1083 lines
34 KiB
C++
1083 lines
34 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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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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#include "btHingeConstraint.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "LinearMath/btTransformUtil.h"
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#include "LinearMath/btMinMax.h"
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#include <new>
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#include "btSolverBody.h"
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//#define HINGE_USE_OBSOLETE_SOLVER false
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#define HINGE_USE_OBSOLETE_SOLVER false
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#define HINGE_USE_FRAME_OFFSET true
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#ifndef __SPU__
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btHingeConstraint::btHingeConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB,
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const btVector3& axisInA, const btVector3& axisInB, bool useReferenceFrameA)
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: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA, rbB),
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#ifdef _BT_USE_CENTER_LIMIT_
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m_limit(),
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#endif
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m_angularOnly(false),
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m_enableAngularMotor(false),
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m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
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m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
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m_useReferenceFrameA(useReferenceFrameA),
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m_flags(0),
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m_normalCFM(0),
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m_normalERP(0),
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m_stopCFM(0),
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m_stopERP(0)
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{
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m_rbAFrame.getOrigin() = pivotInA;
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// since no frame is given, assume this to be zero angle and just pick rb transform axis
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btVector3 rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(0);
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btVector3 rbAxisA2;
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btScalar projection = axisInA.dot(rbAxisA1);
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if (projection >= 1.0f - SIMD_EPSILON)
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{
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rbAxisA1 = -rbA.getCenterOfMassTransform().getBasis().getColumn(2);
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rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
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}
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else if (projection <= -1.0f + SIMD_EPSILON)
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{
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rbAxisA1 = rbA.getCenterOfMassTransform().getBasis().getColumn(2);
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rbAxisA2 = rbA.getCenterOfMassTransform().getBasis().getColumn(1);
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}
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else
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{
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rbAxisA2 = axisInA.cross(rbAxisA1);
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rbAxisA1 = rbAxisA2.cross(axisInA);
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}
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m_rbAFrame.getBasis().setValue(rbAxisA1.getX(), rbAxisA2.getX(), axisInA.getX(),
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rbAxisA1.getY(), rbAxisA2.getY(), axisInA.getY(),
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rbAxisA1.getZ(), rbAxisA2.getZ(), axisInA.getZ());
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btQuaternion rotationArc = shortestArcQuat(axisInA, axisInB);
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btVector3 rbAxisB1 = quatRotate(rotationArc, rbAxisA1);
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btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
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m_rbBFrame.getOrigin() = pivotInB;
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m_rbBFrame.getBasis().setValue(rbAxisB1.getX(), rbAxisB2.getX(), axisInB.getX(),
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rbAxisB1.getY(), rbAxisB2.getY(), axisInB.getY(),
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rbAxisB1.getZ(), rbAxisB2.getZ(), axisInB.getZ());
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#ifndef _BT_USE_CENTER_LIMIT_
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//start with free
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m_lowerLimit = btScalar(1.0f);
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m_upperLimit = btScalar(-1.0f);
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m_biasFactor = 0.3f;
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m_relaxationFactor = 1.0f;
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m_limitSoftness = 0.9f;
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m_solveLimit = false;
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#endif
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m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
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}
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btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btVector3& pivotInA, const btVector3& axisInA, bool useReferenceFrameA)
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: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA),
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#ifdef _BT_USE_CENTER_LIMIT_
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m_limit(),
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#endif
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m_angularOnly(false),
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m_enableAngularMotor(false),
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m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
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m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
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m_useReferenceFrameA(useReferenceFrameA),
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m_flags(0),
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m_normalCFM(0),
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m_normalERP(0),
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m_stopCFM(0),
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m_stopERP(0)
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{
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// since no frame is given, assume this to be zero angle and just pick rb transform axis
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// fixed axis in worldspace
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btVector3 rbAxisA1, rbAxisA2;
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btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
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m_rbAFrame.getOrigin() = pivotInA;
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m_rbAFrame.getBasis().setValue(rbAxisA1.getX(), rbAxisA2.getX(), axisInA.getX(),
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rbAxisA1.getY(), rbAxisA2.getY(), axisInA.getY(),
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rbAxisA1.getZ(), rbAxisA2.getZ(), axisInA.getZ());
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btVector3 axisInB = rbA.getCenterOfMassTransform().getBasis() * axisInA;
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btQuaternion rotationArc = shortestArcQuat(axisInA, axisInB);
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btVector3 rbAxisB1 = quatRotate(rotationArc, rbAxisA1);
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btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
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m_rbBFrame.getOrigin() = rbA.getCenterOfMassTransform()(pivotInA);
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m_rbBFrame.getBasis().setValue(rbAxisB1.getX(), rbAxisB2.getX(), axisInB.getX(),
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rbAxisB1.getY(), rbAxisB2.getY(), axisInB.getY(),
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rbAxisB1.getZ(), rbAxisB2.getZ(), axisInB.getZ());
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#ifndef _BT_USE_CENTER_LIMIT_
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//start with free
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m_lowerLimit = btScalar(1.0f);
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m_upperLimit = btScalar(-1.0f);
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m_biasFactor = 0.3f;
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m_relaxationFactor = 1.0f;
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m_limitSoftness = 0.9f;
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m_solveLimit = false;
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#endif
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m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
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}
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btHingeConstraint::btHingeConstraint(btRigidBody& rbA, btRigidBody& rbB,
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const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
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: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA, rbB), m_rbAFrame(rbAFrame), m_rbBFrame(rbBFrame),
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#ifdef _BT_USE_CENTER_LIMIT_
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m_limit(),
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#endif
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m_angularOnly(false),
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m_enableAngularMotor(false),
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m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
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m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
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m_useReferenceFrameA(useReferenceFrameA),
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m_flags(0),
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m_normalCFM(0),
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m_normalERP(0),
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m_stopCFM(0),
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m_stopERP(0)
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{
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#ifndef _BT_USE_CENTER_LIMIT_
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//start with free
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m_lowerLimit = btScalar(1.0f);
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m_upperLimit = btScalar(-1.0f);
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m_biasFactor = 0.3f;
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m_relaxationFactor = 1.0f;
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m_limitSoftness = 0.9f;
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m_solveLimit = false;
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#endif
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m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
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}
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btHingeConstraint::btHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA)
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: btTypedConstraint(HINGE_CONSTRAINT_TYPE, rbA), m_rbAFrame(rbAFrame), m_rbBFrame(rbAFrame),
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#ifdef _BT_USE_CENTER_LIMIT_
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m_limit(),
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#endif
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m_angularOnly(false),
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m_enableAngularMotor(false),
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m_useSolveConstraintObsolete(HINGE_USE_OBSOLETE_SOLVER),
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m_useOffsetForConstraintFrame(HINGE_USE_FRAME_OFFSET),
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m_useReferenceFrameA(useReferenceFrameA),
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m_flags(0),
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m_normalCFM(0),
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m_normalERP(0),
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m_stopCFM(0),
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m_stopERP(0)
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{
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///not providing rigidbody B means implicitly using worldspace for body B
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m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(m_rbAFrame.getOrigin());
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#ifndef _BT_USE_CENTER_LIMIT_
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//start with free
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m_lowerLimit = btScalar(1.0f);
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m_upperLimit = btScalar(-1.0f);
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m_biasFactor = 0.3f;
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m_relaxationFactor = 1.0f;
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m_limitSoftness = 0.9f;
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m_solveLimit = false;
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#endif
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m_referenceSign = m_useReferenceFrameA ? btScalar(-1.f) : btScalar(1.f);
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}
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void btHingeConstraint::buildJacobian()
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{
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if (m_useSolveConstraintObsolete)
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{
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m_appliedImpulse = btScalar(0.);
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m_accMotorImpulse = btScalar(0.);
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if (!m_angularOnly)
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{
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btVector3 pivotAInW = m_rbA.getCenterOfMassTransform() * m_rbAFrame.getOrigin();
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btVector3 pivotBInW = m_rbB.getCenterOfMassTransform() * m_rbBFrame.getOrigin();
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btVector3 relPos = pivotBInW - pivotAInW;
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btVector3 normal[3];
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if (relPos.length2() > SIMD_EPSILON)
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{
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normal[0] = relPos.normalized();
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}
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else
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{
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normal[0].setValue(btScalar(1.0), 0, 0);
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}
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btPlaneSpace1(normal[0], normal[1], normal[2]);
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for (int i = 0; i < 3; i++)
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{
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new (&m_jac[i]) btJacobianEntry(
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m_rbA.getCenterOfMassTransform().getBasis().transpose(),
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m_rbB.getCenterOfMassTransform().getBasis().transpose(),
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pivotAInW - m_rbA.getCenterOfMassPosition(),
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pivotBInW - m_rbB.getCenterOfMassPosition(),
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normal[i],
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m_rbA.getInvInertiaDiagLocal(),
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m_rbA.getInvMass(),
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m_rbB.getInvInertiaDiagLocal(),
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m_rbB.getInvMass());
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}
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}
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//calculate two perpendicular jointAxis, orthogonal to hingeAxis
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//these two jointAxis require equal angular velocities for both bodies
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//this is unused for now, it's a todo
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btVector3 jointAxis0local;
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btVector3 jointAxis1local;
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btPlaneSpace1(m_rbAFrame.getBasis().getColumn(2), jointAxis0local, jointAxis1local);
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btVector3 jointAxis0 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis0local;
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btVector3 jointAxis1 = getRigidBodyA().getCenterOfMassTransform().getBasis() * jointAxis1local;
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btVector3 hingeAxisWorld = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
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new (&m_jacAng[0]) btJacobianEntry(jointAxis0,
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m_rbA.getCenterOfMassTransform().getBasis().transpose(),
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m_rbB.getCenterOfMassTransform().getBasis().transpose(),
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m_rbA.getInvInertiaDiagLocal(),
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m_rbB.getInvInertiaDiagLocal());
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new (&m_jacAng[1]) btJacobianEntry(jointAxis1,
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m_rbA.getCenterOfMassTransform().getBasis().transpose(),
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m_rbB.getCenterOfMassTransform().getBasis().transpose(),
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m_rbA.getInvInertiaDiagLocal(),
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m_rbB.getInvInertiaDiagLocal());
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new (&m_jacAng[2]) btJacobianEntry(hingeAxisWorld,
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m_rbA.getCenterOfMassTransform().getBasis().transpose(),
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m_rbB.getCenterOfMassTransform().getBasis().transpose(),
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m_rbA.getInvInertiaDiagLocal(),
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m_rbB.getInvInertiaDiagLocal());
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// clear accumulator
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m_accLimitImpulse = btScalar(0.);
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// test angular limit
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testLimit(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
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//Compute K = J*W*J' for hinge axis
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btVector3 axisA = getRigidBodyA().getCenterOfMassTransform().getBasis() * m_rbAFrame.getBasis().getColumn(2);
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m_kHinge = 1.0f / (getRigidBodyA().computeAngularImpulseDenominator(axisA) +
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getRigidBodyB().computeAngularImpulseDenominator(axisA));
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}
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}
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#endif //__SPU__
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static inline btScalar btNormalizeAnglePositive(btScalar angle)
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{
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return btFmod(btFmod(angle, btScalar(2.0 * SIMD_PI)) + btScalar(2.0 * SIMD_PI), btScalar(2.0 * SIMD_PI));
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}
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static btScalar btShortestAngularDistance(btScalar accAngle, btScalar curAngle)
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{
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btScalar result = btNormalizeAngle(btNormalizeAnglePositive(btNormalizeAnglePositive(curAngle) -
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btNormalizeAnglePositive(accAngle)));
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return result;
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}
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static btScalar btShortestAngleUpdate(btScalar accAngle, btScalar curAngle)
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{
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btScalar tol(0.3);
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btScalar result = btShortestAngularDistance(accAngle, curAngle);
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if (btFabs(result) > tol)
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return curAngle;
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else
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return accAngle + result;
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return curAngle;
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}
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btScalar btHingeAccumulatedAngleConstraint::getAccumulatedHingeAngle()
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{
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btScalar hingeAngle = getHingeAngle();
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m_accumulatedAngle = btShortestAngleUpdate(m_accumulatedAngle, hingeAngle);
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return m_accumulatedAngle;
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}
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void btHingeAccumulatedAngleConstraint::setAccumulatedHingeAngle(btScalar accAngle)
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{
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m_accumulatedAngle = accAngle;
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}
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void btHingeAccumulatedAngleConstraint::getInfo1(btConstraintInfo1* info)
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{
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//update m_accumulatedAngle
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btScalar curHingeAngle = getHingeAngle();
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m_accumulatedAngle = btShortestAngleUpdate(m_accumulatedAngle, curHingeAngle);
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btHingeConstraint::getInfo1(info);
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}
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void btHingeConstraint::getInfo1(btConstraintInfo1* info)
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{
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if (m_useSolveConstraintObsolete)
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{
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info->m_numConstraintRows = 0;
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info->nub = 0;
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}
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else
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{
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info->m_numConstraintRows = 5; // Fixed 3 linear + 2 angular
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info->nub = 1;
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//always add the row, to avoid computation (data is not available yet)
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//prepare constraint
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testLimit(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
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if (getSolveLimit() || getEnableAngularMotor())
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{
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info->m_numConstraintRows++; // limit 3rd anguar as well
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info->nub--;
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}
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}
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}
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void btHingeConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
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{
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if (m_useSolveConstraintObsolete)
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{
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info->m_numConstraintRows = 0;
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info->nub = 0;
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}
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else
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{
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//always add the 'limit' row, to avoid computation (data is not available yet)
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info->m_numConstraintRows = 6; // Fixed 3 linear + 2 angular
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info->nub = 0;
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}
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}
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void btHingeConstraint::getInfo2(btConstraintInfo2* info)
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{
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if (m_useOffsetForConstraintFrame)
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{
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getInfo2InternalUsingFrameOffset(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getAngularVelocity(), m_rbB.getAngularVelocity());
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}
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else
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{
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getInfo2Internal(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform(), m_rbA.getAngularVelocity(), m_rbB.getAngularVelocity());
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}
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}
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void btHingeConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB)
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{
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///the regular (virtual) implementation getInfo2 already performs 'testLimit' during getInfo1, so we need to do it now
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testLimit(transA, transB);
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getInfo2Internal(info, transA, transB, angVelA, angVelB);
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}
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void btHingeConstraint::getInfo2Internal(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB)
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{
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btAssert(!m_useSolveConstraintObsolete);
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int i, skip = info->rowskip;
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// transforms in world space
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btTransform trA = transA * m_rbAFrame;
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btTransform trB = transB * m_rbBFrame;
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// pivot point
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btVector3 pivotAInW = trA.getOrigin();
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btVector3 pivotBInW = trB.getOrigin();
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#if 0
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if (0)
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{
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for (i=0;i<6;i++)
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{
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info->m_J1linearAxis[i*skip]=0;
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info->m_J1linearAxis[i*skip+1]=0;
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info->m_J1linearAxis[i*skip+2]=0;
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info->m_J1angularAxis[i*skip]=0;
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info->m_J1angularAxis[i*skip+1]=0;
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info->m_J1angularAxis[i*skip+2]=0;
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info->m_J2linearAxis[i*skip]=0;
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info->m_J2linearAxis[i*skip+1]=0;
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info->m_J2linearAxis[i*skip+2]=0;
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info->m_J2angularAxis[i*skip]=0;
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info->m_J2angularAxis[i*skip+1]=0;
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info->m_J2angularAxis[i*skip+2]=0;
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info->m_constraintError[i*skip]=0.f;
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}
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}
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#endif //#if 0
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// linear (all fixed)
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if (!m_angularOnly)
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{
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info->m_J1linearAxis[0] = 1;
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info->m_J1linearAxis[skip + 1] = 1;
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info->m_J1linearAxis[2 * skip + 2] = 1;
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info->m_J2linearAxis[0] = -1;
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info->m_J2linearAxis[skip + 1] = -1;
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info->m_J2linearAxis[2 * skip + 2] = -1;
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}
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|
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btVector3 a1 = pivotAInW - transA.getOrigin();
|
|
{
|
|
btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
|
|
btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + skip);
|
|
btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * skip);
|
|
btVector3 a1neg = -a1;
|
|
a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
|
|
}
|
|
btVector3 a2 = pivotBInW - transB.getOrigin();
|
|
{
|
|
btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
|
|
btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + skip);
|
|
btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * skip);
|
|
a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
|
|
}
|
|
// linear RHS
|
|
btScalar normalErp = (m_flags & BT_HINGE_FLAGS_ERP_NORM) ? m_normalERP : info->erp;
|
|
|
|
btScalar k = info->fps * normalErp;
|
|
if (!m_angularOnly)
|
|
{
|
|
for (i = 0; i < 3; i++)
|
|
{
|
|
info->m_constraintError[i * skip] = k * (pivotBInW[i] - pivotAInW[i]);
|
|
}
|
|
}
|
|
// make rotations around X and Y equal
|
|
// the hinge axis should be the only unconstrained
|
|
// rotational axis, the angular velocity of the two bodies perpendicular to
|
|
// the hinge axis should be equal. thus the constraint equations are
|
|
// p*w1 - p*w2 = 0
|
|
// q*w1 - q*w2 = 0
|
|
// where p and q are unit vectors normal to the hinge axis, and w1 and w2
|
|
// are the angular velocity vectors of the two bodies.
|
|
// get hinge axis (Z)
|
|
btVector3 ax1 = trA.getBasis().getColumn(2);
|
|
// get 2 orthos to hinge axis (X, Y)
|
|
btVector3 p = trA.getBasis().getColumn(0);
|
|
btVector3 q = trA.getBasis().getColumn(1);
|
|
// set the two hinge angular rows
|
|
int s3 = 3 * info->rowskip;
|
|
int s4 = 4 * info->rowskip;
|
|
|
|
info->m_J1angularAxis[s3 + 0] = p[0];
|
|
info->m_J1angularAxis[s3 + 1] = p[1];
|
|
info->m_J1angularAxis[s3 + 2] = p[2];
|
|
info->m_J1angularAxis[s4 + 0] = q[0];
|
|
info->m_J1angularAxis[s4 + 1] = q[1];
|
|
info->m_J1angularAxis[s4 + 2] = q[2];
|
|
|
|
info->m_J2angularAxis[s3 + 0] = -p[0];
|
|
info->m_J2angularAxis[s3 + 1] = -p[1];
|
|
info->m_J2angularAxis[s3 + 2] = -p[2];
|
|
info->m_J2angularAxis[s4 + 0] = -q[0];
|
|
info->m_J2angularAxis[s4 + 1] = -q[1];
|
|
info->m_J2angularAxis[s4 + 2] = -q[2];
|
|
// compute the right hand side of the constraint equation. set relative
|
|
// body velocities along p and q to bring the hinge back into alignment.
|
|
// if ax1,ax2 are the unit length hinge axes as computed from body1 and
|
|
// body2, we need to rotate both bodies along the axis u = (ax1 x ax2).
|
|
// if `theta' is the angle between ax1 and ax2, we need an angular velocity
|
|
// along u to cover angle erp*theta in one step :
|
|
// |angular_velocity| = angle/time = erp*theta / stepsize
|
|
// = (erp*fps) * theta
|
|
// angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
|
|
// = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
|
|
// ...as ax1 and ax2 are unit length. if theta is smallish,
|
|
// theta ~= sin(theta), so
|
|
// angular_velocity = (erp*fps) * (ax1 x ax2)
|
|
// ax1 x ax2 is in the plane space of ax1, so we project the angular
|
|
// velocity to p and q to find the right hand side.
|
|
btVector3 ax2 = trB.getBasis().getColumn(2);
|
|
btVector3 u = ax1.cross(ax2);
|
|
info->m_constraintError[s3] = k * u.dot(p);
|
|
info->m_constraintError[s4] = k * u.dot(q);
|
|
// check angular limits
|
|
int nrow = 4; // last filled row
|
|
int srow;
|
|
btScalar limit_err = btScalar(0.0);
|
|
int limit = 0;
|
|
if (getSolveLimit())
|
|
{
|
|
#ifdef _BT_USE_CENTER_LIMIT_
|
|
limit_err = m_limit.getCorrection() * m_referenceSign;
|
|
#else
|
|
limit_err = m_correction * m_referenceSign;
|
|
#endif
|
|
limit = (limit_err > btScalar(0.0)) ? 1 : 2;
|
|
}
|
|
// if the hinge has joint limits or motor, add in the extra row
|
|
bool powered = getEnableAngularMotor();
|
|
if (limit || powered)
|
|
{
|
|
nrow++;
|
|
srow = nrow * info->rowskip;
|
|
info->m_J1angularAxis[srow + 0] = ax1[0];
|
|
info->m_J1angularAxis[srow + 1] = ax1[1];
|
|
info->m_J1angularAxis[srow + 2] = ax1[2];
|
|
|
|
info->m_J2angularAxis[srow + 0] = -ax1[0];
|
|
info->m_J2angularAxis[srow + 1] = -ax1[1];
|
|
info->m_J2angularAxis[srow + 2] = -ax1[2];
|
|
|
|
btScalar lostop = getLowerLimit();
|
|
btScalar histop = getUpperLimit();
|
|
if (limit && (lostop == histop))
|
|
{ // the joint motor is ineffective
|
|
powered = false;
|
|
}
|
|
info->m_constraintError[srow] = btScalar(0.0f);
|
|
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
|
|
if (powered)
|
|
{
|
|
if (m_flags & BT_HINGE_FLAGS_CFM_NORM)
|
|
{
|
|
info->cfm[srow] = m_normalCFM;
|
|
}
|
|
btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
|
|
info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
|
|
info->m_lowerLimit[srow] = -m_maxMotorImpulse;
|
|
info->m_upperLimit[srow] = m_maxMotorImpulse;
|
|
}
|
|
if (limit)
|
|
{
|
|
k = info->fps * currERP;
|
|
info->m_constraintError[srow] += k * limit_err;
|
|
if (m_flags & BT_HINGE_FLAGS_CFM_STOP)
|
|
{
|
|
info->cfm[srow] = m_stopCFM;
|
|
}
|
|
if (lostop == histop)
|
|
{
|
|
// limited low and high simultaneously
|
|
info->m_lowerLimit[srow] = -SIMD_INFINITY;
|
|
info->m_upperLimit[srow] = SIMD_INFINITY;
|
|
}
|
|
else if (limit == 1)
|
|
{ // low limit
|
|
info->m_lowerLimit[srow] = 0;
|
|
info->m_upperLimit[srow] = SIMD_INFINITY;
|
|
}
|
|
else
|
|
{ // high limit
|
|
info->m_lowerLimit[srow] = -SIMD_INFINITY;
|
|
info->m_upperLimit[srow] = 0;
|
|
}
|
|
// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
|
|
#ifdef _BT_USE_CENTER_LIMIT_
|
|
btScalar bounce = m_limit.getRelaxationFactor();
|
|
#else
|
|
btScalar bounce = m_relaxationFactor;
|
|
#endif
|
|
if (bounce > btScalar(0.0))
|
|
{
|
|
btScalar vel = angVelA.dot(ax1);
|
|
vel -= angVelB.dot(ax1);
|
|
// only apply bounce if the velocity is incoming, and if the
|
|
// resulting c[] exceeds what we already have.
|
|
if (limit == 1)
|
|
{ // low limit
|
|
if (vel < 0)
|
|
{
|
|
btScalar newc = -bounce * vel;
|
|
if (newc > info->m_constraintError[srow])
|
|
{
|
|
info->m_constraintError[srow] = newc;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{ // high limit - all those computations are reversed
|
|
if (vel > 0)
|
|
{
|
|
btScalar newc = -bounce * vel;
|
|
if (newc < info->m_constraintError[srow])
|
|
{
|
|
info->m_constraintError[srow] = newc;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#ifdef _BT_USE_CENTER_LIMIT_
|
|
info->m_constraintError[srow] *= m_limit.getBiasFactor();
|
|
#else
|
|
info->m_constraintError[srow] *= m_biasFactor;
|
|
#endif
|
|
} // if(limit)
|
|
} // if angular limit or powered
|
|
}
|
|
|
|
void btHingeConstraint::setFrames(const btTransform& frameA, const btTransform& frameB)
|
|
{
|
|
m_rbAFrame = frameA;
|
|
m_rbBFrame = frameB;
|
|
buildJacobian();
|
|
}
|
|
|
|
void btHingeConstraint::updateRHS(btScalar timeStep)
|
|
{
|
|
(void)timeStep;
|
|
}
|
|
|
|
btScalar btHingeConstraint::getHingeAngle()
|
|
{
|
|
return getHingeAngle(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
|
|
}
|
|
|
|
btScalar btHingeConstraint::getHingeAngle(const btTransform& transA, const btTransform& transB)
|
|
{
|
|
const btVector3 refAxis0 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(0);
|
|
const btVector3 refAxis1 = transA.getBasis() * m_rbAFrame.getBasis().getColumn(1);
|
|
const btVector3 swingAxis = transB.getBasis() * m_rbBFrame.getBasis().getColumn(1);
|
|
// btScalar angle = btAtan2Fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
|
|
btScalar angle = btAtan2(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
|
|
return m_referenceSign * angle;
|
|
}
|
|
|
|
void btHingeConstraint::testLimit(const btTransform& transA, const btTransform& transB)
|
|
{
|
|
// Compute limit information
|
|
m_hingeAngle = getHingeAngle(transA, transB);
|
|
#ifdef _BT_USE_CENTER_LIMIT_
|
|
m_limit.test(m_hingeAngle);
|
|
#else
|
|
m_correction = btScalar(0.);
|
|
m_limitSign = btScalar(0.);
|
|
m_solveLimit = false;
|
|
if (m_lowerLimit <= m_upperLimit)
|
|
{
|
|
m_hingeAngle = btAdjustAngleToLimits(m_hingeAngle, m_lowerLimit, m_upperLimit);
|
|
if (m_hingeAngle <= m_lowerLimit)
|
|
{
|
|
m_correction = (m_lowerLimit - m_hingeAngle);
|
|
m_limitSign = 1.0f;
|
|
m_solveLimit = true;
|
|
}
|
|
else if (m_hingeAngle >= m_upperLimit)
|
|
{
|
|
m_correction = m_upperLimit - m_hingeAngle;
|
|
m_limitSign = -1.0f;
|
|
m_solveLimit = true;
|
|
}
|
|
}
|
|
#endif
|
|
return;
|
|
}
|
|
|
|
static btVector3 vHinge(0, 0, btScalar(1));
|
|
|
|
void btHingeConstraint::setMotorTarget(const btQuaternion& qAinB, btScalar dt)
|
|
{
|
|
// convert target from body to constraint space
|
|
btQuaternion qConstraint = m_rbBFrame.getRotation().inverse() * qAinB * m_rbAFrame.getRotation();
|
|
qConstraint.normalize();
|
|
|
|
// extract "pure" hinge component
|
|
btVector3 vNoHinge = quatRotate(qConstraint, vHinge);
|
|
vNoHinge.normalize();
|
|
btQuaternion qNoHinge = shortestArcQuat(vHinge, vNoHinge);
|
|
btQuaternion qHinge = qNoHinge.inverse() * qConstraint;
|
|
qHinge.normalize();
|
|
|
|
// compute angular target, clamped to limits
|
|
btScalar targetAngle = qHinge.getAngle();
|
|
if (targetAngle > SIMD_PI) // long way around. flip quat and recalculate.
|
|
{
|
|
qHinge = -(qHinge);
|
|
targetAngle = qHinge.getAngle();
|
|
}
|
|
if (qHinge.getZ() < 0)
|
|
targetAngle = -targetAngle;
|
|
|
|
setMotorTarget(targetAngle, dt);
|
|
}
|
|
|
|
void btHingeConstraint::setMotorTarget(btScalar targetAngle, btScalar dt)
|
|
{
|
|
#ifdef _BT_USE_CENTER_LIMIT_
|
|
m_limit.fit(targetAngle);
|
|
#else
|
|
if (m_lowerLimit < m_upperLimit)
|
|
{
|
|
if (targetAngle < m_lowerLimit)
|
|
targetAngle = m_lowerLimit;
|
|
else if (targetAngle > m_upperLimit)
|
|
targetAngle = m_upperLimit;
|
|
}
|
|
#endif
|
|
// compute angular velocity
|
|
btScalar curAngle = getHingeAngle(m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
|
|
btScalar dAngle = targetAngle - curAngle;
|
|
m_motorTargetVelocity = dAngle / dt;
|
|
}
|
|
|
|
void btHingeConstraint::getInfo2InternalUsingFrameOffset(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB, const btVector3& angVelA, const btVector3& angVelB)
|
|
{
|
|
btAssert(!m_useSolveConstraintObsolete);
|
|
int i, s = info->rowskip;
|
|
// transforms in world space
|
|
btTransform trA = transA * m_rbAFrame;
|
|
btTransform trB = transB * m_rbBFrame;
|
|
// pivot point
|
|
// btVector3 pivotAInW = trA.getOrigin();
|
|
// btVector3 pivotBInW = trB.getOrigin();
|
|
#if 1
|
|
// difference between frames in WCS
|
|
btVector3 ofs = trB.getOrigin() - trA.getOrigin();
|
|
// now get weight factors depending on masses
|
|
btScalar miA = getRigidBodyA().getInvMass();
|
|
btScalar miB = getRigidBodyB().getInvMass();
|
|
bool hasStaticBody = (miA < SIMD_EPSILON) || (miB < SIMD_EPSILON);
|
|
btScalar miS = miA + miB;
|
|
btScalar factA, factB;
|
|
if (miS > btScalar(0.f))
|
|
{
|
|
factA = miB / miS;
|
|
}
|
|
else
|
|
{
|
|
factA = btScalar(0.5f);
|
|
}
|
|
factB = btScalar(1.0f) - factA;
|
|
// get the desired direction of hinge axis
|
|
// as weighted sum of Z-orthos of frameA and frameB in WCS
|
|
btVector3 ax1A = trA.getBasis().getColumn(2);
|
|
btVector3 ax1B = trB.getBasis().getColumn(2);
|
|
btVector3 ax1 = ax1A * factA + ax1B * factB;
|
|
if (ax1.length2()<SIMD_EPSILON)
|
|
{
|
|
factA=0.f;
|
|
factB=1.f;
|
|
ax1 = ax1A * factA + ax1B * factB;
|
|
}
|
|
ax1.normalize();
|
|
// fill first 3 rows
|
|
// we want: velA + wA x relA == velB + wB x relB
|
|
btTransform bodyA_trans = transA;
|
|
btTransform bodyB_trans = transB;
|
|
int s0 = 0;
|
|
int s1 = s;
|
|
int s2 = s * 2;
|
|
int nrow = 2; // last filled row
|
|
btVector3 tmpA, tmpB, relA, relB, p, q;
|
|
// get vector from bodyB to frameB in WCS
|
|
relB = trB.getOrigin() - bodyB_trans.getOrigin();
|
|
// get its projection to hinge axis
|
|
btVector3 projB = ax1 * relB.dot(ax1);
|
|
// get vector directed from bodyB to hinge axis (and orthogonal to it)
|
|
btVector3 orthoB = relB - projB;
|
|
// same for bodyA
|
|
relA = trA.getOrigin() - bodyA_trans.getOrigin();
|
|
btVector3 projA = ax1 * relA.dot(ax1);
|
|
btVector3 orthoA = relA - projA;
|
|
btVector3 totalDist = projA - projB;
|
|
// get offset vectors relA and relB
|
|
relA = orthoA + totalDist * factA;
|
|
relB = orthoB - totalDist * factB;
|
|
// now choose average ortho to hinge axis
|
|
p = orthoB * factA + orthoA * factB;
|
|
btScalar len2 = p.length2();
|
|
if (len2 > SIMD_EPSILON)
|
|
{
|
|
p /= btSqrt(len2);
|
|
}
|
|
else
|
|
{
|
|
p = trA.getBasis().getColumn(1);
|
|
}
|
|
// make one more ortho
|
|
q = ax1.cross(p);
|
|
// fill three rows
|
|
tmpA = relA.cross(p);
|
|
tmpB = relB.cross(p);
|
|
for (i = 0; i < 3; i++) info->m_J1angularAxis[s0 + i] = tmpA[i];
|
|
for (i = 0; i < 3; i++) info->m_J2angularAxis[s0 + i] = -tmpB[i];
|
|
tmpA = relA.cross(q);
|
|
tmpB = relB.cross(q);
|
|
if (hasStaticBody && getSolveLimit())
|
|
{ // to make constraint between static and dynamic objects more rigid
|
|
// remove wA (or wB) from equation if angular limit is hit
|
|
tmpB *= factB;
|
|
tmpA *= factA;
|
|
}
|
|
for (i = 0; i < 3; i++) info->m_J1angularAxis[s1 + i] = tmpA[i];
|
|
for (i = 0; i < 3; i++) info->m_J2angularAxis[s1 + i] = -tmpB[i];
|
|
tmpA = relA.cross(ax1);
|
|
tmpB = relB.cross(ax1);
|
|
if (hasStaticBody)
|
|
{ // to make constraint between static and dynamic objects more rigid
|
|
// remove wA (or wB) from equation
|
|
tmpB *= factB;
|
|
tmpA *= factA;
|
|
}
|
|
for (i = 0; i < 3; i++) info->m_J1angularAxis[s2 + i] = tmpA[i];
|
|
for (i = 0; i < 3; i++) info->m_J2angularAxis[s2 + i] = -tmpB[i];
|
|
|
|
btScalar normalErp = (m_flags & BT_HINGE_FLAGS_ERP_NORM) ? m_normalERP : info->erp;
|
|
btScalar k = info->fps * normalErp;
|
|
|
|
if (!m_angularOnly)
|
|
{
|
|
for (i = 0; i < 3; i++) info->m_J1linearAxis[s0 + i] = p[i];
|
|
for (i = 0; i < 3; i++) info->m_J1linearAxis[s1 + i] = q[i];
|
|
for (i = 0; i < 3; i++) info->m_J1linearAxis[s2 + i] = ax1[i];
|
|
|
|
for (i = 0; i < 3; i++) info->m_J2linearAxis[s0 + i] = -p[i];
|
|
for (i = 0; i < 3; i++) info->m_J2linearAxis[s1 + i] = -q[i];
|
|
for (i = 0; i < 3; i++) info->m_J2linearAxis[s2 + i] = -ax1[i];
|
|
|
|
// compute three elements of right hand side
|
|
|
|
btScalar rhs = k * p.dot(ofs);
|
|
info->m_constraintError[s0] = rhs;
|
|
rhs = k * q.dot(ofs);
|
|
info->m_constraintError[s1] = rhs;
|
|
rhs = k * ax1.dot(ofs);
|
|
info->m_constraintError[s2] = rhs;
|
|
}
|
|
// the hinge axis should be the only unconstrained
|
|
// rotational axis, the angular velocity of the two bodies perpendicular to
|
|
// the hinge axis should be equal. thus the constraint equations are
|
|
// p*w1 - p*w2 = 0
|
|
// q*w1 - q*w2 = 0
|
|
// where p and q are unit vectors normal to the hinge axis, and w1 and w2
|
|
// are the angular velocity vectors of the two bodies.
|
|
int s3 = 3 * s;
|
|
int s4 = 4 * s;
|
|
info->m_J1angularAxis[s3 + 0] = p[0];
|
|
info->m_J1angularAxis[s3 + 1] = p[1];
|
|
info->m_J1angularAxis[s3 + 2] = p[2];
|
|
info->m_J1angularAxis[s4 + 0] = q[0];
|
|
info->m_J1angularAxis[s4 + 1] = q[1];
|
|
info->m_J1angularAxis[s4 + 2] = q[2];
|
|
|
|
info->m_J2angularAxis[s3 + 0] = -p[0];
|
|
info->m_J2angularAxis[s3 + 1] = -p[1];
|
|
info->m_J2angularAxis[s3 + 2] = -p[2];
|
|
info->m_J2angularAxis[s4 + 0] = -q[0];
|
|
info->m_J2angularAxis[s4 + 1] = -q[1];
|
|
info->m_J2angularAxis[s4 + 2] = -q[2];
|
|
// compute the right hand side of the constraint equation. set relative
|
|
// body velocities along p and q to bring the hinge back into alignment.
|
|
// if ax1A,ax1B are the unit length hinge axes as computed from bodyA and
|
|
// bodyB, we need to rotate both bodies along the axis u = (ax1 x ax2).
|
|
// if "theta" is the angle between ax1 and ax2, we need an angular velocity
|
|
// along u to cover angle erp*theta in one step :
|
|
// |angular_velocity| = angle/time = erp*theta / stepsize
|
|
// = (erp*fps) * theta
|
|
// angular_velocity = |angular_velocity| * (ax1 x ax2) / |ax1 x ax2|
|
|
// = (erp*fps) * theta * (ax1 x ax2) / sin(theta)
|
|
// ...as ax1 and ax2 are unit length. if theta is smallish,
|
|
// theta ~= sin(theta), so
|
|
// angular_velocity = (erp*fps) * (ax1 x ax2)
|
|
// ax1 x ax2 is in the plane space of ax1, so we project the angular
|
|
// velocity to p and q to find the right hand side.
|
|
k = info->fps * normalErp; //??
|
|
|
|
btVector3 u = ax1A.cross(ax1B);
|
|
info->m_constraintError[s3] = k * u.dot(p);
|
|
info->m_constraintError[s4] = k * u.dot(q);
|
|
#endif
|
|
// check angular limits
|
|
nrow = 4; // last filled row
|
|
int srow;
|
|
btScalar limit_err = btScalar(0.0);
|
|
int limit = 0;
|
|
if (getSolveLimit())
|
|
{
|
|
#ifdef _BT_USE_CENTER_LIMIT_
|
|
limit_err = m_limit.getCorrection() * m_referenceSign;
|
|
#else
|
|
limit_err = m_correction * m_referenceSign;
|
|
#endif
|
|
limit = (limit_err > btScalar(0.0)) ? 1 : 2;
|
|
}
|
|
// if the hinge has joint limits or motor, add in the extra row
|
|
bool powered = getEnableAngularMotor();
|
|
if (limit || powered)
|
|
{
|
|
nrow++;
|
|
srow = nrow * info->rowskip;
|
|
info->m_J1angularAxis[srow + 0] = ax1[0];
|
|
info->m_J1angularAxis[srow + 1] = ax1[1];
|
|
info->m_J1angularAxis[srow + 2] = ax1[2];
|
|
|
|
info->m_J2angularAxis[srow + 0] = -ax1[0];
|
|
info->m_J2angularAxis[srow + 1] = -ax1[1];
|
|
info->m_J2angularAxis[srow + 2] = -ax1[2];
|
|
|
|
btScalar lostop = getLowerLimit();
|
|
btScalar histop = getUpperLimit();
|
|
if (limit && (lostop == histop))
|
|
{ // the joint motor is ineffective
|
|
powered = false;
|
|
}
|
|
info->m_constraintError[srow] = btScalar(0.0f);
|
|
btScalar currERP = (m_flags & BT_HINGE_FLAGS_ERP_STOP) ? m_stopERP : normalErp;
|
|
if (powered)
|
|
{
|
|
if (m_flags & BT_HINGE_FLAGS_CFM_NORM)
|
|
{
|
|
info->cfm[srow] = m_normalCFM;
|
|
}
|
|
btScalar mot_fact = getMotorFactor(m_hingeAngle, lostop, histop, m_motorTargetVelocity, info->fps * currERP);
|
|
info->m_constraintError[srow] += mot_fact * m_motorTargetVelocity * m_referenceSign;
|
|
info->m_lowerLimit[srow] = -m_maxMotorImpulse;
|
|
info->m_upperLimit[srow] = m_maxMotorImpulse;
|
|
}
|
|
if (limit)
|
|
{
|
|
k = info->fps * currERP;
|
|
info->m_constraintError[srow] += k * limit_err;
|
|
if (m_flags & BT_HINGE_FLAGS_CFM_STOP)
|
|
{
|
|
info->cfm[srow] = m_stopCFM;
|
|
}
|
|
if (lostop == histop)
|
|
{
|
|
// limited low and high simultaneously
|
|
info->m_lowerLimit[srow] = -SIMD_INFINITY;
|
|
info->m_upperLimit[srow] = SIMD_INFINITY;
|
|
}
|
|
else if (limit == 1)
|
|
{ // low limit
|
|
info->m_lowerLimit[srow] = 0;
|
|
info->m_upperLimit[srow] = SIMD_INFINITY;
|
|
}
|
|
else
|
|
{ // high limit
|
|
info->m_lowerLimit[srow] = -SIMD_INFINITY;
|
|
info->m_upperLimit[srow] = 0;
|
|
}
|
|
// bounce (we'll use slider parameter abs(1.0 - m_dampingLimAng) for that)
|
|
#ifdef _BT_USE_CENTER_LIMIT_
|
|
btScalar bounce = m_limit.getRelaxationFactor();
|
|
#else
|
|
btScalar bounce = m_relaxationFactor;
|
|
#endif
|
|
if (bounce > btScalar(0.0))
|
|
{
|
|
btScalar vel = angVelA.dot(ax1);
|
|
vel -= angVelB.dot(ax1);
|
|
// only apply bounce if the velocity is incoming, and if the
|
|
// resulting c[] exceeds what we already have.
|
|
if (limit == 1)
|
|
{ // low limit
|
|
if (vel < 0)
|
|
{
|
|
btScalar newc = -bounce * vel;
|
|
if (newc > info->m_constraintError[srow])
|
|
{
|
|
info->m_constraintError[srow] = newc;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{ // high limit - all those computations are reversed
|
|
if (vel > 0)
|
|
{
|
|
btScalar newc = -bounce * vel;
|
|
if (newc < info->m_constraintError[srow])
|
|
{
|
|
info->m_constraintError[srow] = newc;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
#ifdef _BT_USE_CENTER_LIMIT_
|
|
info->m_constraintError[srow] *= m_limit.getBiasFactor();
|
|
#else
|
|
info->m_constraintError[srow] *= m_biasFactor;
|
|
#endif
|
|
} // if(limit)
|
|
} // if angular limit or powered
|
|
}
|
|
|
|
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
|
|
///If no axis is provided, it uses the default axis for this constraint.
|
|
void btHingeConstraint::setParam(int num, btScalar value, int axis)
|
|
{
|
|
if ((axis == -1) || (axis == 5))
|
|
{
|
|
switch (num)
|
|
{
|
|
case BT_CONSTRAINT_STOP_ERP:
|
|
m_stopERP = value;
|
|
m_flags |= BT_HINGE_FLAGS_ERP_STOP;
|
|
break;
|
|
case BT_CONSTRAINT_STOP_CFM:
|
|
m_stopCFM = value;
|
|
m_flags |= BT_HINGE_FLAGS_CFM_STOP;
|
|
break;
|
|
case BT_CONSTRAINT_CFM:
|
|
m_normalCFM = value;
|
|
m_flags |= BT_HINGE_FLAGS_CFM_NORM;
|
|
break;
|
|
case BT_CONSTRAINT_ERP:
|
|
m_normalERP = value;
|
|
m_flags |= BT_HINGE_FLAGS_ERP_NORM;
|
|
break;
|
|
default:
|
|
btAssertConstrParams(0);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
btAssertConstrParams(0);
|
|
}
|
|
}
|
|
|
|
///return the local value of parameter
|
|
btScalar btHingeConstraint::getParam(int num, int axis) const
|
|
{
|
|
btScalar retVal = 0;
|
|
if ((axis == -1) || (axis == 5))
|
|
{
|
|
switch (num)
|
|
{
|
|
case BT_CONSTRAINT_STOP_ERP:
|
|
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_STOP);
|
|
retVal = m_stopERP;
|
|
break;
|
|
case BT_CONSTRAINT_STOP_CFM:
|
|
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_STOP);
|
|
retVal = m_stopCFM;
|
|
break;
|
|
case BT_CONSTRAINT_CFM:
|
|
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_CFM_NORM);
|
|
retVal = m_normalCFM;
|
|
break;
|
|
case BT_CONSTRAINT_ERP:
|
|
btAssertConstrParams(m_flags & BT_HINGE_FLAGS_ERP_NORM);
|
|
retVal = m_normalERP;
|
|
break;
|
|
default:
|
|
btAssertConstrParams(0);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
btAssertConstrParams(0);
|
|
}
|
|
return retVal;
|
|
}
|