74 lines
2.4 KiB
C++
74 lines
2.4 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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#if !defined(AFX_DGUNIVERSALCONSTRAINT_H__3FA456TR_INCLUDED)
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#define AFX_DGUNIVERSALCONSTRAINT_H__3FA456TR_INCLUDED
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#include "dgBilateralConstraint.h"
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//template<class T> class dgPool;
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class dgUniversalConstraint;
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typedef dgUnsigned32(dgApi *dgUniversalJointAcceleration)(const NewtonJoint *const universal, NewtonHingeSliderUpdateDesc *const desc);
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class dgUniversalConstraint: public dgBilateralConstraint {
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public:
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dgFloat32 GetJointAngle0() const;
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dgFloat32 GetJointAngle1() const;
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dgFloat32 GetJointOmega0() const;
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dgFloat32 GetJointOmega1() const;
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dgVector GetJointForce() const;
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dgFloat32 CalculateStopAlpha0(dgFloat32 angle, const dgJointCallBackParam *param) const;
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dgFloat32 CalculateStopAlpha1(dgFloat32 angle, const dgJointCallBackParam *param) const;
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void SetJointParameterCallBack(dgUniversalJointAcceleration callback);
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private:
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virtual dgUnsigned32 JacobianDerivative(dgContraintDescritor ¶ms);
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// virtual void Remove(dgWorld* world);
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dgUniversalConstraint();
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virtual ~dgUniversalConstraint();
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// static dgUniversalConstraint* Create(dgWorld* world);
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dgFloat32 m_angle0;
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dgFloat32 m_angle1;
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dgUniversalJointAcceleration m_jointAccelFnt;
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//#ifdef __USE_DOUBLE_PRECISION__
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// dgUnsigned32 m_reserve[3];
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//#else
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// dgUnsigned32 m_reserve[1];
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//#endif
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friend class dgWorld;
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// friend class dgPool<dgUniversalConstraint>;
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};
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//class dgUniversalConstraintArray: public dgPoolContainer<dgUniversalConstraint>
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//{
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//};
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#endif // !defined(AFX_DGUNIVERSALCONSTRAINT_H__3FA456TR_INCLUDED)
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