12 #ifndef __ND_IK_6DOF_EFFECTOR_H__
13 #define __ND_IK_6DOF_EFFECTOR_H__
15 #include "ndNewtonStdafx.h"
16 #include "ndJointBilateralConstraint.h"
33 D_NEWTON_API
void EnableAxisX(
bool state);
34 D_NEWTON_API
void EnableAxisY(
bool state);
35 D_NEWTON_API
void EnableAxisZ(
bool state);
36 D_NEWTON_API
void EnableRotationAxis(ndRotationType type);
38 D_NEWTON_API
ndMatrix GetOffsetMatrix()
const;
39 D_NEWTON_API
void SetOffsetMatrix(
const ndMatrix& matrix);
41 D_NEWTON_API
void SetLinearSpringDamper(ndFloat32 regularizer, ndFloat32 springConst, ndFloat32 damperConst);
42 D_NEWTON_API
void GetLinearSpringDamper(ndFloat32& regularizer, ndFloat32& springConst, ndFloat32& damperConst)
const;
44 D_NEWTON_API
void SetAngularSpringDamper(ndFloat32 regularizer, ndFloat32 springConst, ndFloat32 damperConst);
45 D_NEWTON_API
void GetAngularSpringDamper(ndFloat32& regularizer, ndFloat32& springConst, ndFloat32& damperConst)
const;
47 D_NEWTON_API ndFloat32 GetMaxForce()
const;
48 D_NEWTON_API
void SetMaxForce(ndFloat32 force);
50 D_NEWTON_API ndFloat32 GetMaxTorque()
const;
51 D_NEWTON_API
void SetMaxTorque(ndFloat32 torque);
63 ndFloat32 m_angularSpring;
64 ndFloat32 m_angularDamper;
65 ndFloat32 m_angularMaxTorque;
66 ndFloat32 m_angularRegularizer;
68 ndFloat32 m_linearSpring;
69 ndFloat32 m_linearDamper;
70 ndFloat32 m_linearMaxForce;
71 ndFloat32 m_linearRegularizer;
73 ndRotationType m_rotationType;
76 ndUnsigned8 m_controlDofOptions;
79 ndUnsigned8 m_axisX : 1;
80 ndUnsigned8 m_axisY : 1;
81 ndUnsigned8 m_axisZ : 1;