diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h | 31 |
1 files changed, 15 insertions, 16 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h index b2e219ac159..ef03a557ec5 100644 --- a/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h +++ b/extern/bullet2/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h @@ -22,20 +22,20 @@ subject to the following restrictions: //#define BTMBP2PCONSTRAINT_BLOCK_ANGULAR_MOTION_TEST -class btMultiBodyPoint2Point : public btMultiBodyConstraint +ATTRIBUTE_ALIGNED16(class) +btMultiBodyPoint2Point : public btMultiBodyConstraint { protected: - - btRigidBody* m_rigidBodyA; - btRigidBody* m_rigidBodyB; - btVector3 m_pivotInA; - btVector3 m_pivotInB; - + btRigidBody* m_rigidBodyA; + btRigidBody* m_rigidBodyB; + btVector3 m_pivotInA; + btVector3 m_pivotInB; public: + BT_DECLARE_ALIGNED_ALLOCATOR(); - btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB); - btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB); + btMultiBodyPoint2Point(btMultiBody * body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB); + btMultiBodyPoint2Point(btMultiBody * bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB); virtual ~btMultiBodyPoint2Point(); @@ -44,22 +44,21 @@ public: virtual int getIslandIdA() const; virtual int getIslandIdB() const; - virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, - btMultiBodyJacobianData& data, - const btContactSolverInfo& infoGlobal); + virtual void createConstraintRows(btMultiBodyConstraintArray & constraintRows, + btMultiBodyJacobianData & data, + const btContactSolverInfo& infoGlobal); const btVector3& getPivotInB() const { return m_pivotInB; } - void setPivotInB(const btVector3& pivotInB) + virtual void setPivotInB(const btVector3& pivotInB) { m_pivotInB = pivotInB; } - virtual void debugDraw(class btIDebugDraw* drawer); - + virtual void debugDraw(class btIDebugDraw * drawer); }; -#endif //BT_MULTIBODY_POINT2POINT_H +#endif //BT_MULTIBODY_POINT2POINT_H |