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Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h | 123 |
1 files changed, 123 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h new file mode 100644 index 00000000000..874669c80b3 --- /dev/null +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @@ -0,0 +1,123 @@ +/* +Bullet Continuous Collision Detection and Physics Library +btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios + +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. + +Written by: Marcus Hennix +*/ + + + +#ifndef CONETWISTCONSTRAINT_H +#define CONETWISTCONSTRAINT_H + +#include "../../LinearMath/btVector3.h" +#include "btJacobianEntry.h" +#include "btTypedConstraint.h" + +class btRigidBody; + + +///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) +class btConeTwistConstraint : public btTypedConstraint +{ + btJacobianEntry m_jac[3]; //3 orthogonal linear constraints + + btTransform m_rbAFrame; + btTransform m_rbBFrame; + + btScalar m_limitSoftness; + btScalar m_biasFactor; + btScalar m_relaxationFactor; + + btScalar m_swingSpan1; + btScalar m_swingSpan2; + btScalar m_twistSpan; + + btVector3 m_swingAxis; + btVector3 m_twistAxis; + + btScalar m_kSwing; + btScalar m_kTwist; + + btScalar m_twistLimitSign; + btScalar m_swingCorrection; + btScalar m_twistCorrection; + + btScalar m_accSwingLimitImpulse; + btScalar m_accTwistLimitImpulse; + + bool m_angularOnly; + bool m_solveTwistLimit; + bool m_solveSwingLimit; + + +public: + + btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame); + + btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame); + + btConeTwistConstraint(); + + virtual void buildJacobian(); + + virtual void solveConstraint(btScalar timeStep); + + void updateRHS(btScalar timeStep); + + const btRigidBody& getRigidBodyA() const + { + return m_rbA; + } + const btRigidBody& getRigidBodyB() const + { + return m_rbB; + } + + void setAngularOnly(bool angularOnly) + { + m_angularOnly = angularOnly; + } + + void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 0.8f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) + { + m_swingSpan1 = _swingSpan1; + m_swingSpan2 = _swingSpan2; + m_twistSpan = _twistSpan; + + m_limitSoftness = _softness; + m_biasFactor = _biasFactor; + m_relaxationFactor = _relaxationFactor; + } + + const btTransform& getAFrame() { return m_rbAFrame; }; + const btTransform& getBFrame() { return m_rbBFrame; }; + + inline int getSolveTwistLimit() + { + return m_solveTwistLimit; + } + + inline int getSolveSwingLimit() + { + return m_solveTwistLimit; + } + + inline btScalar getTwistLimitSign() + { + return m_twistLimitSign; + } + +}; + +#endif //CONETWISTCONSTRAINT_H |