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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h | 65 |
1 files changed, 0 insertions, 65 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h deleted file mode 100644 index 9e70841043..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btUniversalConstraint.h +++ /dev/null @@ -1,65 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org -Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -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. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#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. -/// 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 -{ -protected: - 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); - // access - const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); } - const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); } - const btVector3& getAxis1() { return m_axis1; } - const btVector3& getAxis2() { return m_axis2; } - btScalar getAngle1() { return getAngle(2); } - btScalar getAngle2() { return getAngle(1); } - // limits - 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); -}; - - - -#endif // BT_UNIVERSAL_CONSTRAINT_H - |