1 /* 2 Bullet Continuous Collision Detection and Physics Library 3 Copyright (c) 2018 Erwin Coumans http://bulletphysics.org 4 5 This software is provided 'as-is', without any express or implied warranty. 6 In no event will the authors be held liable for any damages arising from the use of this software. 7 Permission is granted to anyone to use this software for any purpose, 8 including commercial applications, and to alter it and redistribute it freely, 9 subject to the following restrictions: 10 11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 13 3. This notice may not be removed or altered from any source distribution. 14 */ 15 16 ///This file was written by Erwin Coumans 17 18 #ifndef BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H 19 #define BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H 20 21 #include "btMultiBodyConstraint.h" 22 struct btSolverInfo; 23 24 class btMultiBodySphericalJointMotor : public btMultiBodyConstraint 25 { 26 protected: 27 btVector3 m_desiredVelocity; 28 btQuaternion m_desiredPosition; 29 btScalar m_kd; 30 btScalar m_kp; 31 btScalar m_erp; 32 btScalar m_rhsClamp; //maximum error 33 34 public: 35 btMultiBodySphericalJointMotor(btMultiBody* body, int link, btScalar maxMotorImpulse); 36 37 virtual ~btMultiBodySphericalJointMotor(); 38 virtual void finalizeMultiDof(); 39 40 virtual int getIslandIdA() const; 41 virtual int getIslandIdB() const; 42 43 virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows, 44 btMultiBodyJacobianData& data, 45 const btContactSolverInfo& infoGlobal); 46 47 virtual void setVelocityTarget(const btVector3& velTarget, btScalar kd = 1.f) 48 { 49 m_desiredVelocity = velTarget; 50 m_kd = kd; 51 } 52 53 virtual void setPositionTarget(const btQuaternion& posTarget, btScalar kp = 1.f) 54 { 55 m_desiredPosition = posTarget; 56 m_kp = kp; 57 } 58 setErp(btScalar erp)59 virtual void setErp(btScalar erp) 60 { 61 m_erp = erp; 62 } getErp()63 virtual btScalar getErp() const 64 { 65 return m_erp; 66 } setRhsClamp(btScalar rhsClamp)67 virtual void setRhsClamp(btScalar rhsClamp) 68 { 69 m_rhsClamp = rhsClamp; 70 } debugDraw(class btIDebugDraw * drawer)71 virtual void debugDraw(class btIDebugDraw* drawer) 72 { 73 //todo(erwincoumans) 74 } 75 }; 76 77 #endif //BT_MULTIBODY_SPHERICAL_JOINT_MOTOR_H 78