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Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.h | 94 |
1 files changed, 94 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.h new file mode 100644 index 00000000000..50733d1418f --- /dev/null +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btOdeJoint.h @@ -0,0 +1,94 @@ +/* +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. +*/ + +#ifndef btOdeJoint_H +#define btOdeJoint_H + +struct btOdeSolverBody; +class btOdeJoint; + +#include "LinearMath/btScalar.h" + +struct BU_ContactJointNode { + btOdeJoint *joint; // pointer to enclosing btOdeJoint object + btOdeSolverBody* body; // *other* body this joint is connected to +}; +typedef btScalar dVector3[4]; + + +class btOdeJoint { + +public: + // naming convention: the "first" body this is connected to is node[0].body, + // and the "second" body is node[1].body. if this joint is only connected + // to one body then the second body is 0. + + // info returned by getInfo1 function. the constraint dimension is m (<=6). + // i.e. that is the total number of rows in the jacobian. `nub' is the + // number of unbounded variables (which have lo,hi = -/+ infinity). + + btOdeJoint(); + virtual ~btOdeJoint(); + + + struct Info1 { + int m,nub; + }; + + // info returned by getInfo2 function + + struct Info2 { + // integrator parameters: frames per second (1/stepsize), default error + // reduction parameter (0..1). + btScalar fps,erp; + + // for the first and second body, pointers to two (linear and angular) + // n*3 jacobian sub matrices, stored by rows. these matrices will have + // been initialized to 0 on entry. if the second body is zero then the + // J2xx pointers may be 0. + btScalar *J1l,*J1a,*J2l,*J2a; + + // elements to jump from one row to the next in J's + int rowskip; + + // right hand sides of the equation J*v = c + cfm * lambda. cfm is the + // "constraint force mixing" vector. c is set to zero on entry, cfm is + // set to a constant value (typically very small or zero) value on entry. + btScalar *c,*cfm; + + // lo and hi limits for variables (set to -/+ infinity on entry). + btScalar *lo,*hi; + + // findex vector for variables. see the LCP solver interface for a + // description of what this does. this is set to -1 on entry. + // note that the returned indexes are relative to the first index of + // the constraint. + int *findex; + }; + + // virtual function table: size of the joint structure, function pointers. + // we do it this way instead of using C++ virtual functions because + // sometimes we need to allocate joints ourself within a memory pool. + + virtual void GetInfo1 (Info1 *info)=0; + virtual void GetInfo2 (Info2 *info)=0; + + int flags; // dJOINT_xxx flags + BU_ContactJointNode node[2]; // connections to bodies. node[1].body can be 0 + btScalar lambda[6]; // lambda generated by last step +}; + + +#endif //btOdeJoint_H |