Newton Dynamics  4.00
ndJointUpVector.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_JOINT_UPVECTOR_H__
13 #define __ND_JOINT_UPVECTOR_H__
14 
15 #include "ndNewtonStdafx.h"
16 #include "ndJointBilateralConstraint.h"
17 
18 // This joint is useful to for implementing character controllers, and also precise object picking
20 {
21  public:
22  D_CLASS_REFLECTION(ndJointUpVector);
23  D_NEWTON_API ndJointUpVector(const ndLoadSaveBase::ndLoadDescriptor& desc);
24  D_NEWTON_API ndJointUpVector(const ndVector& normal, ndBodyKinematic* const child, ndBodyKinematic* const parent);
25  D_NEWTON_API virtual ~ndJointUpVector();
26 
27  D_NEWTON_API void SetPinDir (const ndVector& pin);
28 
29  protected:
30  D_NEWTON_API void JacobianDerivative(ndConstraintDescritor& desc);
31  D_NEWTON_API void Save(const ndLoadSaveBase::ndSaveDescriptor& desc) const;
32 };
33 
34 #endif
35 
ndConstraintDescritor
Definition: ndConstraint.h:179
ndJointBilateralConstraint
Definition: ndJointBilateralConstraint.h:53
ndBodyKinematic
Definition: ndBodyKinematic.h:40
ndJointUpVector
Definition: ndJointUpVector.h:20
ndLoadSaveBase::ndLoadDescriptor
Definition: ndSaveLoadSytem.h:59
ndLoadSaveBase::ndSaveDescriptor
Definition: ndSaveLoadSytem.h:93
ndVector
Definition: ndVectorArmNeon.h:41