diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h | 109 |
1 files changed, 106 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h index f121919c8f9..84ea9e04095 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @@ -20,7 +20,7 @@ Written by: Marcus Hennix #ifndef CONETWISTCONSTRAINT_H #define CONETWISTCONSTRAINT_H -#include "../../LinearMath/btVector3.h" +#include "LinearMath/btVector3.h" #include "btJacobianEntry.h" #include "btTypedConstraint.h" @@ -42,10 +42,14 @@ public: btScalar m_biasFactor; btScalar m_relaxationFactor; + btScalar m_damping; + btScalar m_swingSpan1; btScalar m_swingSpan2; btScalar m_twistSpan; + btScalar m_fixThresh; + btVector3 m_swingAxis; btVector3 m_twistAxis; @@ -56,6 +60,8 @@ public: btScalar m_swingCorrection; btScalar m_twistCorrection; + btScalar m_twistAngle; + btScalar m_accSwingLimitImpulse; btScalar m_accTwistLimitImpulse; @@ -63,6 +69,19 @@ public: bool m_solveTwistLimit; bool m_solveSwingLimit; + bool m_useSolveConstraintObsolete; + + // not yet used... + btScalar m_swingLimitRatio; + btScalar m_twistLimitRatio; + btVector3 m_twistAxisA; + + // motor + bool m_bMotorEnabled; + bool m_bNormalizedMotorStrength; + btQuaternion m_qTarget; + btScalar m_maxMotorImpulse; + btVector3 m_accMotorImpulse; public: @@ -74,7 +93,12 @@ public: virtual void buildJacobian(); - virtual void solveConstraint(btScalar timeStep); + virtual void getInfo1 (btConstraintInfo1* info); + + virtual void getInfo2 (btConstraintInfo2* info); + + + virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep); void updateRHS(btScalar timeStep); @@ -92,7 +116,32 @@ public: m_angularOnly = angularOnly; } - void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 0.8f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) + void setLimit(int limitIndex,btScalar limitValue) + { + switch (limitIndex) + { + case 3: + { + m_twistSpan = limitValue; + break; + } + case 4: + { + m_swingSpan2 = limitValue; + break; + } + case 5: + { + m_swingSpan1 = limitValue; + break; + } + default: + { + } + }; + } + + void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) { m_swingSpan1 = _swingSpan1; m_swingSpan2 = _swingSpan2; @@ -121,6 +170,60 @@ public: return m_twistLimitSign; } + void calcAngleInfo(); + void calcAngleInfo2(); + + inline btScalar getSwingSpan1() + { + return m_swingSpan1; + } + inline btScalar getSwingSpan2() + { + return m_swingSpan2; + } + inline btScalar getTwistSpan() + { + return m_twistSpan; + } + inline btScalar getTwistAngle() + { + return m_twistAngle; + } + bool isPastSwingLimit() { return m_solveSwingLimit; } + + + void setDamping(btScalar damping) { m_damping = damping; } + + void enableMotor(bool b) { m_bMotorEnabled = b; } + void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; } + void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; } + + btScalar getFixThresh() { return m_fixThresh; } + void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; } + + // setMotorTarget: + // q: the desired rotation of bodyA wrt bodyB. + // note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability) + // note: don't forget to enableMotor() + void setMotorTarget(const btQuaternion &q); + + // same as above, but q is the desired rotation of frameA wrt frameB in constraint space + void setMotorTargetInConstraintSpace(const btQuaternion &q); + + btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const; + + + +protected: + void init(); + + void computeConeLimitInfo(const btQuaternion& qCone, // in + btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs + + void computeTwistLimitInfo(const btQuaternion& qTwist, // in + btScalar& twistAngle, btVector3& vTwistAxis); // all outs + + void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const; }; #endif //CONETWISTCONSTRAINT_H |