + + void setJointAxis(const btVector3& jointAxis) + { + m_jointAxis = jointAxis; + } + + virtual void debugDraw(class btIDebugDraw* drawer); }; -#endif //BT_MULTIBODY_SLIDER_CONSTRAINT_H +#endif //BT_MULTIBODY_SLIDER_CONSTRAINT_H |