Merge pull request #12641 from AndreaCatania/bullet

Bullet physics wrapper

1 files changed, 60 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
new file mode 100644
index 0000000000..06a8e3ecd1
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+++ b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btHinge2Constraint.h
@@ -0,0 +1,60 @@
+/*
+Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
+Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
+
+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.
+*/
+
+#ifndef BT_HINGE2_CONSTRAINT_H
+#define BT_HINGE2_CONSTRAINT_H
+
+
+
+#include "LinearMath/btVector3.h"
+#include "btTypedConstraint.h"
+#include "btGeneric6DofSpring2Constraint.h"
+
+
+
+// Constraint similar to ODE Hinge2 Joint
+// has 3 degrees of frredom:
+// 2 rotational degrees of freedom, similar to Euler rotations around Z (axis 1) and X (axis 2)
+// 1 translational (along axis Z) with suspension spring
+
+ATTRIBUTE_ALIGNED16(class) btHinge2Constraint : public btGeneric6DofSpring2Constraint
+{
+protected:
+	btVector3	m_anchor;
+	btVector3	m_axis1;
+	btVector3	m_axis2;
+public:
+		BT_DECLARE_ALIGNED_ALLOCATOR();
+		
+	// constructor
+	// anchor, axis1 and axis2 are in world coordinate system
+	// axis1 must be orthogonal to axis2
+    btHinge2Constraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2);
+	// access
+	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
+	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
+	const btVector3& getAxis1() { return m_axis1; }
+	const btVector3& getAxis2() { return m_axis2; }
+	btScalar getAngle1() { return getAngle(2); }
+	btScalar getAngle2() { return getAngle(0); }
+	// limits
+	void setUpperLimit(btScalar ang1max) { setAngularUpperLimit(btVector3(-1.f, 0.f, ang1max)); }
+	void setLowerLimit(btScalar ang1min) { setAngularLowerLimit(btVector3( 1.f, 0.f, ang1min)); }
+};
+
+
+
+#endif // BT_HINGE2_CONSTRAINT_H
+