diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h | 87 |
1 files changed, 85 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index 7c33ac24e05..f26e72105ba 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -41,7 +41,8 @@ enum btHingeFlags { BT_HINGE_FLAGS_CFM_STOP = 1, BT_HINGE_FLAGS_ERP_STOP = 2, - BT_HINGE_FLAGS_CFM_NORM = 4 + BT_HINGE_FLAGS_CFM_NORM = 4, + BT_HINGE_FLAGS_ERP_NORM = 8 }; @@ -94,6 +95,7 @@ public: int m_flags; btScalar m_normalCFM; + btScalar m_normalERP; btScalar m_stopCFM; btScalar m_stopERP; @@ -175,6 +177,7 @@ public: // maintain a given angular target. void enableMotor(bool enableMotor) { m_enableAngularMotor = enableMotor; } void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; } + void setMotorTargetVelocity(btScalar motorTargetVelocity) { m_motorTargetVelocity = motorTargetVelocity; } void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B. void setMotorTarget(btScalar targetAngle, btScalar dt); @@ -191,6 +194,33 @@ public: m_relaxationFactor = _relaxationFactor; #endif } + + btScalar getLimitSoftness() const + { +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getSoftness(); +#else + return m_limitSoftness; +#endif + } + + btScalar getLimitBiasFactor() const + { +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getBiasFactor(); +#else + return m_biasFactor; +#endif + } + + btScalar getLimitRelaxationFactor() const + { +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getRelaxationFactor(); +#else + return m_relaxationFactor; +#endif + } void setAxis(btVector3& axisInA) { @@ -217,6 +247,14 @@ public: } + bool hasLimit() const { +#ifdef _BT_USE_CENTER_LIMIT_ + return m_limit.getHalfRange() > 0; +#else + return m_lowerLimit <= m_upperLimit; +#endif + } + btScalar getLowerLimit() const { #ifdef _BT_USE_CENTER_LIMIT_ @@ -236,6 +274,7 @@ public: } + ///The getHingeAngle gives the hinge angle in range [-PI,PI] btScalar getHingeAngle(); btScalar getHingeAngle(const btTransform& transA,const btTransform& transB); @@ -286,13 +325,20 @@ public: // access for UseFrameOffset bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; } void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; } - + // access for UseReferenceFrameA + bool getUseReferenceFrameA() const { return m_useReferenceFrameA; } + void setUseReferenceFrameA(bool useReferenceFrameA) { m_useReferenceFrameA = useReferenceFrameA; } ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). ///If no axis is provided, it uses the default axis for this constraint. virtual void setParam(int num, btScalar value, int axis = -1); ///return the local value of parameter virtual btScalar getParam(int num, int axis = -1) const; + + virtual int getFlags() const + { + return m_flags; + } virtual int calculateSerializeBufferSize() const; @@ -326,6 +372,43 @@ struct btHingeConstraintDoubleData }; #endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///The getAccumulatedHingeAngle returns the accumulated hinge angle, taking rotation across the -PI/PI boundary into account +ATTRIBUTE_ALIGNED16(class) btHingeAccumulatedAngleConstraint : public btHingeConstraint +{ +protected: + btScalar m_accumulatedAngle; +public: + + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false) + :btHingeConstraint(rbA,rbB,pivotInA,pivotInB, axisInA,axisInB, useReferenceFrameA ) + { + m_accumulatedAngle=getHingeAngle(); + } + + btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false) + :btHingeConstraint(rbA,pivotInA,axisInA, useReferenceFrameA) + { + m_accumulatedAngle=getHingeAngle(); + } + + btHingeAccumulatedAngleConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false) + :btHingeConstraint(rbA,rbB, rbAFrame, rbBFrame, useReferenceFrameA ) + { + m_accumulatedAngle=getHingeAngle(); + } + + btHingeAccumulatedAngleConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false) + :btHingeConstraint(rbA,rbAFrame, useReferenceFrameA ) + { + m_accumulatedAngle=getHingeAngle(); + } + btScalar getAccumulatedHingeAngle(); + void setAccumulatedHingeAngle(btScalar accAngle); + virtual void getInfo1 (btConstraintInfo1* info); + +}; struct btHingeConstraintFloatData { |