bullet: btGeneric6DofSpringConstraint.h Source File

00001 /*
00002 Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
00003 Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef GENERIC_6DOF_SPRING_CONSTRAINT_H
00017 #define GENERIC_6DOF_SPRING_CONSTRAINT_H
00018 
00019 
00020 #include "LinearMath/btVector3.h"
00021 #include "btTypedConstraint.h"
00022 #include "btGeneric6DofConstraint.h"
00023 
00024 
00026 
00034 
00035 class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint
00036 {
00037 protected:
00038         bool            m_springEnabled[6];
00039         btScalar        m_equilibriumPoint[6];
00040         btScalar        m_springStiffness[6];
00041         btScalar        m_springDamping[6]; // between 0 and 1 (1 == no damping)
00042         void internalUpdateSprings(btConstraintInfo2* info);
00043 public: 
00044     btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
00045         void enableSpring(int index, bool onOff);
00046         void setStiffness(int index, btScalar stiffness);
00047         void setDamping(int index, btScalar damping);
00048         void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
00049         void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
00050         virtual void getInfo2 (btConstraintInfo2* info);
00051 };
00052 
00053 #endif // GENERIC_6DOF_SPRING_CONSTRAINT_H
00054