Newton Dynamics  4.00
ndIkJointDoubleHinge.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_DOUBLE_JOINT_HINGE_H__
13 #define __ND_IK_DOUBLE_JOINT_HINGE_H__
14 
15 #include "ndNewtonStdafx.h"
16 #include "ndJointDoubleHinge.h"
17 
19 {
20  public:
21  D_CLASS_REFLECTION(ndIkJointDoubleHinge);
23  D_NEWTON_API ndIkJointDoubleHinge(const ndMatrix& pinAndPivotFrame, ndBodyKinematic* const child, ndBodyKinematic* const parent);
24  //D_NEWTON_API ndIkJointDoubleHinge(const ndMatrix& pinAndPivotInChild, const ndMatrix& pinAndPivotInParent, ndBodyKinematic* const child, ndBodyKinematic* const parent);
25  D_NEWTON_API virtual ~ndIkJointDoubleHinge();
26 
27  // inverse dynamics interface
28  D_ADD_IK_INTERFACE();
29 
30  protected:
31  D_NEWTON_API void JacobianDerivative(ndConstraintDescritor& desc);
32  D_NEWTON_API void Save(const ndLoadSaveBase::ndSaveDescriptor& desc) const;
33 };
34 
35 #endif
36 
ndJointBilateralConstraint::ndIkInterface
Definition: ndJointBilateralConstraint.h:65
ndConstraintDescritor
Definition: ndConstraint.h:179
ndBodyKinematic
Definition: ndBodyKinematic.h:40
ndIkJointDoubleHinge
Definition: ndIkJointDoubleHinge.h:19
ndMatrix
Definition: ndMatrix.h:42
ndJointDoubleHinge
Definition: ndJointDoubleHinge.h:22
ndLoadSaveBase::ndLoadDescriptor
Definition: ndSaveLoadSytem.h:59
ndLoadSaveBase::ndSaveDescriptor
Definition: ndSaveLoadSytem.h:93