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author | Brecht Van Lommel <brechtvanlommel@pandora.be> | 2008-11-13 00:16:53 +0300 |
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committer | Brecht Van Lommel <brechtvanlommel@pandora.be> | 2008-11-13 00:16:53 +0300 |
commit | bdfe7d89e2f1292644577972c716931b4ce3c6c3 (patch) | |
tree | d00eb50b749cb001e2b08272c91791e66740b05d /extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h | |
parent | 78a1c27c4a6abe0ed31ca93ad21910f3df04da56 (diff) | |
parent | 7e4db234cee71ead34ee81a12e27da4bd548eb4b (diff) |
Merge of trunk into blender 2.5:
svn merge https://svn.blender.org/svnroot/bf-blender/trunk/blender -r12987:17416
Issues:
* GHOST/X11 had conflicting changes. Some code was added in 2.5, which was
later added in trunk also, but reverted partially, specifically revision
16683. I have left out this reversion in the 2.5 branch since I think it is
needed there.
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=16683
* Scons had various conflicting changes, I decided to go with trunk version
for everything except priorities and some library renaming.
* In creator.c, there were various fixes and fixes for fixes related to the -w
-W and -p options. In 2.5 -w and -W is not coded yet, and -p is done
differently. Since this is changed so much, and I don't think those fixes
would be needed in 2.5, I've left them out.
* Also in creator.c: there was code for a python bugfix where the screen was not
initialized when running with -P. The code that initializes the screen there
I had to disable, that can't work in 2.5 anymore but left it commented as a
reminder.
Further I had to disable some new function calls. using src/ and python/, as
was done already in this branch, disabled function calls:
* bpath.c: error reporting
* BME_conversions.c: editmesh conversion functions.
* SHD_dynamic: disabled almost completely, there is no python/.
* KX_PythonInit.cpp and Ketsji/ build files: Mathutils is not there, disabled.
* text.c: clipboard copy call.
* object.c: OB_SUPPORT_MATERIAL.
* DerivedMesh.c and subsurf_ccg, stipple_quarttone.
Still to be done:
* Go over files and functions that were moved to a different location but could
still use changes that were done in trunk.
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h | 218 |
1 files changed, 218 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h new file mode 100644 index 00000000000..580dfa1178d --- /dev/null +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h @@ -0,0 +1,218 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +/* +Added by Roman Ponomarev (rponom@gmail.com) +April 04, 2008 + +TODO: + - add clamping od accumulated impulse to improve stability + - add conversion for ODE constraint solver +*/ + +#ifndef SLIDER_CONSTRAINT_H +#define SLIDER_CONSTRAINT_H + +//----------------------------------------------------------------------------- + +#include "LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +//----------------------------------------------------------------------------- + +class btRigidBody; + +//----------------------------------------------------------------------------- + +#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0)) +#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0)) +#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7)) + +//----------------------------------------------------------------------------- + +class btSliderConstraint : public btTypedConstraint +{ +protected: + btTransform m_frameInA; + btTransform m_frameInB; + // use frameA fo define limits, if true + bool m_useLinearReferenceFrameA; + // linear limits + btScalar m_lowerLinLimit; + btScalar m_upperLinLimit; + // angular limits + btScalar m_lowerAngLimit; + btScalar m_upperAngLimit; + // softness, restitution and damping for different cases + // DirLin - moving inside linear limits + // LimLin - hitting linear limit + // DirAng - moving inside angular limits + // LimAng - hitting angular limit + // OrthoLin, OrthoAng - against constraint axis + btScalar m_softnessDirLin; + btScalar m_restitutionDirLin; + btScalar m_dampingDirLin; + btScalar m_softnessDirAng; + btScalar m_restitutionDirAng; + btScalar m_dampingDirAng; + btScalar m_softnessLimLin; + btScalar m_restitutionLimLin; + btScalar m_dampingLimLin; + btScalar m_softnessLimAng; + btScalar m_restitutionLimAng; + btScalar m_dampingLimAng; + btScalar m_softnessOrthoLin; + btScalar m_restitutionOrthoLin; + btScalar m_dampingOrthoLin; + btScalar m_softnessOrthoAng; + btScalar m_restitutionOrthoAng; + btScalar m_dampingOrthoAng; + + // for interlal use + bool m_solveLinLim; + bool m_solveAngLim; + + btJacobianEntry m_jacLin[3]; + btScalar m_jacLinDiagABInv[3]; + + btJacobianEntry m_jacAng[3]; + + btScalar m_timeStep; + btTransform m_calculatedTransformA; + btTransform m_calculatedTransformB; + + btVector3 m_sliderAxis; + btVector3 m_realPivotAInW; + btVector3 m_realPivotBInW; + btVector3 m_projPivotInW; + btVector3 m_delta; + btVector3 m_depth; + btVector3 m_relPosA; + btVector3 m_relPosB; + + btScalar m_linPos; + + btScalar m_angDepth; + btScalar m_kAngle; + + bool m_poweredLinMotor; + btScalar m_targetLinMotorVelocity; + btScalar m_maxLinMotorForce; + btScalar m_accumulatedLinMotorImpulse; + + bool m_poweredAngMotor; + btScalar m_targetAngMotorVelocity; + btScalar m_maxAngMotorForce; + btScalar m_accumulatedAngMotorImpulse; + + //------------------------ + void initParams(); +public: + // constructors + btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + btSliderConstraint(); + // overrides + virtual void buildJacobian(); + virtual void solveConstraint(btScalar timeStep); + // access + const btRigidBody& getRigidBodyA() const { return m_rbA; } + const btRigidBody& getRigidBodyB() const { return m_rbB; } + const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; } + const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; } + const btTransform & getFrameOffsetA() const { return m_frameInA; } + const btTransform & getFrameOffsetB() const { return m_frameInB; } + btTransform & getFrameOffsetA() { return m_frameInA; } + btTransform & getFrameOffsetB() { return m_frameInB; } + btScalar getLowerLinLimit() { return m_lowerLinLimit; } + void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; } + btScalar getUpperLinLimit() { return m_upperLinLimit; } + void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; } + btScalar getLowerAngLimit() { return m_lowerAngLimit; } + void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = lowerLimit; } + btScalar getUpperAngLimit() { return m_upperAngLimit; } + void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = upperLimit; } + bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; } + btScalar getSoftnessDirLin() { return m_softnessDirLin; } + btScalar getRestitutionDirLin() { return m_restitutionDirLin; } + btScalar getDampingDirLin() { return m_dampingDirLin ; } + btScalar getSoftnessDirAng() { return m_softnessDirAng; } + btScalar getRestitutionDirAng() { return m_restitutionDirAng; } + btScalar getDampingDirAng() { return m_dampingDirAng; } + btScalar getSoftnessLimLin() { return m_softnessLimLin; } + btScalar getRestitutionLimLin() { return m_restitutionLimLin; } + btScalar getDampingLimLin() { return m_dampingLimLin; } + btScalar getSoftnessLimAng() { return m_softnessLimAng; } + btScalar getRestitutionLimAng() { return m_restitutionLimAng; } + btScalar getDampingLimAng() { return m_dampingLimAng; } + btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; } + btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; } + btScalar getDampingOrthoLin() { return m_dampingOrthoLin; } + btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; } + btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; } + btScalar getDampingOrthoAng() { return m_dampingOrthoAng; } + void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; } + void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; } + void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; } + void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; } + void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; } + void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; } + void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; } + void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; } + void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; } + void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; } + void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; } + void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; } + void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; } + void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; } + void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; } + void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; } + void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; } + void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; } + void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; } + bool getPoweredLinMotor() { return m_poweredLinMotor; } + void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; } + btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; } + void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; } + btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; } + void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; } + bool getPoweredAngMotor() { return m_poweredAngMotor; } + void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; } + btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; } + void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; } + btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; } + btScalar getLinearPos() { return m_linPos; } + + // access for ODE solver + bool getSolveLinLimit() { return m_solveLinLim; } + btScalar getLinDepth() { return m_depth[0]; } + bool getSolveAngLimit() { return m_solveAngLim; } + btScalar getAngDepth() { return m_angDepth; } + // internal + void buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB); + void solveConstraintInt(btRigidBody& rbA, btRigidBody& rbB); + // shared code used by ODE solver + void calculateTransforms(void); + void testLinLimits(void); + void testAngLimits(void); + // access for PE Solver + btVector3 getAncorInA(void); + btVector3 getAncorInB(void); +}; + +//----------------------------------------------------------------------------- + +#endif //SLIDER_CONSTRAINT_H + |