51 lines
1.7 KiB
C
51 lines
1.7 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
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#define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
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#include "btMultiBodyConstraint.h"
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struct btSolverInfo;
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class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint
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{
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protected:
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btScalar m_lowerBound;
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btScalar m_upperBound;
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public:
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btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);
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virtual ~btMultiBodyJointLimitConstraint();
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virtual void finalizeMultiDof();
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virtual int getIslandIdA() const;
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virtual int getIslandIdB() const;
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virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
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btMultiBodyJacobianData& data,
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const btContactSolverInfo& infoGlobal);
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virtual void debugDraw(class btIDebugDraw* drawer)
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{
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//todo(erwincoumans)
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}
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};
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#endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
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