Newton Dynamics  4.00
ndCharacterInverseDynamicNode.h
1 /* Copyright (c) <2003-2022> <Julio Jerez, 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.
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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, subject to the following restrictions:
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11 * 1. The origin of this software must not be misrepresented; you must not
12 * claim that you wrote the original software. If you use this software
13 * in a product, an acknowledgment in the product documentation would be
14 * appreciated but is not required.
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19 * 3. This notice may not be removed or altered from any source distribution.
20 */
21 
22 #ifndef __ND_CHARACTER_INVERSE_DYNAMICS_NODE_H__
23 #define __ND_CHARACTER_INVERSE_DYNAMICS_NODE_H__
24 
25 #include "ndNewtonStdafx.h"
26 #include "ndCharacterNode.h"
27 
29 {
30  public:
31  D_CLASS_REFLECTION(ndCharacterInverseDynamicNode);
33  D_NEWTON_API ndCharacterInverseDynamicNode(const ndMatrix& matrixInGlobalSpace, ndBodyDynamic* const body, ndCharacterNode* const parent);
34  D_NEWTON_API virtual ~ndCharacterInverseDynamicNode ();
35 
36  virtual ndBodyDynamic* GetBody() const;
37  virtual ndJointBilateralConstraint* GetJoint() const;
38 
39  protected:
40  void Save(const ndCharacterSaveDescriptor& desc) const;
41 
42  ndBodyDynamic* m_body;
44 };
45 
46 inline ndBodyDynamic* ndCharacterInverseDynamicNode::GetBody() const
47 {
48  return m_body;
49 }
50 
51 inline ndJointBilateralConstraint* ndCharacterInverseDynamicNode::GetJoint() const
52 {
53  return m_joint;
54 }
55 
56 #endif
ndCharacterLoadDescriptor
Definition: ndCharacterNode.h:38
ndCharacterNode
Definition: ndCharacterNode.h:95
ndBodyDynamic
Definition: ndBodyDynamic.h:43
ndJointBilateralConstraint
Definition: ndJointBilateralConstraint.h:53
ndCharacterInverseDynamicNode
Definition: ndCharacterInverseDynamicNode.h:29
ndMatrix
Definition: ndMatrix.h:42
ndCharacterSaveDescriptor
Definition: ndCharacterNode.h:71