Changeset 2882 for code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h (modified) (14 diffs)

code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h

@@ -29 +29 @@
 
 class btRigidBody;
+
+
 
 
@@ -93 +95 @@
     bool isLimited()
     {
-        if(m_loLimit>=m_hiLimit) return false;
+        if(m_loLimit > m_hiLimit) return false;
         return true;
     }
@@ -111 +113 @@
 
         //! apply the correction impulses for two bodies
-    btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btRigidBody * body1);
-
+    btScalar solveAngularLimits(btScalar timeStep,btVector3& axis, btScalar jacDiagABInv,btRigidBody * body0, btSolverBody& bodyA,btRigidBody * body1,btSolverBody& bodyB);
 
 };
@@ -130 +131 @@
     btScalar    m_restitution;//! Bounce parameter for linear limit
     //!@}
+        bool            m_enableMotor[3];
+    btVector3   m_targetVelocity;//!< target motor velocity
+    btVector3   m_maxMotorForce;//!< max force on motor
+    btVector3   m_currentLimitError;//!  How much is violated this limit
+    int                 m_currentLimit[3];//!< 0=free, 1=at lower limit, 2=at upper limit
 
     btTranslationalLimitMotor()
@@ -140 +146 @@
         m_damping = btScalar(1.0f);
         m_restitution = btScalar(0.5f);
+                for(int i=0; i < 3; i++) 
+                {
+                        m_enableMotor[i] = false;
+                        m_targetVelocity[i] = btScalar(0.f);
+                        m_maxMotorForce[i] = btScalar(0.f);
+                }
     }
 
@@ -151 +163 @@
         m_damping = other.m_damping;
         m_restitution = other.m_restitution;
+                for(int i=0; i < 3; i++) 
+                {
+                        m_enableMotor[i] = other.m_enableMotor[i];
+                        m_targetVelocity[i] = other.m_targetVelocity[i];
+                        m_maxMotorForce[i] = other.m_maxMotorForce[i];
+                }
     }
 
@@ -164 +182 @@
        return (m_upperLimit[limitIndex] >= m_lowerLimit[limitIndex]);
     }
+    inline bool needApplyForce(int limitIndex)
+    {
+        if(m_currentLimit[limitIndex] == 0 && m_enableMotor[limitIndex] == false) return false;
+        return true;
+    }
+        int testLimitValue(int limitIndex, btScalar test_value);
 
 
@@ -169 +193 @@
         btScalar timeStep,
         btScalar jacDiagABInv,
-        btRigidBody& body1,const btVector3 &pointInA,
-        btRigidBody& body2,const btVector3 &pointInB,
+        btRigidBody& body1,btSolverBody& bodyA,const btVector3 &pointInA,
+        btRigidBody& body2,btSolverBody& bodyB,const btVector3 &pointInB,
         int limit_index,
         const btVector3 & axis_normal_on_a,
@@ -248 +272 @@
     btVector3 m_calculatedAxisAngleDiff;
     btVector3 m_calculatedAxis[3];
+    btVector3 m_calculatedLinearDiff;
     
         btVector3 m_AnchorPos; // point betwen pivots of bodies A and B to solve linear axes
@@ -263 +288 @@
 
 
+        int setAngularLimits(btConstraintInfo2 *info, int row_offset);
+
+        int setLinearLimits(btConstraintInfo2 *info);
 
     void buildLinearJacobian(
@@ -270 +298 @@
     void buildAngularJacobian(btJacobianEntry & jacAngular,const btVector3 & jointAxisW);
 
+        // tests linear limits
+        void calculateLinearInfo();
 
         //! calcs the euler angles between the two bodies.
@@ -277 +307 @@
 
 public:
+
+        ///for backwards compatibility during the transition to 'getInfo/getInfo2'
+        bool            m_useSolveConstraintObsolete;
+
     btGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
 
@@ -331 +365 @@
     virtual void        buildJacobian();
 
-    virtual     void    solveConstraint(btScalar        timeStep);
+        virtual void getInfo1 (btConstraintInfo1* info);
+
+        virtual void getInfo2 (btConstraintInfo2* info);
+
+    virtual     void    solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar        timeStep);
 
     void        updateRHS(btScalar      timeStep);
@@ -433 +471 @@
         virtual void calcAnchorPos(void); // overridable
 
+        int get_limit_motor_info2(      btRotationalLimitMotor * limot,
+                                                                btRigidBody * body0, btRigidBody * body1,
+                                                                btConstraintInfo2 *info, int row, btVector3& ax1, int rotational);
+
+
 };