86 lines
2.7 KiB
C++
86 lines
2.7 KiB
C++
// Filename: bulletSphericalConstraint.h
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// Created by: enn0x (01Mar10)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#ifndef __BULLET_SPHERICAL_CONSTRAINT_H__
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#define __BULLET_SPHERICAL_CONSTRAINT_H__
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#include "pandabase.h"
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#include "bullet_includes.h"
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#include "bullet_utils.h"
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#include "bulletConstraint.h"
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#include "luse.h"
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class BulletRigidBodyNode;
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////////////////////////////////////////////////////////////////////
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// Class : BulletSphericalConstraint
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// Description : A constraint between two rigid bodies, each with a
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// pivot point. The pivot points are described in the
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// body's local space. The constraint limits movement
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// of the two rigid bodies in such a way that the
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// pivot points match in global space. The spherical
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// constraint can be seen as a "ball and socket"
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// joint.
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////////////////////////////////////////////////////////////////////
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class EXPCL_PANDABULLET BulletSphericalConstraint : public BulletConstraint {
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PUBLISHED:
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BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
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const LPoint3 &pivot_a);
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BulletSphericalConstraint(const BulletRigidBodyNode *node_a,
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const BulletRigidBodyNode *node_b,
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const LPoint3 &pivot_a,
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const LPoint3 &pivot_b);
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INLINE ~BulletSphericalConstraint();
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// Pivots
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void set_pivot_a(const LPoint3 &pivot_a);
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void set_pivot_b(const LPoint3 &pivot_b);
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LPoint3 get_pivot_in_a() const;
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LPoint3 get_pivot_in_b() const;
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public:
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virtual btTypedConstraint *ptr() const;
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private:
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btPoint2PointConstraint *_constraint;
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////////////////////////////////////////////////////////////////////
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type() {
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BulletConstraint::init_type();
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register_type(_type_handle, "BulletSphericalConstraint",
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BulletConstraint::get_class_type());
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}
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virtual TypeHandle get_type() const {
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return get_class_type();
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}
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virtual TypeHandle force_init_type() {
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init_type();
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return get_class_type();
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}
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private:
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static TypeHandle _type_handle;
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};
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#include "bulletSphericalConstraint.I"
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#endif // __BULLET_SPHERICAL_CONSTRAINT_H__
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