Newton Dynamics
4.00
ndJointFix6dof.h
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/* Copyright (c) <2003-2022> <Newton Game Dynamics>
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely
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*/
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#ifndef __ND_JOINT_FIX_6DOF_H_
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#define __ND_JOINT_FIX_6DOF_H_
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#include "ndNewtonStdafx.h"
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#include "ndJointBilateralConstraint.h"
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class
ndJointFix6dof
:
public
ndJointBilateralConstraint
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{
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public
:
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D_CLASS_REFLECTION(
ndJointFix6dof
);
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D_NEWTON_API
ndJointFix6dof
(
const
ndLoadSaveBase::ndLoadDescriptor
& desc);
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D_NEWTON_API
ndJointFix6dof
(
const
ndMatrix
& frameInGlobalSpace,
ndBodyKinematic
*
const
body0,
ndBodyKinematic
*
const
body1);
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D_NEWTON_API
ndJointFix6dof
(
ndBodyKinematic
*
const
body0,
ndBodyKinematic
*
const
body1,
const
ndMatrix
& globalMatrixBody0,
const
ndMatrix
& globalMatrixBody1 );
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D_NEWTON_API
virtual
~
ndJointFix6dof
();
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D_NEWTON_API
void
SetAsSoftJoint(
bool
mode);
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D_NEWTON_API
void
SetRegularizer(ndFloat32 regularizer);
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private
:
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void
JacobianDerivative(
ndConstraintDescritor
& desc);
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void
Save(
const
ndLoadSaveBase::ndSaveDescriptor
& desc)
const
;
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void
SubmitAngularAxis(
ndConstraintDescritor
& desc,
const
ndMatrix
& matrix0,
const
ndMatrix
& matrix1);
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void
SubmitAngularAxisCartisianApproximation(
ndConstraintDescritor
& desc,
const
ndMatrix
& matrix0,
const
ndMatrix
& matrix1);
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ndFloat32 m_softness;
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ndFloat32 m_maxForce;
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ndFloat32 m_maxTorque;
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};
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#endif
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ndConstraintDescritor
Definition:
ndConstraint.h:179
ndJointBilateralConstraint
Definition:
ndJointBilateralConstraint.h:53
ndBodyKinematic
Definition:
ndBodyKinematic.h:40
ndJointFix6dof
Definition:
ndJointFix6dof.h:19
ndMatrix
Definition:
ndMatrix.h:42
ndLoadSaveBase::ndLoadDescriptor
Definition:
ndSaveLoadSytem.h:59
ndLoadSaveBase::ndSaveDescriptor
Definition:
ndSaveLoadSytem.h:93
newton-dynamics
newton-4.00
sdk
dNewton
dJoints
ndJointFix6dof.h
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