37 #include "btBulletDynamicsCommon.h"
134 virtual double getMass()
const;
155 const btVector3& destinationPoint)
const;
167 const btVector3& destinationPoint,
168 const double rotation)
const;
199 return (
getFrom() == nodeVector) || (
getTo() == nodeVector);
251 os <<
"tgRodInfo(" << rod.
getFrom() <<
", " << rod.
getTo() <<
")";
const btVector3 & getFrom() const
Definition of abstract class tgRigidInfo.
virtual void initRigidBody(tgWorld &world)
tgRodInfo(const tgRod::Config &config)
virtual btCollisionShape * getCollisionShape(tgWorld &world) const
virtual std::set< tgRigidInfo * > getLeafRigids()
tgRigidInfo * createRigidInfo(const tgPair &pair)
std::ostream & operator<<(std::ostream &os, const tgRodInfo &rod)
virtual std::set< btVector3 > getContainedNodes() const
virtual btVector3 getCenterOfMass() const
Definition of class tgPairs.
virtual bool sharesNodesWith(const tgRigidInfo &other) const
virtual btVector3 getConnectionPoint(const btVector3 &referencePoint, const btVector3 &destinationPoint) const
virtual btTransform getTransform() const
virtual const tgCompoundRigidInfo * getCompound() const
const tgRod::Config & getConfig() const
virtual bool containsNode(const btVector3 &nodeVector) const
static btTransform getTransform(const btVector3 &startOrientation, const btVector3 &start, const btVector3 &end)
const btVector3 & getTo() const
Contains the definition of class tgUtil and overloaded operator<<() free functions.
virtual tgCompoundRigidInfo * getCompound()
Contains the definition of class tgRod $Id$.
virtual double getMass() const