diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h | 29 |
1 files changed, 21 insertions, 8 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h index 55b8d122b97..b810692b4ce 100644 --- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h +++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h @@ -22,11 +22,10 @@ struct btSolverInfo; class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint { protected: + btScalar m_lowerBound; + btScalar m_upperBound; - btScalar m_lowerBound; - btScalar m_upperBound; public: - btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper); virtual ~btMultiBodyJointLimitConstraint(); @@ -36,15 +35,29 @@ public: virtual int getIslandIdB() const; virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, - btMultiBodyJacobianData& data, - const btContactSolverInfo& infoGlobal); + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal); virtual void debugDraw(class btIDebugDraw* drawer) { //todo(erwincoumans) } - + btScalar getLowerBound() const + { + return m_lowerBound; + } + btScalar getUpperBound() const + { + return m_upperBound; + } + void setLowerBound(btScalar lower) + { + m_lowerBound = lower; + } + void setUpperBound(btScalar upper) + { + m_upperBound = upper; + } }; -#endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H - +#endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H |