127 lines
3.3 KiB
C
127 lines
3.3 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios
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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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Written by: Marcus Hennix
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*/
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#ifndef CONETWISTCONSTRAINT_H
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#define CONETWISTCONSTRAINT_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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///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
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class btConeTwistConstraint : 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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btTransform m_rbAFrame;
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btTransform m_rbBFrame;
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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_swingSpan1;
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btScalar m_swingSpan2;
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btScalar m_twistSpan;
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btVector3 m_swingAxis;
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btVector3 m_twistAxis;
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btScalar m_kSwing;
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btScalar m_kTwist;
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btScalar m_twistLimitSign;
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btScalar m_swingCorrection;
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btScalar m_twistCorrection;
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btScalar m_accSwingLimitImpulse;
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btScalar m_accTwistLimitImpulse;
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bool m_angularOnly;
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bool m_solveTwistLimit;
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bool m_solveSwingLimit;
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public:
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btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
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btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
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btConeTwistConstraint();
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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 setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 0.8f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
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{
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m_swingSpan1 = _swingSpan1;
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m_swingSpan2 = _swingSpan2;
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m_twistSpan = _twistSpan;
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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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const btTransform& getAFrame() { return m_rbAFrame; };
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const btTransform& getBFrame() { return m_rbBFrame; };
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inline int getSolveTwistLimit()
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{
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return m_solveTwistLimit;
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}
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inline int getSolveSwingLimit()
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{
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return m_solveTwistLimit;
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}
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inline btScalar getTwistLimitSign()
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{
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return m_twistLimitSign;
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}
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};
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#endif //CONETWISTCONSTRAINT_H
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