00001 /* 00002 Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org 00003 Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 00004 00005 This software is provided 'as-is', without any express or implied warranty. 00006 In no event will the authors be held liable for any damages arising from the use of this software. 00007 Permission is granted to anyone to use this software for any purpose, 00008 including commercial applications, and to alter it and redistribute it freely, 00009 subject to the following restrictions: 00010 00011 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. 00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 00013 3. This notice may not be removed or altered from any source distribution. 00014 */ 00015 00016 #ifndef BT_HINGE2_CONSTRAINT_H 00017 #define BT_HINGE2_CONSTRAINT_H 00018 00019 00020 00021 #include "LinearMath/btVector3.h" 00022 #include "btTypedConstraint.h" 00023 #include "btGeneric6DofSpringConstraint.h" 00024 00025 00026 00027 // Constraint similar to ODE Hinge2 Joint 00028 // has 3 degrees of frredom: 00029 // 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2) 00030 // 1 translational (along axis Z) with suspension spring 00031 00032 ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpringConstraint 00033 { 00034 protected: 00035 btVector3 m_anchor; 00036 btVector3 m_axis1; 00037 btVector3 m_axis2; 00038 public: 00039 BT_DECLARE_ALIGNED_ALLOCATOR(); 00040 00041 // constructor 00042 // anchor, axis1 and axis2 are in world coordinate system 00043 // axis1 must be orthogonal to axis2 00044 btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2); 00045 // access 00046 const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); } 00047 const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); } 00048 const btVector3& getAxis1() { return m_axis1; } 00049 const btVector3& getAxis2() { return m_axis2; } 00050 btScalar getAngle1() { return getAngle(2); } 00051 btScalar getAngle2() { return getAngle(0); } 00052 // limits 00053 void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); } 00054 void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); } 00055 }; 00056 00057 00058 00059 #endif // BT_HINGE2_CONSTRAINT_H 00060