90 lines
2.5 KiB
C++
90 lines
2.5 KiB
C++
|
#ifndef HINGE_JOINT_SW_H
|
||
|
|
#define HINGE_JOINT_SW_H
|
||
|
|
|
||
|
|
#include "servers/physics/joints_sw.h"
|
||
|
|
#include "servers/physics/joints/jacobian_entry_sw.h"
|
||
|
|
|
||
|
|
|
||
|
|
/*
|
||
|
|
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.
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
class HingeJointSW : public JointSW {
|
||
|
|
|
||
|
|
union {
|
||
|
|
struct {
|
||
|
|
BodySW *A;
|
||
|
|
BodySW *B;
|
||
|
|
};
|
||
|
|
|
||
|
|
BodySW *_arr[2];
|
||
|
|
};
|
||
|
|
|
||
|
|
JacobianEntrySW m_jac[3]; //3 orthogonal linear constraints
|
||
|
|
JacobianEntrySW m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
|
||
|
|
|
||
|
|
Transform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
|
||
|
|
Transform m_rbBFrame;
|
||
|
|
|
||
|
|
real_t m_motorTargetVelocity;
|
||
|
|
real_t m_maxMotorImpulse;
|
||
|
|
|
||
|
|
real_t m_limitSoftness;
|
||
|
|
real_t m_biasFactor;
|
||
|
|
real_t m_relaxationFactor;
|
||
|
|
|
||
|
|
real_t m_lowerLimit;
|
||
|
|
real_t m_upperLimit;
|
||
|
|
|
||
|
|
real_t m_kHinge;
|
||
|
|
|
||
|
|
real_t m_limitSign;
|
||
|
|
real_t m_correction;
|
||
|
|
|
||
|
|
real_t m_accLimitImpulse;
|
||
|
|
|
||
|
|
real_t tau;
|
||
|
|
|
||
|
|
bool m_useLimit;
|
||
|
|
bool m_angularOnly;
|
||
|
|
bool m_enableAngularMotor;
|
||
|
|
bool m_solveLimit;
|
||
|
|
|
||
|
|
real_t m_appliedImpulse;
|
||
|
|
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_HINGE; }
|
||
|
|
|
||
|
|
virtual bool setup(float p_step);
|
||
|
|
virtual void solve(float p_step);
|
||
|
|
|
||
|
|
real_t get_hinge_angle();
|
||
|
|
|
||
|
|
void set_param(PhysicsServer::HingeJointParam p_param, float p_value);
|
||
|
|
float get_param(PhysicsServer::HingeJointParam p_param) const;
|
||
|
|
|
||
|
|
void set_flag(PhysicsServer::HingeJointFlag p_flag, bool p_value);
|
||
|
|
bool get_flag(PhysicsServer::HingeJointFlag p_flag) const;
|
||
|
|
|
||
|
|
HingeJointSW(BodySW* rbA,BodySW* rbB, const Transform& frameA, const Transform& frameB);
|
||
|
|
HingeJointSW(BodySW* rbA,BodySW* rbB, const Vector3& pivotInA,const Vector3& pivotInB, const Vector3& axisInA,const Vector3& axisInB);
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // HINGE_JOINT_SW_H
|