diff options
Diffstat (limited to 'src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h')
| -rw-r--r-- | src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h | 154 |
1 files changed, 77 insertions, 77 deletions
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h index 8d7210600..1aca36352 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h +++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h @@ -1,77 +1,77 @@ -/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
-
-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.
-*/
-
-///This file was written by Erwin Coumans
-
-#ifndef BT_MULTIBODY_JOINT_MOTOR_H
-#define BT_MULTIBODY_JOINT_MOTOR_H
-
-#include "btMultiBodyConstraint.h"
-struct btSolverInfo;
-
-class btMultiBodyJointMotor : public btMultiBodyConstraint
-{
-protected:
- btScalar m_desiredVelocity;
- btScalar m_desiredPosition;
- btScalar m_kd;
- btScalar m_kp;
- btScalar m_erp;
- btScalar m_rhsClamp; //maximum error
-
-public:
- btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse);
- btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse);
- virtual ~btMultiBodyJointMotor();
- virtual void finalizeMultiDof();
-
- virtual int getIslandIdA() const;
- virtual int getIslandIdB() const;
-
- virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
- btMultiBodyJacobianData& data,
- const btContactSolverInfo& infoGlobal);
-
- virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f)
- {
- m_desiredVelocity = velTarget;
- m_kd = kd;
- }
-
- virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f)
- {
- m_desiredPosition = posTarget;
- m_kp = kp;
- }
-
- virtual void setErp(btScalar erp)
- {
- m_erp = erp;
- }
- virtual btScalar getErp() const
- {
- return m_erp;
- }
- virtual void setRhsClamp(btScalar rhsClamp)
- {
- m_rhsClamp = rhsClamp;
- }
- virtual void debugDraw(class btIDebugDraw* drawer)
- {
- //todo(erwincoumans)
- }
-};
-
-#endif //BT_MULTIBODY_JOINT_MOTOR_H
+/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2013 Erwin Coumans http://bulletphysics.org + +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. +*/ + +///This file was written by Erwin Coumans + +#ifndef BT_MULTIBODY_JOINT_MOTOR_H +#define BT_MULTIBODY_JOINT_MOTOR_H + +#include "btMultiBodyConstraint.h" +struct btSolverInfo; + +class btMultiBodyJointMotor : public btMultiBodyConstraint +{ +protected: + btScalar m_desiredVelocity; + btScalar m_desiredPosition; + btScalar m_kd; + btScalar m_kp; + btScalar m_erp; + btScalar m_rhsClamp; //maximum error + +public: + btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse); + btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse); + virtual ~btMultiBodyJointMotor(); + virtual void finalizeMultiDof(); + + virtual int getIslandIdA() const; + virtual int getIslandIdB() const; + + virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, + btMultiBodyJacobianData& data, + const btContactSolverInfo& infoGlobal); + + virtual void setVelocityTarget(btScalar velTarget, btScalar kd = 1.f) + { + m_desiredVelocity = velTarget; + m_kd = kd; + } + + virtual void setPositionTarget(btScalar posTarget, btScalar kp = 1.f) + { + m_desiredPosition = posTarget; + m_kp = kp; + } + + virtual void setErp(btScalar erp) + { + m_erp = erp; + } + virtual btScalar getErp() const + { + return m_erp; + } + virtual void setRhsClamp(btScalar rhsClamp) + { + m_rhsClamp = rhsClamp; + } + virtual void debugDraw(class btIDebugDraw* drawer) + { + //todo(erwincoumans) + } +}; + +#endif //BT_MULTIBODY_JOINT_MOTOR_H |