diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp | 76 |
1 files changed, 46 insertions, 30 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp index 50d06960379..133aed7271b 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp @@ -18,14 +18,14 @@ Added by Roman Ponomarev (rponom@gmail.com) April 04, 2008 */ -//----------------------------------------------------------------------------- + #include "btSliderConstraint.h" #include "BulletDynamics/Dynamics/btRigidBody.h" #include "LinearMath/btTransformUtil.h" #include <new> -//----------------------------------------------------------------------------- + void btSliderConstraint::initParams() { @@ -62,9 +62,9 @@ void btSliderConstraint::initParams() m_maxAngMotorForce = btScalar(0.); m_accumulatedAngMotorImpulse = btScalar(0.0); -} // btSliderConstraint::initParams() +} + -//----------------------------------------------------------------------------- btSliderConstraint::btSliderConstraint() :btTypedConstraint(SLIDER_CONSTRAINT_TYPE), @@ -73,9 +73,9 @@ btSliderConstraint::btSliderConstraint() // m_useSolveConstraintObsolete(true) { initParams(); -} // btSliderConstraint::btSliderConstraint() +} + -//----------------------------------------------------------------------------- btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA) : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, rbA, rbB) @@ -86,9 +86,25 @@ btSliderConstraint::btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const // m_useSolveConstraintObsolete(true) { initParams(); -} // btSliderConstraint::btSliderConstraint() +} + + +static btRigidBody s_fixed(0, 0, 0); +btSliderConstraint::btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB) + : btTypedConstraint(SLIDER_CONSTRAINT_TYPE, s_fixed, rbB) + , + m_frameInB(frameInB), + m_useLinearReferenceFrameA(useLinearReferenceFrameB), + m_useSolveConstraintObsolete(false) +// m_useSolveConstraintObsolete(true) +{ + ///not providing rigidbody B means implicitly using worldspace for body B +// m_frameInA.getOrigin() = m_rbA.getCenterOfMassTransform()(m_frameInA.getOrigin()); + + initParams(); +} + -//----------------------------------------------------------------------------- void btSliderConstraint::buildJacobian() { @@ -104,9 +120,9 @@ void btSliderConstraint::buildJacobian() { buildJacobianInt(m_rbB, m_rbA, m_frameInB, m_frameInA); } -} // btSliderConstraint::buildJacobian() +} + -//----------------------------------------------------------------------------- void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB) { @@ -159,9 +175,9 @@ void btSliderConstraint::buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, co // clear accumulator for motors m_accumulatedLinMotorImpulse = btScalar(0.0); m_accumulatedAngMotorImpulse = btScalar(0.0); -} // btSliderConstraint::buildJacobianInt() +} + -//----------------------------------------------------------------------------- void btSliderConstraint::getInfo1(btConstraintInfo1* info) { @@ -189,9 +205,9 @@ void btSliderConstraint::getInfo1(btConstraintInfo1* info) info->nub--; } } -} // btSliderConstraint::getInfo1() +} + -//----------------------------------------------------------------------------- void btSliderConstraint::getInfo2(btConstraintInfo2* info) { @@ -499,9 +515,9 @@ void btSliderConstraint::getInfo2(btConstraintInfo2* info) info->m_constraintError[srow] *= getSoftnessLimAng(); } // if(limit) } // if angular limit or powered -} // btSliderConstraint::getInfo2() +} + -//----------------------------------------------------------------------------- void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep) { @@ -517,9 +533,9 @@ void btSliderConstraint::solveConstraintObsolete(btSolverBody& bodyA,btSolverBod solveConstraintInt(m_rbB,bodyB, m_rbA,bodyA); } } -} // btSliderConstraint::solveConstraint() +} + -//----------------------------------------------------------------------------- void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB) { @@ -703,11 +719,11 @@ void btSliderConstraint::solveConstraintInt(btRigidBody& rbA, btSolverBody& body bodyB.applyImpulse(btVector3(0,0,0), rbB.getInvInertiaTensorWorld()*axisA,-angImpulse); } } -} // btSliderConstraint::solveConstraint() +} + + -//----------------------------------------------------------------------------- -//----------------------------------------------------------------------------- void btSliderConstraint::calculateTransforms(void){ if(m_useLinearReferenceFrameA || (!m_useSolveConstraintObsolete)) @@ -740,9 +756,9 @@ void btSliderConstraint::calculateTransforms(void){ normalWorld = m_calculatedTransformA.getBasis().getColumn(i); m_depth[i] = m_delta.dot(normalWorld); } -} // btSliderConstraint::calculateTransforms() +} -//----------------------------------------------------------------------------- + void btSliderConstraint::testLinLimits(void) { @@ -769,9 +785,9 @@ void btSliderConstraint::testLinLimits(void) { m_depth[0] = btScalar(0.); } -} // btSliderConstraint::testLinLimits() +} + -//----------------------------------------------------------------------------- void btSliderConstraint::testAngLimits(void) { @@ -795,9 +811,9 @@ void btSliderConstraint::testAngLimits(void) m_solveAngLim = true; } } -} // btSliderConstraint::testAngLimits() +} -//----------------------------------------------------------------------------- + btVector3 btSliderConstraint::getAncorInA(void) { @@ -805,13 +821,13 @@ btVector3 btSliderConstraint::getAncorInA(void) ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * btScalar(0.5) * m_sliderAxis; ancorInA = m_rbA.getCenterOfMassTransform().inverse() * ancorInA; return ancorInA; -} // btSliderConstraint::getAncorInA() +} + -//----------------------------------------------------------------------------- btVector3 btSliderConstraint::getAncorInB(void) { btVector3 ancorInB; ancorInB = m_frameInB.getOrigin(); return ancorInB; -} // btSliderConstraint::getAncorInB(); +} |