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Diffstat (limited to 'extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp')
| -rw-r--r-- | extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp | 136 |
1 files changed, 136 insertions, 0 deletions
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp new file mode 100644 index 00000000000..e7c94b19308 --- /dev/null +++ b/extern/bullet2/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp @@ -0,0 +1,136 @@ +/* +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. +*/ + + +#include "btTypedConstraint.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "LinearMath/btSerializer.h" + + +#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f) + +btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA) +:btTypedObject(type), +m_userConstraintType(-1), +m_userConstraintId(-1), +m_needsFeedback(false), +m_rbA(rbA), +m_rbB(getFixedBody()), +m_appliedImpulse(btScalar(0.)), +m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE) +{ +} + + +btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB) +:btTypedObject(type), +m_userConstraintType(-1), +m_userConstraintId(-1), +m_needsFeedback(false), +m_rbA(rbA), +m_rbB(rbB), +m_appliedImpulse(btScalar(0.)), +m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE) +{ +} + + + + +btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact) +{ + if(lowLim > uppLim) + { + return btScalar(1.0f); + } + else if(lowLim == uppLim) + { + return btScalar(0.0f); + } + btScalar lim_fact = btScalar(1.0f); + btScalar delta_max = vel / timeFact; + if(delta_max < btScalar(0.0f)) + { + if((pos >= lowLim) && (pos < (lowLim - delta_max))) + { + lim_fact = (lowLim - pos) / delta_max; + } + else if(pos < lowLim) + { + lim_fact = btScalar(0.0f); + } + else + { + lim_fact = btScalar(1.0f); + } + } + else if(delta_max > btScalar(0.0f)) + { + if((pos <= uppLim) && (pos > (uppLim - delta_max))) + { + lim_fact = (uppLim - pos) / delta_max; + } + else if(pos > uppLim) + { + lim_fact = btScalar(0.0f); + } + else + { + lim_fact = btScalar(1.0f); + } + } + else + { + lim_fact = btScalar(0.0f); + } + return lim_fact; +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btTypedConstraintData* tcd = (btTypedConstraintData*) dataBuffer; + + tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA); + tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB); + char* name = (char*) serializer->findNameForPointer(this); + tcd->m_name = (char*)serializer->getUniquePointer(name); + if (tcd->m_name) + { + serializer->serializeName(name); + } + + tcd->m_objectType = m_objectType; + tcd->m_needsFeedback = m_needsFeedback; + tcd->m_userConstraintId =m_userConstraintId; + tcd->m_userConstraintType =m_userConstraintType; + + tcd->m_appliedImpulse = float(m_appliedImpulse); + tcd->m_dbgDrawSize = float(m_dbgDrawSize ); + + tcd->m_disableCollisionsBetweenLinkedBodies = false; + + int i; + for (i=0;i<m_rbA.getNumConstraintRefs();i++) + if (m_rbA.getConstraintRef(i) == this) + tcd->m_disableCollisionsBetweenLinkedBodies = true; + for (i=0;i<m_rbB.getNumConstraintRefs();i++) + if (m_rbB.getConstraintRef(i) == this) + tcd->m_disableCollisionsBetweenLinkedBodies = true; + + return "btTypedConstraintData"; +} + + |