22 #ifndef _BULLETBALLJOINT_HH_
23 #define _BULLETBALLJOINT_HH_
30 class btPoint2PointConstraint;
50 public:
virtual void Load(sdf::ElementPtr _sdf);
53 public:
virtual void Init();
56 public: ignition::math::Vector3d Anchor(
57 const unsigned int _index)
const;
60 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
63 public:
virtual double GetVelocity(
unsigned int _index)
const;
66 public:
virtual void SetUpperLimit(
const unsigned int _index,
70 public:
virtual void SetLowerLimit(
const unsigned int _index,
74 public:
virtual double PositionImpl(
const unsigned int _index)
const;
77 public:
virtual ignition::math::Vector3d GlobalAxis(
78 const unsigned int _index)
const;
81 protected:
virtual void SetForceImpl(
unsigned int _index,
double _torque);
84 public:
virtual void SetAxis(
const unsigned int _index,
85 const ignition::math::Vector3d &_axis);
88 public:
virtual double UpperLimit(
const unsigned int _index)
const;
91 public:
virtual double LowerLimit(
const unsigned int _index)
const;
94 private: btPoint2PointConstraint *bulletBall;
BulletBallJoint class models a ball joint in Bullet.
Definition: BulletBallJoint.hh:41
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
Base class for a ball joint.
Definition: BallJoint.hh:40