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source: code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @ 8351

Last change on this file since 8351 was 8351, checked in by rgrieder, 13 years ago

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

  • *Support for Mac OS X*
  • Visual Studio 2010 support
  • Bullet library update to 2.77
  • OIS library update to 1.3
  • Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
  • Improved install target
  • Compiles now with GCC 4.6
  • Ogre Cg Shader plugin activated for Linux if available
  • And of course lots of bug fixes

There are also some regressions:

  • No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
  • In game console is not working in main menu for CEGUI 0.7
  • Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
  • And of course lots of new bugs we don't yet know about
  • Property svn:eol-style set to native
File size: 9.1 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios
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
15Written by: Marcus Hennix
16*/
17
18
19
20/*
21Overview:
22
23btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc).
24It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint".
25It divides the 3 rotational DOFs into swing (movement within a cone) and twist.
26Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape.
27(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.)
28
29In the contraint's frame of reference:
30twist is along the x-axis,
31and swing 1 and 2 are along the z and y axes respectively.
32*/
33
34
35
36#ifndef CONETWISTCONSTRAINT_H
37#define CONETWISTCONSTRAINT_H
38
39#include "LinearMath/btVector3.h"
40#include "btJacobianEntry.h"
41#include "btTypedConstraint.h"
42
43class btRigidBody;
44
45enum btConeTwistFlags
46{
47        BT_CONETWIST_FLAGS_LIN_CFM = 1,
48        BT_CONETWIST_FLAGS_LIN_ERP = 2,
49        BT_CONETWIST_FLAGS_ANG_CFM = 4
50};
51
52///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
53class btConeTwistConstraint : public btTypedConstraint
54{
55#ifdef IN_PARALLELL_SOLVER
56public:
57#endif
58        btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
59
60        btTransform m_rbAFrame; 
61        btTransform m_rbBFrame;
62
63        btScalar        m_limitSoftness;
64        btScalar        m_biasFactor;
65        btScalar        m_relaxationFactor;
66
67        btScalar        m_damping;
68
69        btScalar        m_swingSpan1;
70        btScalar        m_swingSpan2;
71        btScalar        m_twistSpan;
72
73        btScalar        m_fixThresh;
74
75        btVector3   m_swingAxis;
76        btVector3       m_twistAxis;
77
78        btScalar        m_kSwing;
79        btScalar        m_kTwist;
80
81        btScalar        m_twistLimitSign;
82        btScalar        m_swingCorrection;
83        btScalar        m_twistCorrection;
84
85        btScalar        m_twistAngle;
86
87        btScalar        m_accSwingLimitImpulse;
88        btScalar        m_accTwistLimitImpulse;
89
90        bool            m_angularOnly;
91        bool            m_solveTwistLimit;
92        bool            m_solveSwingLimit;
93
94        bool    m_useSolveConstraintObsolete;
95
96        // not yet used...
97        btScalar        m_swingLimitRatio;
98        btScalar        m_twistLimitRatio;
99        btVector3   m_twistAxisA;
100
101        // motor
102        bool             m_bMotorEnabled;
103        bool             m_bNormalizedMotorStrength;
104        btQuaternion m_qTarget;
105        btScalar         m_maxMotorImpulse;
106        btVector3        m_accMotorImpulse;
107       
108        // parameters
109        int                     m_flags;
110        btScalar        m_linCFM;
111        btScalar        m_linERP;
112        btScalar        m_angCFM;
113       
114protected:
115
116        void init();
117
118        void computeConeLimitInfo(const btQuaternion& qCone, // in
119                btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
120
121        void computeTwistLimitInfo(const btQuaternion& qTwist, // in
122                btScalar& twistAngle, btVector3& vTwistAxis); // all outs
123
124        void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
125
126
127public:
128
129        btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
130       
131        btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
132
133        virtual void    buildJacobian();
134
135        virtual void getInfo1 (btConstraintInfo1* info);
136
137        void    getInfo1NonVirtual(btConstraintInfo1* info);
138       
139        virtual void getInfo2 (btConstraintInfo2* info);
140       
141        void    getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
142
143        virtual void    solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar  timeStep);
144
145        void    updateRHS(btScalar      timeStep);
146
147        const btRigidBody& getRigidBodyA() const
148        {
149                return m_rbA;
150        }
151        const btRigidBody& getRigidBodyB() const
152        {
153                return m_rbB;
154        }
155
156        void    setAngularOnly(bool angularOnly)
157        {
158                m_angularOnly = angularOnly;
159        }
160
161        void    setLimit(int limitIndex,btScalar limitValue)
162        {
163                switch (limitIndex)
164                {
165                case 3:
166                        {
167                                m_twistSpan = limitValue;
168                                break;
169                        }
170                case 4:
171                        {
172                                m_swingSpan2 = limitValue;
173                                break;
174                        }
175                case 5:
176                        {
177                                m_swingSpan1 = limitValue;
178                                break;
179                        }
180                default:
181                        {
182                        }
183                };
184        }
185
186        // setLimit(), a few notes:
187        // _softness:
188        //              0->1, recommend ~0.8->1.
189        //              describes % of limits where movement is free.
190        //              beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached.
191        // _biasFactor:
192        //              0->1?, recommend 0.3 +/-0.3 or so.
193        //              strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
194        // __relaxationFactor:
195        //              0->1, recommend to stay near 1.
196        //              the lower the value, the less the constraint will fight velocities which violate the angular limits.
197        void    setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
198        {
199                m_swingSpan1 = _swingSpan1;
200                m_swingSpan2 = _swingSpan2;
201                m_twistSpan  = _twistSpan;
202
203                m_limitSoftness =  _softness;
204                m_biasFactor = _biasFactor;
205                m_relaxationFactor = _relaxationFactor;
206        }
207
208        const btTransform& getAFrame() { return m_rbAFrame; }; 
209        const btTransform& getBFrame() { return m_rbBFrame; };
210
211        inline int getSolveTwistLimit()
212        {
213                return m_solveTwistLimit;
214        }
215
216        inline int getSolveSwingLimit()
217        {
218                return m_solveTwistLimit;
219        }
220
221        inline btScalar getTwistLimitSign()
222        {
223                return m_twistLimitSign;
224        }
225
226        void calcAngleInfo();
227        void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
228
229        inline btScalar getSwingSpan1()
230        {
231                return m_swingSpan1;
232        }
233        inline btScalar getSwingSpan2()
234        {
235                return m_swingSpan2;
236        }
237        inline btScalar getTwistSpan()
238        {
239                return m_twistSpan;
240        }
241        inline btScalar getTwistAngle()
242        {
243                return m_twistAngle;
244        }
245        bool isPastSwingLimit() { return m_solveSwingLimit; }
246
247
248        void setDamping(btScalar damping) { m_damping = damping; }
249
250        void enableMotor(bool b) { m_bMotorEnabled = b; }
251        void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
252        void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
253
254        btScalar getFixThresh() { return m_fixThresh; }
255        void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; }
256
257        // setMotorTarget:
258        // q: the desired rotation of bodyA wrt bodyB.
259        // note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
260        // note: don't forget to enableMotor()
261        void setMotorTarget(const btQuaternion &q);
262
263        // same as above, but q is the desired rotation of frameA wrt frameB in constraint space
264        void setMotorTargetInConstraintSpace(const btQuaternion &q);
265
266        btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
267
268        ///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
269        ///If no axis is provided, it uses the default axis for this constraint.
270        virtual void setParam(int num, btScalar value, int axis = -1);
271        ///return the local value of parameter
272        virtual btScalar getParam(int num, int axis = -1) const;
273
274        virtual int     calculateSerializeBufferSize() const;
275
276        ///fills the dataBuffer and returns the struct name (and 0 on failure)
277        virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;
278
279};
280
281///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
282struct  btConeTwistConstraintData
283{
284        btTypedConstraintData   m_typeConstraintData;
285        btTransformFloatData m_rbAFrame;
286        btTransformFloatData m_rbBFrame;
287
288        //limits
289        float   m_swingSpan1;
290        float   m_swingSpan2;
291        float   m_twistSpan;
292        float   m_limitSoftness;
293        float   m_biasFactor;
294        float   m_relaxationFactor;
295
296        float   m_damping;
297               
298        char m_pad[4];
299
300};
301       
302
303
304SIMD_FORCE_INLINE int   btConeTwistConstraint::calculateSerializeBufferSize() const
305{
306        return sizeof(btConeTwistConstraintData);
307
308}
309
310
311        ///fills the dataBuffer and returns the struct name (and 0 on failure)
312SIMD_FORCE_INLINE const char*   btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
313{
314        btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer;
315        btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
316
317        m_rbAFrame.serializeFloat(cone->m_rbAFrame);
318        m_rbBFrame.serializeFloat(cone->m_rbBFrame);
319       
320        cone->m_swingSpan1 = float(m_swingSpan1);
321        cone->m_swingSpan2 = float(m_swingSpan2);
322        cone->m_twistSpan = float(m_twistSpan);
323        cone->m_limitSoftness = float(m_limitSoftness);
324        cone->m_biasFactor = float(m_biasFactor);
325        cone->m_relaxationFactor = float(m_relaxationFactor);
326        cone->m_damping = float(m_damping);
327
328        return "btConeTwistConstraintData";
329}
330
331
332#endif //CONETWISTCONSTRAINT_H
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