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gazebo
physics
bullet
BulletBallJoint.hh
Go to the documentation of this file.
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/*
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* Copyright 2011 Nate Koenig
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: A ball joint
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* Author: Nate Koenig, Andrew Howard
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* Date: 21 May 2003
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*/
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#ifndef _BULLETBALLJOINT_HH_
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#define _BULLETBALLJOINT_HH_
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#include "
physics/BallJoint.hh
"
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#include "
physics/bullet/BulletJoint.hh
"
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#include "
physics/bullet/BulletPhysics.hh
"
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class
btPoint2PointConstraint;
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namespace
gazebo
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{
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namespace
physics
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{
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class
BulletBallJoint
:
public
BallJoint
<BulletJoint>
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{
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public
:
BulletBallJoint
(btDynamicsWorld *_world,
BasePtr
_parent);
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public
:
virtual
~BulletBallJoint
();
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public
:
math::Vector3
GetAnchor
(
int
_index)
const
;
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public
:
void
SetAnchor
(
int
_index,
const
math::Vector3
&_anchor);
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public
:
virtual
void
SetDamping
(
int
_index,
double
_damping);
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public
:
void
Attach
(
LinkPtr
_one,
LinkPtr
_two);
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public
:
virtual
math::Vector3
GetAxis
(
int
/*_index*/
)
const
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{
return
math::Vector3
();}
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public
:
virtual
void
SetVelocity
(
int
_index,
double
_angle);
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public
:
virtual
double
GetVelocity
(
int
_index)
const
;
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public
:
virtual
double
GetMaxForce
(
int
_index);
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public
:
virtual
void
SetMaxForce
(
int
_index,
double
_t);
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public
:
virtual
void
SetHighStop
(
int
_index,
const
math::Angle
&_angle);
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public
:
virtual
void
SetLowStop
(
int
_index,
const
math::Angle
&_angle);
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public
:
virtual
math::Angle
GetAngle
(
int
_index)
const
;
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public
:
virtual
math::Vector3
GetGlobalAxis
(
int
_index)
const
;
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public
:
virtual
math::Angle
GetAngleImpl
(
int
_index)
const
;
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private
: btPoint2PointConstraint *btBall;
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};
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}
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}
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#endif