17#ifndef _GAZEBO_BULLETFIXEDJOINT_HH_
18#define _GAZEBO_BULLETFIXEDJOINT_HH_
46 protected:
virtual void Load(sdf::ElementPtr _sdf);
49 public:
virtual void Init();
52 public:
virtual void SetAxis(
const unsigned int _index,
53 const ignition::math::Vector3d &_axis);
56 public:
virtual void SetVelocity(
unsigned int _index,
double _vel);
59 public:
virtual double GetVelocity(
unsigned int _index)
const;
71 const unsigned int _index)
const;
74 public:
virtual double PositionImpl(
const unsigned int _index)
const;
77 protected:
virtual void SetForceImpl(
unsigned int _index,
double _effort);
80 private: btHingeConstraint *bulletFixed;
WorldPtr world
Pointer to the world.
Definition Base.hh:340
A fixed joint.
Definition BulletFixedJoint.hh:36
BulletFixedJoint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
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 ~BulletFixedJoint()
Destructor.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
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 ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
A fixed joint rigidly connecting two bodies.
Definition FixedJoint.hh:34
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27