Bullet Collision Detection & Physics Library
btMultiBodyPoint2Point.h
Go to the documentation of this file.
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 
17 
18 #ifndef BT_MULTIBODY_POINT2POINT_H
19 #define BT_MULTIBODY_POINT2POINT_H
20 
21 #include "btMultiBodyConstraint.h"
22 
24 {
25 protected:
26 
31 
32 
33 public:
34 
35  btMultiBodyPoint2Point(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB);
36  btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB);
37 
38  virtual ~btMultiBodyPoint2Point();
39 
40  virtual int getIslandIdA() const;
41  virtual int getIslandIdB() const;
42 
43  virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
45  const btContactSolverInfo& infoGlobal);
46 
47  const btVector3& getPivotInB() const
48  {
49  return m_pivotInB;
50  }
51 
52  void setPivotInB(const btVector3& pivotInB)
53  {
54  m_pivotInB = pivotInB;
55  }
56 
57 
58 };
59 
60 #endif //BT_MULTIBODY_POINT2POINT_H
const btVector3 & getPivotInB() const
virtual int getIslandIdA() const
btMultiBodyPoint2Point(btMultiBody *body, int link, btRigidBody *bodyB, const btVector3 &pivotInA, const btVector3 &pivotInB)
This file was written by Erwin Coumans.
virtual void createConstraintRows(btMultiBodyConstraintArray &constraintRows, btMultiBodyJacobianData &data, const btContactSolverInfo &infoGlobal)
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
void setPivotInB(const btVector3 &pivotInB)
virtual int getIslandIdB() const
This file was written by Erwin Coumans.