Newton Dynamics
4.00
ndIkJointSpherical.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_IK_JOINT_SPHERICAL_H__
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#define __ND_IK_JOINT_SPHERICAL_H__
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#include "ndNewtonStdafx.h"
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#include "ndJointSpherical.h"
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class
ndIkJointSpherical
:
public
ndJointSpherical
,
public
ndJointBilateralConstraint::ndIkInterface
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{
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public
:
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D_CLASS_REFLECTION(
ndIkJointSpherical
);
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D_NEWTON_API
ndIkJointSpherical
(
const
ndLoadSaveBase::ndLoadDescriptor
& desc);
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D_NEWTON_API
ndIkJointSpherical
(
const
ndMatrix
& pinAndPivotFrame,
ndBodyKinematic
*
const
child,
ndBodyKinematic
*
const
parent);
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D_NEWTON_API
virtual
~
ndIkJointSpherical
();
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// inverse dynamics interface
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D_ADD_IK_INTERFACE();
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protected
:
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D_NEWTON_API
void
SubmitAccel(
const
ndMatrix
& matrix0,
const
ndMatrix
& matrix1,
ndConstraintDescritor
& desc);
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D_NEWTON_API
void
JacobianDerivative(
ndConstraintDescritor
& desc);
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D_NEWTON_API
void
Save(
const
ndLoadSaveBase::ndSaveDescriptor
& desc)
const
;
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D_NEWTON_API
void
DebugJoint(
ndConstraintDebugCallback
& debugCallback)
const
;
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};
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#endif
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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
newton-dynamics
newton-4.00
sdk
dNewton
dIkSolver
ndIkJointSpherical.h
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