Newton Dynamics  4.00
ndIkJointSpherical.h
1 /* Copyright (c) <2003-2022> <Newton Game Dynamics>
2 *
3 * This software is provided 'as-is', without any express or implied
4 * warranty. In no event will the authors be held liable for any damages
5 * arising from the use of this software.
6 *
7 * Permission is granted to anyone to use this software for any purpose,
8 * including commercial applications, and to alter it and redistribute it
9 * freely
10 */
11 
12 #ifndef __ND_IK_JOINT_SPHERICAL_H__
13 #define __ND_IK_JOINT_SPHERICAL_H__
14 
15 #include "ndNewtonStdafx.h"
16 #include "ndJointSpherical.h"
17 
19 {
20  public:
21  D_CLASS_REFLECTION(ndIkJointSpherical);
22  D_NEWTON_API ndIkJointSpherical(const ndLoadSaveBase::ndLoadDescriptor& desc);
23  D_NEWTON_API ndIkJointSpherical(const ndMatrix& pinAndPivotFrame, ndBodyKinematic* const child, ndBodyKinematic* const parent);
24  D_NEWTON_API virtual ~ndIkJointSpherical();
25 
26  // inverse dynamics interface
27  D_ADD_IK_INTERFACE();
28 
29  protected:
30  D_NEWTON_API void SubmitAccel(const ndMatrix& matrix0, const ndMatrix& matrix1, ndConstraintDescritor& desc);
31  D_NEWTON_API void JacobianDerivative(ndConstraintDescritor& desc);
32  D_NEWTON_API void Save(const ndLoadSaveBase::ndSaveDescriptor& desc) const;
33  D_NEWTON_API void DebugJoint(ndConstraintDebugCallback& debugCallback) const;
34 };
35 
36 #endif
37 
ndJointBilateralConstraint::ndIkInterface
Definition: ndJointBilateralConstraint.h:65
ndJointSpherical
Definition: ndJointSpherical.h:23
ndConstraintDescritor
Definition: ndConstraint.h:179
ndConstraintDebugCallback
Definition: ndConstraint.h:42
ndBodyKinematic
Definition: ndBodyKinematic.h:40
ndMatrix
Definition: ndMatrix.h:42
ndIkJointSpherical
Definition: ndIkJointSpherical.h:19
ndLoadSaveBase::ndLoadDescriptor
Definition: ndSaveLoadSytem.h:59
ndLoadSaveBase::ndSaveDescriptor
Definition: ndSaveLoadSytem.h:93