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 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies.
 * Erwin Coumans makes no representations about the suitability 
 * of this software for any purpose.  
 * It is provided "as is" without express or implied warranty.

#include "SimdVector3.h"

#include "ConstraintSolver/JacobianEntry.h"
class RigidBody;

/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
00021 class Point2PointConstraint
      JacobianEntry     m_jac[3]; //3 orthogonal linear constraints
      RigidBody&  m_rbA;
      RigidBody&  m_rbB;

      SimdVector3 m_pivotInA;
      SimdVector3 m_pivotInB;
      int   m_constraintId;

      Point2PointConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector3& pivotInA,const SimdVector3& pivotInB);

      Point2PointConstraint(RigidBody& rbA,const SimdVector3& pivotInA);


      void  BuildJacobian();

      void  SolveConstraint(SimdScalar    timeStep);

      void  UpdateRHS(SimdScalar    timeStep);

      const RigidBody& GetRigidBodyA() const
            return m_rbA;
      const RigidBody& GetRigidBodyB() const
            return m_rbB;

      int GetConstraintId()
            return m_constraintId;



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