1 files changed, 115 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
new file mode 100644
index 00000000000..d15bdaad790
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+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
@@ -0,0 +1,115 @@
+/*
+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.
+*/
+
+
+#include "btPoint2PointConstraint.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+
+
+
+btPoint2PointConstraint::btPoint2PointConstraint()
+{
+}
+
+btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
+:btTypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB)
+{
+
+}
+
+
+btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
+:btTypedConstraint(rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA))
+{
+	
+}
+
+void	btPoint2PointConstraint::buildJacobian()
+{
+	m_appliedImpulse = 0.f;
+
+	btVector3	normal(0,0,0);
+
+	for (int i=0;i<3;i++)
+	{
+		normal[i] = 1;
+		new (&m_jac[i]) btJacobianEntry(
+			m_rbA.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbB.getCenterOfMassTransform().getBasis().transpose(),
+			m_rbA.getCenterOfMassTransform()*m_pivotInA - m_rbA.getCenterOfMassPosition(),
+			m_rbB.getCenterOfMassTransform()*m_pivotInB - m_rbB.getCenterOfMassPosition(),
+			normal,
+			m_rbA.getInvInertiaDiagLocal(),
+			m_rbA.getInvMass(),
+			m_rbB.getInvInertiaDiagLocal(),
+			m_rbB.getInvMass());
+		normal[i] = 0;
+	}
+
+}
+
+void	btPoint2PointConstraint::solveConstraint(btScalar	timeStep)
+{
+	btVector3 pivotAInW = m_rbA.getCenterOfMassTransform()*m_pivotInA;
+	btVector3 pivotBInW = m_rbB.getCenterOfMassTransform()*m_pivotInB;
+
+
+	btVector3 normal(0,0,0);
+	
+
+//	btVector3 angvelA = m_rbA.getCenterOfMassTransform().getBasis().transpose() * m_rbA.getAngularVelocity();
+//	btVector3 angvelB = m_rbB.getCenterOfMassTransform().getBasis().transpose() * m_rbB.getAngularVelocity();
+
+	for (int i=0;i<3;i++)
+	{		
+		normal[i] = 1;
+		btScalar jacDiagABInv = 1.f / m_jac[i].getDiagonal();
+
+		btVector3 rel_pos1 = pivotAInW - m_rbA.getCenterOfMassPosition(); 
+		btVector3 rel_pos2 = pivotBInW - m_rbB.getCenterOfMassPosition();
+		//this jacobian entry could be re-used for all iterations
+		
+		btVector3 vel1 = m_rbA.getVelocityInLocalPoint(rel_pos1);
+		btVector3 vel2 = m_rbB.getVelocityInLocalPoint(rel_pos2);
+		btVector3 vel = vel1 - vel2;
+		
+		btScalar rel_vel;
+		rel_vel = normal.dot(vel);
+
+	/*
+		//velocity error (first order error)
+		btScalar rel_vel = m_jac[i].getRelativeVelocity(m_rbA.getLinearVelocity(),angvelA,
+														m_rbB.getLinearVelocity(),angvelB);
+	*/
+	
+		//positional error (zeroth order error)
+		btScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
+		
+		btScalar impulse = depth*m_setting.m_tau/timeStep  * jacDiagABInv -  m_setting.m_damping * rel_vel * jacDiagABInv;
+		m_appliedImpulse+=impulse;
+		btVector3 impulse_vector = normal * impulse;
+		m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
+		m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());
+		
+		normal[i] = 0;
+	}
+}
+
+void	btPoint2PointConstraint::updateRHS(btScalar	timeStep)
+{
+
+}
+