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Diffstat (limited to 'modules/bullet/cone_twist_joint_bullet.h')
| -rw-r--r-- | modules/bullet/cone_twist_joint_bullet.h | 58 |
1 files changed, 58 insertions, 0 deletions
diff --git a/modules/bullet/cone_twist_joint_bullet.h b/modules/bullet/cone_twist_joint_bullet.h new file mode 100644 index 0000000000..1ce5ef9826 --- /dev/null +++ b/modules/bullet/cone_twist_joint_bullet.h @@ -0,0 +1,58 @@ +/*************************************************************************/ +/* cone_twist_joint_bullet.h */ +/* Author: AndreaCatania */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#ifndef CONE_TWIST_JOINT_BULLET_H +#define CONE_TWIST_JOINT_BULLET_H + +#include "joint_bullet.h" + +class RigidBodyBullet; + +class ConeTwistJointBullet : public JointBullet { + class btConeTwistConstraint *coneConstraint; + +public: + ConeTwistJointBullet(RigidBodyBullet *rbA, RigidBodyBullet *rbB, const Transform &rbAFrame, const Transform &rbBFrame); + + virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_CONE_TWIST; } + + void set_angular_only(bool angularOnly); + + void set_limit(real_t _swingSpan1, real_t _swingSpan2, real_t _twistSpan, real_t _softness = 0.8f, real_t _biasFactor = 0.3f, real_t _relaxationFactor = 1.0f); + int get_solve_twist_limit(); + + int get_solve_swing_limit(); + real_t get_twist_limit_sign(); + + void set_param(PhysicsServer::ConeTwistJointParam p_param, real_t p_value); + real_t get_param(PhysicsServer::ConeTwistJointParam p_param) const; +}; +#endif |