Newton Dynamics
4.00
ndJointFollowPath.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_FOLLOW_PATH_H__
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#define __ND_JOINT_FOLLOW_PATH_H__
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#include "ndNewtonStdafx.h"
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#include "ndJointBilateralConstraint.h"
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class
ndJointFollowPath
:
public
ndJointBilateralConstraint
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{
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public
:
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D_CLASS_REFLECTION(
ndJointFollowPath
);
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D_NEWTON_API
ndJointFollowPath
(
const
ndLoadSaveBase::ndLoadDescriptor
& desc);
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D_NEWTON_API
ndJointFollowPath
(
const
ndMatrix
& pinAndPivotFrame,
ndBodyKinematic
*
const
child,
ndBodyKinematic
*
const
parent);
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D_NEWTON_API
virtual
~
ndJointFollowPath
();
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virtual
void
GetPointAndTangentAtLocation(
const
ndVector
& location,
ndVector
& positOut,
ndVector
& tangentOut)
const
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{
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positOut = location;
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tangentOut =
ndVector
(1.0f, 0.0f, 0.0f, 0.0f);
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}
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protected
:
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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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};
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#endif
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ndJointFollowPath
Definition:
ndJointFollowPath.h:20
ndConstraintDescritor
Definition:
ndConstraint.h:179
ndJointBilateralConstraint
Definition:
ndJointBilateralConstraint.h:53
ndBodyKinematic
Definition:
ndBodyKinematic.h:40
ndMatrix
Definition:
ndMatrix.h:42
ndLoadSaveBase::ndLoadDescriptor
Definition:
ndSaveLoadSytem.h:59
ndLoadSaveBase::ndSaveDescriptor
Definition:
ndSaveLoadSytem.h:93
ndVector
Definition:
ndVectorArmNeon.h:41
newton-dynamics
newton-4.00
sdk
dNewton
dJoints
ndJointFollowPath.h
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