85 lines
2.7 KiB
C++
85 lines
2.7 KiB
C++
/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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*
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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*
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef AFX_DGBALLCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_
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#define AFX_DGBALLCONSTRAINT_H__7C9E1F9A_5EC6_48BE_8C9F_FB90132C6619__INCLUDED_
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#include "dgBilateralConstraint.h"
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// template<class T> class dgPool;
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class dgBallConstraint;
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typedef void(dgApi *dgBallJointFriction)(const NewtonJoint *const ball, dFloat timestep);
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class dgBallConstraint : public dgBilateralConstraint {
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public:
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dgVector GetJointAngle() const;
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dgVector GetJointOmega() const;
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dgVector GetJointForce() const;
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void SetJointParameterCallBack(dgBallJointFriction callback);
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bool GetTwistLimitState() const;
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void SetTwistLimitState(bool state);
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bool GetConeLimitState() const;
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void SetConeLimitState(bool state);
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bool GetLatealLimitState() const;
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void SetLatealLimitState(bool state);
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void SetLimits(const dgVector &coneDir, dgFloat32 minConeAngle, dgFloat32 maxConeAngle, dgFloat32 maxTwistAngle,
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const dgVector &bilateralDir, dgFloat32 negativeBilateralConeAngle, dgFloat32 positiveBilateralConeAngle);
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private:
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dgBallConstraint();
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virtual ~dgBallConstraint();
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// virtual void Remove (dgWorld* world);
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void SetPivotPoint(const dgVector &pivot);
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virtual dgUnsigned32 JacobianDerivative(dgContraintDescritor ¶ms);
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// static dgBallConstraint* Create(dgWorld* world);
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dgVector m_angles;
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union limits {
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unsigned m_ballLimits;
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struct s {
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dgUnsigned32 m_coneLimit : 1;
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dgUnsigned32 m_twistLimit : 1;
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dgUnsigned32 m_lateralLimit : 1;
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} s;
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} limits;
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dgFloat32 m_coneAngle;
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dgFloat32 m_twistAngle;
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dgFloat32 m_coneAngleCos;
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dgBallJointFriction m_jointUserCallback;
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// dgUnsigned32 m_reserve[3];
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friend class dgWorld;
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// friend class dgPool<dgBallConstraint>;
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};
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// class dgBallConstraintArray: public dgPoolContainer<dgBallConstraint>
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//{
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// };
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#endif
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