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Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.


#include "LinearMath/btVector3.h"
#include "btJacobianEntry.h"
#include "btTypedConstraint.h"

class btRigidBody;

struct      btConstraintSetting
      btConstraintSetting()   :
      btScalar          m_tau;
      btScalar          m_damping;
      btScalar          m_impulseClamp;

/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
00039 class btPoint2PointConstraint : public btTypedConstraint
      btJacobianEntry   m_jac[3]; //3 orthogonal linear constraints
      btVector3   m_pivotInA;
      btVector3   m_pivotInB;

      btConstraintSetting     m_setting;

      btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);

      btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);


      virtual void      buildJacobian();

      virtual     void  solveConstraint(btScalar      timeStep);

      void  updateRHS(btScalar      timeStep);

      void  setPivotA(const btVector3& pivotA)
            m_pivotInA = pivotA;

      void  setPivotB(const btVector3& pivotB)
            m_pivotInB = pivotB;

      const btVector3& getPivotInA() const
            return m_pivotInA;

      const btVector3& getPivotInB() const
            return m_pivotInB;



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