diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h | 30 |
1 files changed, 12 insertions, 18 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h index 9e70841043..8c24d93a64 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h @@ -16,35 +16,32 @@ subject to the following restrictions: #ifndef BT_UNIVERSAL_CONSTRAINT_H #define BT_UNIVERSAL_CONSTRAINT_H - - #include "LinearMath/btVector3.h" #include "btTypedConstraint.h" #include "btGeneric6DofConstraint.h" - - /// Constraint similar to ODE Universal Joint /// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1) /// and Y (axis 2) -/// Description from ODE manual : -/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. +/// Description from ODE manual : +/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. /// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal." -ATTRIBUTE_ALIGNED16(class) btUniversalConstraint : public btGeneric6DofConstraint +ATTRIBUTE_ALIGNED16(class) +btUniversalConstraint : public btGeneric6DofConstraint { protected: - btVector3 m_anchor; - btVector3 m_axis1; - btVector3 m_axis2; + btVector3 m_anchor; + btVector3 m_axis1; + btVector3 m_axis2; + public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - + // constructor // anchor, axis1 and axis2 are in world coordinate system // axis1 must be orthogonal to axis2 - btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2); + btUniversalConstraint(btRigidBody & rbA, btRigidBody & rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2); // access const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); } const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); } @@ -56,10 +53,7 @@ public: void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); } void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); } - void setAxis( const btVector3& axis1, const btVector3& axis2); + void setAxis(const btVector3& axis1, const btVector3& axis2); }; - - -#endif // BT_UNIVERSAL_CONSTRAINT_H - +#endif // BT_UNIVERSAL_CONSTRAINT_H |