17#ifndef _GAZEBO_BULLETUNIVERSALJOINT_HH_
18#define _GAZEBO_BULLETUNIVERSALJOINT_HH_
27class btUniversalConstraint;
48 public:
virtual void Load(sdf::ElementPtr _sdf);
51 public:
virtual void Init();
54 public:
virtual ignition::math::Vector3d
Anchor(
55 const unsigned int _index)
const;
58 public:
void SetAxis(
const unsigned int _index,
59 const ignition::math::Vector3d &_axis);
62 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
65 public:
virtual double GetVelocity(
unsigned int _index)
const;
76 public:
virtual double UpperLimit(
const unsigned int _index)
const;
79 public:
virtual double LowerLimit(
const unsigned int _index)
const;
83 const unsigned int _index)
const;
86 public:
virtual double PositionImpl(
const unsigned int _index)
const;
89 public:
virtual bool SetParam(
const std::string &_key,
91 const boost::any &_value);
94 public:
virtual double GetParam(
const std::string &_key,
98 protected:
virtual void SetForceImpl(
unsigned int _index,
double _torque);
105 private:
double angleOffset[2];
109 private: ignition::math::Vector3d initialWorldAxis[2];
WorldPtr world
Pointer to the world.
Definition Base.hh:340
A bullet universal joint class.
Definition BulletUniversalJoint.hh:40
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 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 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.
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 ~BulletUniversalJoint()
Destuctor.
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 a UniversalJoint.
BulletUniversalJoint(btDynamicsWorld *world, BasePtr _parent)
Constructor.
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).
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 universal joint.
Definition UniversalJoint.hh:36
Functions that implement a universal joint/constraint using bullet.
Definition gzBtUniversalConstraint.hh:30
boost::shared_ptr< Base > BasePtr
Definition PhysicsTypes.hh:77
Forward declarations for the common classes.
Definition Animation.hh:27