Bullet Collision Detection & Physics Library
btMultiBodyJointLimitConstraint.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
17 #define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
18 
19 #include "btMultiBodyConstraint.h"
20 struct btSolverInfo;
21 
23 {
24 protected:
25 
28 public:
29 
30  btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);
32 
33  virtual int getIslandIdA() const;
34  virtual int getIslandIdB() const;
35 
36  virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
38  const btContactSolverInfo& infoGlobal);
39 
40 
41 };
42 
43 #endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
44 
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
btMultiBodyJointLimitConstraint(btMultiBody *body, int link, btScalar lower, btScalar upper)
This file was written by Erwin Coumans.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266