diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h | 20 |
1 files changed, 15 insertions, 5 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h index 43869348141..011aadcfa4b 100644 --- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h +++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h @@ -4,8 +4,8 @@ Copyright (c) 2013 Erwin Coumans http://bulletphysics.org 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, +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. @@ -25,13 +25,15 @@ class btMultiBodyJointMotor : public btMultiBodyConstraint { protected: - + btScalar m_desiredVelocity; public: btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse); + btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse); virtual ~btMultiBodyJointMotor(); + virtual void finalizeMultiDof(); virtual int getIslandIdA() const; virtual int getIslandIdB() const; @@ -39,8 +41,16 @@ public: virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal); - - + + virtual void setVelocityTarget(btScalar velTarget) + { + m_desiredVelocity = velTarget; + } + + virtual void debugDraw(class btIDebugDraw* drawer) + { + //todo(erwincoumans) + } }; #endif //BT_MULTIBODY_JOINT_MOTOR_H |