17#ifndef _GAZEBO_BULLETHINGEJOINT_HH_
18#define _GAZEBO_BULLETHINGEJOINT_HH_
26class btHingeConstraint;
46 protected:
virtual void Load(sdf::ElementPtr _sdf);
49 public:
virtual void Init();
52 public:
virtual ignition::math::Vector3d
Anchor(
53 const unsigned int _index)
const;
56 public:
virtual void SetAxis(
const unsigned int _index,
57 const ignition::math::Vector3d &_axis);
60 public:
virtual void SetVelocity(
unsigned int _index,
double _vel);
63 public:
virtual double GetVelocity(
unsigned int _index)
const;
74 public:
virtual double UpperLimit(
const unsigned int _index)
const;
77 public:
virtual double LowerLimit(
const unsigned int _index)
const;
81 const unsigned int _index)
const;
84 public:
virtual double PositionImpl(
const unsigned int _index)
const;
87 public:
virtual bool SetParam(
const std::string &_key,
89 const boost::any &_value);
92 public:
virtual double GetParam(
const std::string &_key,
96 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
99 private: btHingeConstraint *bulletHinge;
103 private:
double angleOffset;
107 private: ignition::math::Vector3d initialWorldAxis;
WorldPtr world
Pointer to the world.
Definition Base.hh:340
A single axis hinge joint.
Definition BulletHingeJoint.hh:38
virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)
Set a non-generic parameter for the joint.
virtual double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
virtual void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis)
Set the axis of rotation where axis is specified in local joint frame.
virtual void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
virtual void Init()
Initialize joint.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
virtual void SetForceImpl(unsigned int _index, double _effort)
Set the force applied to this physics::Joint.
virtual ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual ~BulletHingeJoint()
Destructor.
BulletHingeJoint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
virtual double GetParam(const std::string &_key, unsigned int _index)
Get a non-generic parameter for the joint.
virtual void Load(sdf::ElementPtr _sdf)
Load joint.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void SetVelocity(unsigned int _index, double _vel)
Set the velocity of an axis(index).
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
A single axis hinge joint.
Definition HingeJoint.hh:38
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27