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Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h | 90 |
1 files changed, 90 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h new file mode 100644 index 00000000000..bc25eaa759c --- /dev/null +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h @@ -0,0 +1,90 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef TYPED_CONSTRAINT_H +#define TYPED_CONSTRAINT_H + +class btRigidBody; +#include "LinearMath/btScalar.h" + +///TypedConstraint is the baseclass for Bullet constraints and vehicles +class btTypedConstraint +{ + int m_userConstraintType; + int m_userConstraintId; + + +protected: + btRigidBody& m_rbA; + btRigidBody& m_rbB; + float m_appliedImpulse; + + +public: + + btTypedConstraint(); + virtual ~btTypedConstraint() {}; + btTypedConstraint(btRigidBody& rbA); + + btTypedConstraint(btRigidBody& rbA,btRigidBody& rbB); + + virtual void buildJacobian() = 0; + + virtual void solveConstraint(btScalar timeStep) = 0; + + const btRigidBody& getRigidBodyA() const + { + return m_rbA; + } + const btRigidBody& getRigidBodyB() const + { + return m_rbB; + } + + btRigidBody& getRigidBodyA() + { + return m_rbA; + } + btRigidBody& getRigidBodyB() + { + return m_rbB; + } + + int getUserConstraintType() const + { + return m_userConstraintType ; + } + + void setUserConstraintType(int userConstraintType) + { + m_userConstraintType = userConstraintType; + }; + + void setUserConstraintId(int uid) + { + m_userConstraintId = uid; + } + + int getUserConstraintId() + { + return m_userConstraintId; + } + float getAppliedImpulse() + { + return m_appliedImpulse; + } +}; + +#endif //TYPED_CONSTRAINT_H |