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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h | 50 |
1 files changed, 50 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h new file mode 100644 index 0000000000..55b8d122b9 --- /dev/null +++ b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h @@ -0,0 +1,50 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://bulletphysics.org + +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_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H +#define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H + +#include "btMultiBodyConstraint.h" +struct btSolverInfo; + +class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint +{ +protected: + + btScalar m_lowerBound; + btScalar m_upperBound; +public: + + btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper); + virtual ~btMultiBodyJointLimitConstraint(); + + virtual void finalizeMultiDof(); + + virtual int getIslandIdA() const; + virtual int getIslandIdB() const; + + virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal); + + virtual void debugDraw(class btIDebugDraw* drawer) + { + //todo(erwincoumans) + } + +}; + +#endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H + |