Image Component Library (ICL)
SliderConstraint.h
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1 /********************************************************************
2 ** Image Component Library (ICL) **
3 ** **
4 ** Copyright (C) 2006-2014 CITEC, University of Bielefeld **
5 ** Neuroinformatics Group **
6 ** Website: www.iclcv.org and **
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9 ** File : ICLPhysics/src/ICLPhysics/SliderConstraint.h **
10 ** Module : ICLPhysics **
11 ** Author : Christof Elbrechter, Matthias Esau **
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14 ** GNU LESSER GENERAL PUBLIC LICENSE **
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23 ** The development of this software was supported by the **
24 ** Excellence Cluster EXC 277 Cognitive Interaction Technology. **
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29 ********************************************************************/
30 #pragma once
31 
33 
34 namespace icl {
35  namespace physics{
39  void init();
40  public:
42  SliderConstraint(RigidObject* a, RigidObject* b, const geom::Mat &frameInA, const geom::Mat &frameInB, int rotationAxis, const bool useLinearReferenceFrameA = true);
44  SliderConstraint(RigidObject* a, RigidObject* b, const geom::Vec &pivotInA, const geom::Vec &pivotInB, int rotationAxis, const bool useLinearReferenceFrameA = true);
45 
46  /* This sets the angular limit, for the specified axis.
47  * Possible ranges:
48  * X-Axis: lower = -PI, upper = PI
49  * Y-Axis: lower = -PI/2, upper = PI/2
50  * Z-Axis: lower = -PI, upper = PI
51  *
52  * Setting the lower limit to be higher than the upper limit unlocks rotation on this axis.
53  */
54  void setAngularLimits(float lower, float upper);
55  /* This sets the linear limit, for the specified axis.
56  * Setting the lower limit to be higher than the upper limit unlocks translation along this Axis.
57  */
58  void setLinearLimits(float lower, float upper);
59  };
60  }
61 }
This constraint simulates a Slider joint.
Definition: SliderConstraint.h:37
undocument this line if you encounter any issues!
Definition: Any.h:37
This is a generic constraint that allows to free configuration of the limits on all 6 degrees of free...
Definition: SixDOFConstraint.h:40
#define ICLPhysics_API
Definition: CompatMacros.h:181
This class combines a movable but rigid physics object and it's graphical representation in ICL.
Definition: RigidObject.h:46
int m_rotationAxis
Definition: SliderConstraint.h:38