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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h | 68 |
1 files changed, 0 insertions, 68 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h deleted file mode 100644 index bf39acc5b9..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h +++ /dev/null @@ -1,68 +0,0 @@ -/* -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. -*/ - -///This file was written by Erwin Coumans - -#ifndef BT_MULTIBODY_POINT2POINT_H -#define BT_MULTIBODY_POINT2POINT_H - -#include "btMultiBodyConstraint.h" - -//#define BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST - -ATTRIBUTE_ALIGNED16(class) btMultiBodyPoint2Point : public btMultiBodyConstraint -{ -protected: - - btRigidBody* m_rigidBodyA; - btRigidBody* m_rigidBodyB; - btVector3 m_pivotInA; - btVector3 m_pivotInB; - - -public: - - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB); - btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB); - - virtual ~btMultiBodyPoint2Point(); - - virtual void finalizeMultiDof(); - - virtual int getIslandIdA() const; - virtual int getIslandIdB() const; - - virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, - btMultiBodyJacobianData& data, - const btContactSolverInfo& infoGlobal); - - const btVector3& getPivotInB() const - { - return m_pivotInB; - } - - virtual void setPivotInB(const btVector3& pivotInB) - { - m_pivotInB = pivotInB; - } - - - virtual void debugDraw(class btIDebugDraw* drawer); - -}; - -#endif //BT_MULTIBODY_POINT2POINT_H |