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source: code/branches/SuperOrxoBros_HS18/src/external/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp @ 12177

Last change on this file since 12177 was 12177, checked in by siramesh, 5 years ago

Super Orxo Bros Final (Sidharth Ramesh, Nisa Balta, Jeff Ren)

File size: 3.6 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17
18#include "btUniversalConstraint.h"
19#include "BulletDynamics/Dynamics/btRigidBody.h"
20#include "LinearMath/btTransformUtil.h"
21
22
23
24#define UNIV_EPS btScalar(0.01f)
25
26
27// constructor
28// anchor, axis1 and axis2 are in world coordinate system
29// axis1 must be orthogonal to axis2
30btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2)
31: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true),
32 m_anchor(anchor),
33 m_axis1(axis1),
34 m_axis2(axis2)
35{
36        // build frame basis
37        // 6DOF constraint uses Euler angles and to define limits
38        // it is assumed that rotational order is :
39        // Z - first, allowed limits are (-PI,PI);
40        // new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number
41        // used to prevent constraint from instability on poles;
42        // new position of X, allowed limits are (-PI,PI);
43        // So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs
44        // Build the frame in world coordinate system first
45        btVector3 zAxis = axis1.normalize();
46        btVector3 yAxis = axis2.normalize();
47        btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
48        btTransform frameInW;
49        frameInW.setIdentity();
50        frameInW.getBasis().setValue(   xAxis[0], yAxis[0], zAxis[0],   
51                                                                        xAxis[1], yAxis[1], zAxis[1],
52                                                                        xAxis[2], yAxis[2], zAxis[2]);
53        frameInW.setOrigin(anchor);
54        // now get constraint frame in local coordinate systems
55        m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW;
56        m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW;
57        // sei limits
58        setLinearLowerLimit(btVector3(0., 0., 0.));
59        setLinearUpperLimit(btVector3(0., 0., 0.));
60        setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS));
61        setAngularUpperLimit(btVector3(0.f,  SIMD_HALF_PI - UNIV_EPS,  SIMD_PI - UNIV_EPS));
62}
63
64void btUniversalConstraint::setAxis(const btVector3& axis1,const btVector3& axis2)
65{
66  m_axis1 = axis1;
67  m_axis2 = axis2;
68
69        btVector3 zAxis = axis1.normalized();
70        btVector3 yAxis = axis2.normalized();
71        btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system
72
73        btTransform frameInW;
74        frameInW.setIdentity();
75        frameInW.getBasis().setValue(   xAxis[0], yAxis[0], zAxis[0],   
76                                xAxis[1], yAxis[1], zAxis[1],
77                                xAxis[2], yAxis[2], zAxis[2]);
78        frameInW.setOrigin(m_anchor);
79
80        // now get constraint frame in local coordinate systems
81        m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW;
82        m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW;
83
84  calculateTransforms();
85}
86
87
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