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odeHinge2Joint.h
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99 lines (84 loc) · 3 KB
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/**
* PANDA 3D SOFTWARE
* Copyright (c) Carnegie Mellon University. All rights reserved.
*
* All use of this software is subject to the terms of the revised BSD
* license. You should have received a copy of this license along
* with this source code in a file named "LICENSE."
*
* @file odeHinge2Joint.h
* @author joswilso
* @date 2006-12-27
*/
#ifndef ODEHINGE2JOINT_H
#define ODEHINGE2JOINT_H
#include "pandabase.h"
#include "typedObject.h"
#include "luse.h"
#include "ode_includes.h"
#include "odeJoint.h"
/**
*
*/
class EXPCL_PANDAODE OdeHinge2Joint : public OdeJoint {
friend class OdeJoint;
public:
OdeHinge2Joint(dJointID id);
PUBLISHED:
OdeHinge2Joint(OdeWorld &world, OdeJointGroup &joint_group);
OdeHinge2Joint(OdeWorld &world);
virtual ~OdeHinge2Joint();
INLINE void set_anchor(dReal x, dReal y, dReal z);
INLINE void set_anchor(const LVecBase3f &anchor);
INLINE void set_axis1(dReal x, dReal y, dReal z);
INLINE void set_axis1(const LVecBase3f &axis);
INLINE void set_axis2(dReal x, dReal y, dReal z);
INLINE void set_axis2(const LVecBase3f &axis);
INLINE void add_torques(dReal torque1, dReal torque2);
INLINE LVecBase3f get_anchor() const;
INLINE LVecBase3f get_anchor2() const;
INLINE LVecBase3f get_axis1() const;
INLINE LVecBase3f get_axis2() const;
INLINE dReal get_angle1() const;
INLINE dReal get_angle1_rate() const;
INLINE dReal get_angle2_rate() const;
INLINE void set_param_lo_stop(int axis, dReal val);
INLINE void set_param_hi_stop(int axis, dReal val);
INLINE void set_param_vel(int axis, dReal val);
INLINE void set_param_f_max(int axis, dReal val);
INLINE void set_param_fudge_factor(int axis, dReal val);
INLINE void set_param_bounce(int axis, dReal val);
INLINE void set_param_CFM(int axis, dReal val);
INLINE void set_param_stop_ERP(int axis, dReal val);
INLINE void set_param_stop_CFM(int axis, dReal val);
INLINE void set_param_suspension_ERP(int axis, dReal val);
INLINE void set_param_suspension_CFM(int axis, dReal val);
INLINE dReal get_param_lo_stop(int axis) const;
INLINE dReal get_param_hi_stop(int axis) const;
INLINE dReal get_param_vel(int axis) const;
INLINE dReal get_param_f_max(int axis) const;
INLINE dReal get_param_fudge_factor(int axis) const;
INLINE dReal get_param_bounce(int axis) const;
INLINE dReal get_param_CFM(int axis) const;
INLINE dReal get_param_stop_ERP(int axis) const;
INLINE dReal get_param_stop_CFM(int axis) const;
INLINE dReal get_param_suspension_ERP(int axis) const;
INLINE dReal get_param_suspension_CFM(int axis) const;
public:
static TypeHandle get_class_type() {
return _type_handle;
}
static void init_type() {
OdeJoint::init_type();
register_type(_type_handle, "OdeHinge2Joint",
OdeJoint::get_class_type());
}
virtual TypeHandle get_type() const {
return get_class_type();
}
virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
private:
static TypeHandle _type_handle;
};
#include "odeHinge2Joint.I"
#endif