diff options
author | Erwin Coumans <blender@erwincoumans.com> | 2008-09-03 06:27:16 +0400 |
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committer | Erwin Coumans <blender@erwincoumans.com> | 2008-09-03 06:27:16 +0400 |
commit | 1926e846500212d11061c23cacdbd08d88e375da (patch) | |
tree | ad72fe64632cfc22a4878e065578b66d52de218d /extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h | |
parent | 33ac84e888ee3e3217f15f955e1b389a9c4bb230 (diff) |
Finally upgraded to latest Bullet subversion, about to release 2.71. Some recent changes in extern/bullet2 need to be re-applied, will check with Benoit. Ray tests in 0_FPS_Template.blend is broken, didn't figure out why yet.
HELP BUILD SYSTEM MAINTAINERS: Please help with updating all build systems: the newly added files need to be added. Note that the src/SoftBody has been added for future extension of real-time soft bodies.
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h | 97 |
1 files changed, 87 insertions, 10 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index 5c1ceafbc5b..4fa9972f6d8 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -13,39 +13,61 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ +/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */ + #ifndef HINGECONSTRAINT_H #define HINGECONSTRAINT_H -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btVector3.h" #include "btJacobianEntry.h" #include "btTypedConstraint.h" class btRigidBody; - /// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space /// axis defines the orientation of the hinge axis class btHingeConstraint : public btTypedConstraint { +#ifdef IN_PARALLELL_SOLVER +public: +#endif btJacobianEntry m_jac[3]; //3 orthogonal linear constraints btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor - btVector3 m_pivotInA; - btVector3 m_pivotInB; - btVector3 m_axisInA; - btVector3 m_axisInB; + btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransform m_rbBFrame; - bool m_angularOnly; + btScalar m_motorTargetVelocity; + btScalar m_maxMotorImpulse; + + btScalar m_limitSoftness; + btScalar m_biasFactor; + btScalar m_relaxationFactor; - btScalar m_motorTargetVelocity; - btScalar m_maxMotorImpulse; + btScalar m_lowerLimit; + btScalar m_upperLimit; + + btScalar m_kHinge; + + btScalar m_limitSign; + btScalar m_correction; + + btScalar m_accLimitImpulse; + + bool m_angularOnly; bool m_enableAngularMotor; + bool m_solveLimit; + public: - btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB,btVector3& axisInA,btVector3& axisInB); + btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB); btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA); + + btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame); + + btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame); btHingeConstraint(); @@ -76,6 +98,61 @@ public: m_maxMotorImpulse = maxMotorImpulse; } + void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) + { + m_lowerLimit = low; + m_upperLimit = high; + + m_limitSoftness = _softness; + m_biasFactor = _biasFactor; + m_relaxationFactor = _relaxationFactor; + + } + + btScalar getLowerLimit() const + { + return m_lowerLimit; + } + + btScalar getUpperLimit() const + { + return m_upperLimit; + } + + + btScalar getHingeAngle(); + + + const btTransform& getAFrame() { return m_rbAFrame; }; + const btTransform& getBFrame() { return m_rbBFrame; }; + + inline int getSolveLimit() + { + return m_solveLimit; + } + + inline btScalar getLimitSign() + { + return m_limitSign; + } + + inline bool getAngularOnly() + { + return m_angularOnly; + } + inline bool getEnableAngularMotor() + { + return m_enableAngularMotor; + } + inline btScalar getMotorTargetVelosity() + { + return m_motorTargetVelocity; + } + inline btScalar getMaxMotorImpulse() + { + return m_maxMotorImpulse; + } + }; #endif //HINGECONSTRAINT_H |