BulletBallJoint.hh
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1 /*
2  * Copyright (C) 2012-2015 Open Source Robotics Foundation
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 ball joint
18  * Author: Nate Koenig, Andrew Howard
19  * Date: 21 May 2003
20  */
21 
22 #ifndef _BULLETBALLJOINT_HH_
23 #define _BULLETBALLJOINT_HH_
24 
28 #include "gazebo/util/system.hh"
29 
30 class btPoint2PointConstraint;
31 
32 namespace gazebo
33 {
34  namespace physics
35  {
39 
41  class GZ_PHYSICS_VISIBLE BulletBallJoint : public BallJoint<BulletJoint>
42  {
44  public: BulletBallJoint(btDynamicsWorld *_world, BasePtr _parent);
45 
47  public: virtual ~BulletBallJoint();
48 
49  // Documentation inherited.
50  public: virtual void Load(sdf::ElementPtr _sdf);
51 
52  // Documentation inherited.
53  public: virtual void Init();
54 
55  // Documentation inherited.
56  public: math::Vector3 GetAnchor(unsigned int _index) const;
57 
58  // Documentation inherited.
59  public: virtual math::Vector3 GetAxis(unsigned int _index) const;
60 
61  // Documentation inherited.
62  public: virtual void SetVelocity(unsigned int _index, double _angle);
63 
64  // Documentation inherited.
65  public: virtual double GetVelocity(unsigned int _index) const;
66 
67  // Documentation inherited.
68  public: virtual double GetMaxForce(unsigned int _index);
69 
70  // Documentation inherited.
71  public: virtual void SetMaxForce(unsigned int _index, double _t);
72 
73  // Documentation inherited.
74  public: virtual bool SetHighStop(unsigned int _index,
75  const math::Angle &_angle);
76 
77  // Documentation inherited.
78  public: virtual bool SetLowStop(unsigned int _index,
79  const math::Angle &_angle);
80 
81  // Documentation inherited.
82  public: virtual math::Angle GetAngleImpl(unsigned int _index) const;
83 
84  // Documentation inherited.
85  public: virtual math::Vector3 GetGlobalAxis(unsigned int _index) const;
86 
87  // Documentation inherited.
88  protected: virtual void SetForceImpl(unsigned int _index, double _torque);
89 
90  // Documentation inherited.
91  public: virtual void SetAxis(unsigned int _index,
92  const math::Vector3 &_axis);
93 
94  // Documentation inherited.
95  public: virtual math::Angle GetHighStop(unsigned int _index);
96 
97  // Documentation inherited.
98  public: virtual math::Angle GetLowStop(unsigned int _index);
99 
101  private: btPoint2PointConstraint *bulletBall;
102  };
103 
105  }
106 }
107 #endif
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:68
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:318
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
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.
An angle and related functions.
Definition: Angle.hh:53
Base class for a ball joint.
Definition: BallJoint.hh:40