diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h | 43 |
1 files changed, 41 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h index 0ae161d5bdf..8082eb1f132 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h @@ -54,6 +54,7 @@ public: //! temp_variables //!@{ btScalar m_currentLimitError;//! How much is violated this limit + btScalar m_currentPosition; //! current value of angle int m_currentLimit;//!< 0=free, 1=at lo limit, 2=at hi limit btScalar m_accumulatedImpulse; //!@} @@ -134,6 +135,7 @@ public: btVector3 m_targetVelocity;//!< target motor velocity btVector3 m_maxMotorForce;//!< max force on motor btVector3 m_currentLimitError;//! How much is violated this limit + btVector3 m_currentLinearDiff;//! Current relative offset of constraint frames int m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit btTranslationalLimitMotor() @@ -380,14 +382,21 @@ public: //! Get the relative Euler angle /*! - \pre btGeneric6DofConstraint.buildJacobian must be called previously. + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. */ btScalar getAngle(int axis_index) const; + //! Get the relative position of the constraint pivot + /*! + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. + */ + btScalar getRelativePivotPosition(int axis_index) const; + + //! Test angular limit. /*! Calculates angular correction and returns true if limit needs to be corrected. - \pre btGeneric6DofConstraint.buildJacobian must be called previously. + \pre btGeneric6DofConstraint::calculateTransforms() must be called previously. */ bool testAngularLimitMotor(int axis_index); @@ -477,4 +486,34 @@ public: }; + +/// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF + +/// DOF index used in enableSpring() and setStiffness() means: +/// 0 : translation X +/// 1 : translation Y +/// 2 : translation Z +/// 3 : rotation X (3rd Euler rotational around new position of X axis, range [-PI+epsilon, PI-epsilon] ) +/// 4 : rotation Y (2nd Euler rotational around new position of Y axis, range [-PI/2+epsilon, PI/2-epsilon] ) +/// 5 : rotation Z (1st Euler rotational around Z axis, range [-PI+epsilon, PI-epsilon] ) + +class btGeneric6DofSpringConstraint : public btGeneric6DofConstraint +{ +protected: + bool m_springEnabled[6]; + btScalar m_equilibriumPoint[6]; + btScalar m_springStiffness[6]; + btScalar m_springDamping[6]; // between 0 and 1 (1 == no damping) + void internalUpdateSprings(btConstraintInfo2* info); +public: + btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); + void enableSpring(int index, bool onOff); + void setStiffness(int index, btScalar stiffness); + void setDamping(int index, btScalar damping); + void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF + void setEquilibriumPoint(int index); // set the current constraint position/orientation as an equilibrium point for given DOF + virtual void getInfo2 (btConstraintInfo2* info); +}; + + #endif //GENERIC_6DOF_CONSTRAINT_H |