BulletBallJoint.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17/* Desc: A ball joint
18 * Author: Nate Koenig, Andrew Howard
19 * Date: 21 May 2003
20 */
21
22#ifndef _BULLETBALLJOINT_HH_
23#define _BULLETBALLJOINT_HH_
24
28#include "gazebo/util/system.hh"
29
30class btPoint2PointConstraint;
31
32namespace gazebo
33{
34 namespace physics
35 {
39
41 class GZ_PHYSICS_VISIBLE BulletBallJoint : public BallJoint<BulletJoint>
42 {
44 public: BulletBallJoint(btDynamicsWorld *_world, BasePtr _parent);
45
47 public: virtual ~BulletBallJoint();
48
49 // Documentation inherited.
50 public: virtual void Load(sdf::ElementPtr _sdf);
51
52 // Documentation inherited.
53 public: virtual void Init();
54
55 // Documentation inherited.
56 public: ignition::math::Vector3d Anchor(
57 const unsigned int _index) const;
58
59 // Documentation inherited.
60 public: virtual void SetVelocity(unsigned int _index, double _angle);
61
62 // Documentation inherited.
63 public: virtual double GetVelocity(unsigned int _index) const;
64
65 // Documentation inherited.
66 public: virtual void SetUpperLimit(const unsigned int _index,
67 const double _limit);
68
69 // Documentation inherited.
70 public: virtual void SetLowerLimit(const unsigned int _index,
71 const double _limit);
72
73 // Documentation inherited.
74 public: virtual double PositionImpl(const unsigned int _index) const;
75
76 // Documentation inherited.
77 public: virtual ignition::math::Vector3d GlobalAxis(
78 const unsigned int _index) const;
79
80 // Documentation inherited.
81 protected: virtual void SetForceImpl(unsigned int _index, double _torque);
82
83 // Documentation inherited.
84 public: virtual void SetAxis(const unsigned int _index,
85 const ignition::math::Vector3d &_axis);
86
87 // Documentation inherited.
88 public: virtual double UpperLimit(const unsigned int _index) const;
89
90 // Documentation inherited.
91 public: virtual double LowerLimit(const unsigned int _index) const;
92
94 private: btPoint2PointConstraint *bulletBall;
95 };
96
98 }
99}
100#endif
Base class for a ball joint.
Definition BallJoint.hh:41
BulletBallJoint class models a ball joint in Bullet.
Definition BulletBallJoint.hh:42
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.
ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
virtual ~BulletBallJoint()
Destructor.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
virtual void Load(sdf::ElementPtr _sdf)
Template to Load the BallJoint.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void SetVelocity(unsigned int _index, double _angle)
Set the velocity of an axis(index).
BulletBallJoint(btDynamicsWorld *_world, BasePtr _parent)
Bullet Ball Joint Constructor.
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.
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27