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22 #ifndef _BULLETBALLJOINT_HH_
23 #define _BULLETBALLJOINT_HH_
30 class btPoint2PointConstraint;
50 public:
virtual void Load(sdf::ElementPtr _sdf);
53 public:
virtual void Init();
56 public: ignition::math::Vector3d Anchor(
57 const unsigned int _index)
const;
60 public:
virtual void SetVelocity(
unsigned int _index,
double _angle);
63 public:
virtual double GetVelocity(
unsigned int _index)
const;
66 public:
virtual void SetUpperLimit(
const unsigned int _index,
70 public:
virtual void SetLowerLimit(
const unsigned int _index,
74 public:
virtual double PositionImpl(
const unsigned int _index)
const;
77 public:
virtual ignition::math::Vector3d GlobalAxis(
78 const unsigned int _index)
const;
81 protected:
virtual void SetForceImpl(
unsigned int _index,
double _torque);
84 public:
virtual void SetAxis(
const unsigned int _index,
85 const ignition::math::Vector3d &_axis);
88 public:
virtual double UpperLimit(
const unsigned int _index)
const;
91 public:
virtual double LowerLimit(
const unsigned int _index)
const;
94 private: btPoint2PointConstraint *bulletBall;
virtual ignition::math::Vector3d GlobalAxis(const unsigned int _index) const
Get the axis of rotation in global cooridnate frame.
Forward declarations for the common classes.
Definition: Animation.hh:26
virtual void SetForceImpl(unsigned int _index, double _torque)
Set the force applied to this physics::Joint.
Base class for a ball joint.
Definition: BallJoint.hh:40
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 double LowerLimit(const unsigned int _index) const
Get the joint's lower limit.
virtual double GetVelocity(unsigned int _index) const
Get the rotation rate of an axis(index)
virtual void Init()
Initialize joint.
virtual double UpperLimit(const unsigned int _index) const
Get the joint's upper limit.
boost::shared_ptr< Base > BasePtr
Definition: PhysicsTypes.hh:77
virtual void Load(sdf::ElementPtr _sdf)
Load a BulletJoint.
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
virtual double PositionImpl(const unsigned int _index) const
Helper function to get the position of an axis.
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 void SetUpperLimit(const unsigned int _index, const double _limit)
Set the joint's upper limit.
ignition::math::Vector3d Anchor(const unsigned int _index) const
Get the anchor point.
virtual void SetLowerLimit(const unsigned int _index, const double _limit)
Set the joint's lower limit.
BulletBallJoint class models a ball joint in Bullet.
Definition: BulletBallJoint.hh:41
virtual ~BulletBallJoint()
Destructor.