diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h | 47 |
1 files changed, 47 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h new file mode 100644 index 00000000000..43869348141 --- /dev/null +++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h @@ -0,0 +1,47 @@ +/* +Bullet Continuous Collision Detection and Physics Library +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, +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. +*/ + +///This file was written by Erwin Coumans + +#ifndef BT_MULTIBODY_JOINT_MOTOR_H +#define BT_MULTIBODY_JOINT_MOTOR_H + +#include "btMultiBodyConstraint.h" +struct btSolverInfo; + +class btMultiBodyJointMotor : public btMultiBodyConstraint +{ +protected: + + + btScalar m_desiredVelocity; + +public: + + btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse); + virtual ~btMultiBodyJointMotor(); + + virtual int getIslandIdA() const; + virtual int getIslandIdB() const; + + virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal); + + +}; + +#endif //BT_MULTIBODY_JOINT_MOTOR_H + |