131 lines
3.7 KiB
C
131 lines
3.7 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
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#ifndef HINGECONSTRAINT_H
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#define HINGECONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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#include "btTypedConstraint.h"
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class btRigidBody;
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/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
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/// axis defines the orientation of the hinge axis
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class btHingeConstraint : public btTypedConstraint
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{
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#ifdef IN_PARALLELL_SOLVER
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public:
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#endif
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btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
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btJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
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btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
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btTransform m_rbBFrame;
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btScalar m_motorTargetVelocity;
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btScalar m_maxMotorImpulse;
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btScalar m_limitSoftness;
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btScalar m_biasFactor;
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btScalar m_relaxationFactor;
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btScalar m_lowerLimit;
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btScalar m_upperLimit;
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btScalar m_kHinge;
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btScalar m_limitSign;
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btScalar m_correction;
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btScalar m_accLimitImpulse;
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bool m_angularOnly;
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bool m_enableAngularMotor;
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bool m_solveLimit;
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public:
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btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, btVector3& axisInA,btVector3& axisInB);
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btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,btVector3& axisInA);
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btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
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btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
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btHingeConstraint();
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virtual void buildJacobian();
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virtual void solveConstraint(btScalar timeStep);
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void updateRHS(btScalar timeStep);
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const btRigidBody& getRigidBodyA() const
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{
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return m_rbA;
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}
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const btRigidBody& getRigidBodyB() const
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{
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return m_rbB;
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}
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void setAngularOnly(bool angularOnly)
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{
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m_angularOnly = angularOnly;
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}
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void enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
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{
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m_enableAngularMotor = enableMotor;
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m_motorTargetVelocity = targetVelocity;
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m_maxMotorImpulse = maxMotorImpulse;
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}
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void setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
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{
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m_lowerLimit = low;
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m_upperLimit = high;
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m_limitSoftness = _softness;
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m_biasFactor = _biasFactor;
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m_relaxationFactor = _relaxationFactor;
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}
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btScalar getHingeAngle();
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const btTransform& getAFrame() { return m_rbAFrame; };
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const btTransform& getBFrame() { return m_rbBFrame; };
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inline int getSolveLimit()
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{
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return m_solveLimit;
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}
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inline btScalar getLimitSign()
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{
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return m_limitSign;
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}
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};
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#endif //HINGECONSTRAINT_H
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