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BulletHingeJoint.hh
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1 /*
2  * Copyright 2011 Nate Koenig
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 /* Desc: A body that has a box shape
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _BULLETHINGEJOINT_HH_
23 #define _BULLETHINGEJOINT_HH_
24 
25 #include "math/Angle.hh"
26 #include "math/Vector3.hh"
27 #include "physics/HingeJoint.hh"
30 
31 class btHingeConstraint;
32 
33 namespace gazebo
34 {
35  namespace physics
36  {
40 
42  class BulletHingeJoint : public HingeJoint<BulletJoint>
43  {
45  public: BulletHingeJoint(btDynamicsWorld *world, BasePtr _parent);
46 
48  public: virtual ~BulletHingeJoint();
49 
51  protected: virtual void Load(sdf::ElementPtr _sdf);
52 
54  public: virtual void Attach(LinkPtr _one, LinkPtr _two);
55 
57  public: virtual math::Vector3 GetAnchor(int _index) const;
58 
60  public: virtual void SetAnchor(int _index, const math::Vector3 &_anchor);
61 
63  public: void SetAxis(int _index, const math::Vector3 &_axis);
64 
66  public: virtual void SetDamping(int _index, double _damping);
67 
69  public: virtual math::Angle GetAngle(int _index) const;
70 
72  public: virtual void SetVelocity(int _index, double _angle);
73 
75  public: virtual double GetVelocity(int _index) const;
76 
78  public: virtual void SetMaxForce(int _index, double _t);
79 
81  public: virtual double GetMaxForce(int _index);
82 
84  public: void SetForce(int _index, double _torque);
85 
87  public: virtual double GetForce(int _index);
88 
90  public: virtual void SetHighStop(int _index, const math::Angle &_angle);
91 
93  public: virtual void SetLowStop(int _index, const math::Angle &_angle);
94 
96  public: virtual math::Angle GetHighStop(int _index);
97 
99  public: virtual math::Angle GetLowStop(int _index);
100 
102  public: virtual math::Vector3 GetGlobalAxis(int _index) const;
103 
105  public: virtual math::Angle GetAngleImpl(int _index) const;
106 
107  private: btHingeConstraint *btHinge;
108  };
110  }
111 }
112 #endif