205 lines
6 KiB
C++
205 lines
6 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
|
|
|
|
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.
|
|
*/
|
|
|
|
#include "btPoint2PointConstraint.h"
|
|
#include "BulletDynamics/Dynamics/btRigidBody.h"
|
|
#include <new>
|
|
|
|
btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB)
|
|
: btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE, rbA, rbB), m_pivotInA(pivotInA), m_pivotInB(pivotInB), m_flags(0), m_useSolveConstraintObsolete(false)
|
|
{
|
|
}
|
|
|
|
btPoint2PointConstraint::btPoint2PointConstraint(btRigidBody& rbA, const btVector3& pivotInA)
|
|
: btTypedConstraint(POINT2POINT_CONSTRAINT_TYPE, rbA), m_pivotInA(pivotInA), m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)), m_flags(0), m_useSolveConstraintObsolete(false)
|
|
{
|
|
}
|
|
|
|
void btPoint2PointConstraint::buildJacobian()
|
|
{
|
|
///we need it for both methods
|
|
{
|
|
m_appliedImpulse = btScalar(0.);
|
|
|
|
btVector3 normal(0, 0, 0);
|
|
|
|
for (int i = 0; i < 3; i++)
|
|
{
|
|
normal[i] = 1;
|
|
new (&m_jac[i]) btJacobianEntry(
|
|
m_rbA.getCenterOfMassTransform().getBasis().transpose(),
|
|
m_rbB.getCenterOfMassTransform().getBasis().transpose(),
|
|
m_rbA.getCenterOfMassTransform() * m_pivotInA - m_rbA.getCenterOfMassPosition(),
|
|
m_rbB.getCenterOfMassTransform() * m_pivotInB - m_rbB.getCenterOfMassPosition(),
|
|
normal,
|
|
m_rbA.getInvInertiaDiagLocal(),
|
|
m_rbA.getInvMass(),
|
|
m_rbB.getInvInertiaDiagLocal(),
|
|
m_rbB.getInvMass());
|
|
normal[i] = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
void btPoint2PointConstraint::getInfo1(btConstraintInfo1* info)
|
|
{
|
|
getInfo1NonVirtual(info);
|
|
}
|
|
|
|
void btPoint2PointConstraint::getInfo1NonVirtual(btConstraintInfo1* info)
|
|
{
|
|
if (m_useSolveConstraintObsolete)
|
|
{
|
|
info->m_numConstraintRows = 0;
|
|
info->nub = 0;
|
|
}
|
|
else
|
|
{
|
|
info->m_numConstraintRows = 3;
|
|
info->nub = 3;
|
|
}
|
|
}
|
|
|
|
void btPoint2PointConstraint::getInfo2(btConstraintInfo2* info)
|
|
{
|
|
getInfo2NonVirtual(info, m_rbA.getCenterOfMassTransform(), m_rbB.getCenterOfMassTransform());
|
|
}
|
|
|
|
void btPoint2PointConstraint::getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans)
|
|
{
|
|
btAssert(!m_useSolveConstraintObsolete);
|
|
|
|
//retrieve matrices
|
|
|
|
// anchor points in global coordinates with respect to body PORs.
|
|
|
|
// set jacobian
|
|
info->m_J1linearAxis[0] = 1;
|
|
info->m_J1linearAxis[info->rowskip + 1] = 1;
|
|
info->m_J1linearAxis[2 * info->rowskip + 2] = 1;
|
|
|
|
btVector3 a1 = body0_trans.getBasis() * getPivotInA();
|
|
{
|
|
btVector3* angular0 = (btVector3*)(info->m_J1angularAxis);
|
|
btVector3* angular1 = (btVector3*)(info->m_J1angularAxis + info->rowskip);
|
|
btVector3* angular2 = (btVector3*)(info->m_J1angularAxis + 2 * info->rowskip);
|
|
btVector3 a1neg = -a1;
|
|
a1neg.getSkewSymmetricMatrix(angular0, angular1, angular2);
|
|
}
|
|
|
|
info->m_J2linearAxis[0] = -1;
|
|
info->m_J2linearAxis[info->rowskip + 1] = -1;
|
|
info->m_J2linearAxis[2 * info->rowskip + 2] = -1;
|
|
|
|
btVector3 a2 = body1_trans.getBasis() * getPivotInB();
|
|
|
|
{
|
|
// btVector3 a2n = -a2;
|
|
btVector3* angular0 = (btVector3*)(info->m_J2angularAxis);
|
|
btVector3* angular1 = (btVector3*)(info->m_J2angularAxis + info->rowskip);
|
|
btVector3* angular2 = (btVector3*)(info->m_J2angularAxis + 2 * info->rowskip);
|
|
a2.getSkewSymmetricMatrix(angular0, angular1, angular2);
|
|
}
|
|
|
|
// set right hand side
|
|
btScalar currERP = (m_flags & BT_P2P_FLAGS_ERP) ? m_erp : info->erp;
|
|
btScalar k = info->fps * currERP;
|
|
int j;
|
|
for (j = 0; j < 3; j++)
|
|
{
|
|
info->m_constraintError[j * info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]);
|
|
//printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]);
|
|
}
|
|
if (m_flags & BT_P2P_FLAGS_CFM)
|
|
{
|
|
for (j = 0; j < 3; j++)
|
|
{
|
|
info->cfm[j * info->rowskip] = m_cfm;
|
|
}
|
|
}
|
|
|
|
btScalar impulseClamp = m_setting.m_impulseClamp; //
|
|
for (j = 0; j < 3; j++)
|
|
{
|
|
if (m_setting.m_impulseClamp > 0)
|
|
{
|
|
info->m_lowerLimit[j * info->rowskip] = -impulseClamp;
|
|
info->m_upperLimit[j * info->rowskip] = impulseClamp;
|
|
}
|
|
}
|
|
info->m_damping = m_setting.m_damping;
|
|
}
|
|
|
|
void btPoint2PointConstraint::updateRHS(btScalar timeStep)
|
|
{
|
|
(void)timeStep;
|
|
}
|
|
|
|
///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 btPoint2PointConstraint::setParam(int num, btScalar value, int axis)
|
|
{
|
|
if (axis != -1)
|
|
{
|
|
btAssertConstrParams(0);
|
|
}
|
|
else
|
|
{
|
|
switch (num)
|
|
{
|
|
case BT_CONSTRAINT_ERP:
|
|
case BT_CONSTRAINT_STOP_ERP:
|
|
m_erp = value;
|
|
m_flags |= BT_P2P_FLAGS_ERP;
|
|
break;
|
|
case BT_CONSTRAINT_CFM:
|
|
case BT_CONSTRAINT_STOP_CFM:
|
|
m_cfm = value;
|
|
m_flags |= BT_P2P_FLAGS_CFM;
|
|
break;
|
|
default:
|
|
btAssertConstrParams(0);
|
|
}
|
|
}
|
|
}
|
|
|
|
///return the local value of parameter
|
|
btScalar btPoint2PointConstraint::getParam(int num, int axis) const
|
|
{
|
|
btScalar retVal(SIMD_INFINITY);
|
|
if (axis != -1)
|
|
{
|
|
btAssertConstrParams(0);
|
|
}
|
|
else
|
|
{
|
|
switch (num)
|
|
{
|
|
case BT_CONSTRAINT_ERP:
|
|
case BT_CONSTRAINT_STOP_ERP:
|
|
btAssertConstrParams(m_flags & BT_P2P_FLAGS_ERP);
|
|
retVal = m_erp;
|
|
break;
|
|
case BT_CONSTRAINT_CFM:
|
|
case BT_CONSTRAINT_STOP_CFM:
|
|
btAssertConstrParams(m_flags & BT_P2P_FLAGS_CFM);
|
|
retVal = m_cfm;
|
|
break;
|
|
default:
|
|
btAssertConstrParams(0);
|
|
}
|
|
}
|
|
return retVal;
|
|
}
|