121 lines
3.7 KiB
C++
121 lines
3.7 KiB
C++
/*
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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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#ifndef GENERIC_6DOF_CONSTRAINT_H
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#define GENERIC_6DOF_CONSTRAINT_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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/// btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
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/// btGeneric6DofConstraint can leave any of the 6 degree of freedom 'free' or 'locked'
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/// Work in progress (is still a Hinge actually)
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class btGeneric6DofConstraint : public btTypedConstraint
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{
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btJacobianEntry m_jacLinear[3]; // 3 orthogonal linear constraints
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btJacobianEntry m_jacAng[3]; // 3 orthogonal angular constraints
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btTransform m_frameInA; // the constraint space w.r.t body A
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btTransform m_frameInB; // the constraint space w.r.t body B
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btScalar m_lowerLimit[6]; // the constraint lower limits
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btScalar m_upperLimit[6]; // the constraint upper limits
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btScalar m_accumulatedImpulse[6];
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btGeneric6DofConstraint& operator=(btGeneric6DofConstraint& other)
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{
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btAssert(0);
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(void) other;
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return *this;
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}
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public:
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btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB );
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btGeneric6DofConstraint();
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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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btScalar computeAngle(int axis) const;
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void setLinearLowerLimit(const btVector3& linearLower)
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{
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m_lowerLimit[0] = linearLower.getX();
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m_lowerLimit[1] = linearLower.getY();
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m_lowerLimit[2] = linearLower.getZ();
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}
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void setLinearUpperLimit(const btVector3& linearUpper)
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{
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m_upperLimit[0] = linearUpper.getX();
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m_upperLimit[1] = linearUpper.getY();
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m_upperLimit[2] = linearUpper.getZ();
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}
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void setAngularLowerLimit(const btVector3& angularLower)
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{
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m_lowerLimit[3] = angularLower.getX();
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m_lowerLimit[4] = angularLower.getY();
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m_lowerLimit[5] = angularLower.getZ();
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}
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void setAngularUpperLimit(const btVector3& angularUpper)
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{
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m_upperLimit[3] = angularUpper.getX();
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m_upperLimit[4] = angularUpper.getY();
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m_upperLimit[5] = angularUpper.getZ();
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}
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//first 3 are linear, next 3 are angular
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void SetLimit(int axis, btScalar lo, btScalar hi)
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{
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m_lowerLimit[axis] = lo;
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m_upperLimit[axis] = hi;
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}
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//free means upper < lower,
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//locked means upper == lower
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//limited means upper > lower
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//limitIndex: first 3 are linear, next 3 are angular
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bool isLimited(int limitIndex)
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{
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return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
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}
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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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};
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#endif //GENERIC_6DOF_CONSTRAINT_H
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