17 #ifndef _GAZEBO_BULLETUNIVERSALJOINT_HH_
18 #define _GAZEBO_BULLETUNIVERSALJOINT_HH_
27 class btUniversalConstraint;
48 public:
virtual void Load(sdf::ElementPtr _sdf);
51 public:
virtual void Init();
54 public:
virtual ignition::math::Vector3d Anchor(
55 const unsigned int _index)
const;
58 public:
void SetAxis(
const unsigned int _index,
59 const ignition::math::Vector3d &_axis);
62 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
65 public:
virtual double GetVelocity(
unsigned int _index)
const;
68 public:
virtual void SetUpperLimit(
const unsigned int _index,
72 public:
virtual void SetLowerLimit(
const unsigned int _index,
76 public:
virtual double UpperLimit(
const unsigned int _index)
const;
79 public:
virtual double LowerLimit(
const unsigned int _index)
const;
82 public:
virtual ignition::math::Vector3d GlobalAxis(
83 const unsigned int _index)
const;
86 public:
virtual double PositionImpl(
const unsigned int _index)
const;
89 public:
virtual bool SetParam(
const std::string &_key,
91 const boost::any &_value);
94 public:
virtual double GetParam(
const std::string &_key,
98 protected:
virtual void SetForceImpl(
unsigned int _index,
double _torque);
105 private:
double angleOffset[2];
109 private: ignition::math::Vector3d initialWorldAxis[2];
Functions that implement a universal joint/constraint using bullet.
Definition: gzBtUniversalConstraint.hh:28
A bullet universal joint class.
Definition: BulletUniversalJoint.hh:38
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
A universal joint.
Definition: UniversalJoint.hh:35
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77