Changeset 2882 for code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

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/btTypedConstraint.cpp (modified) (5 diffs)

code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

@@ -20 +20 @@
 static btRigidBody s_fixed(0, 0,0);
 
+#define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f)
+
 btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
 :m_userConstraintType(-1),
@@ -26 +28 @@
 m_rbA(s_fixed),
 m_rbB(s_fixed),
-m_appliedImpulse(btScalar(0.))
+m_appliedImpulse(btScalar(0.)),
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
 {
         s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
@@ -36 +39 @@
 m_rbA(rbA),
 m_rbB(s_fixed),
-m_appliedImpulse(btScalar(0.))
+m_appliedImpulse(btScalar(0.)),
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
 {
                 s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
@@ -49 +53 @@
 m_rbA(rbA),
 m_rbB(rbB),
-m_appliedImpulse(btScalar(0.))
+m_appliedImpulse(btScalar(0.)),
+m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
 {
                 s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
@@ -55 +60 @@
 }
 
+
+//-----------------------------------------------------------------------------
+
+btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
+{
+        if(lowLim > uppLim)
+        {
+                return btScalar(1.0f);
+        }
+        else if(lowLim == uppLim)
+        {
+                return btScalar(0.0f);
+        }
+        btScalar lim_fact = btScalar(1.0f);
+        btScalar delta_max = vel / timeFact;
+        if(delta_max < btScalar(0.0f))
+        {
+                if((pos >= lowLim) && (pos < (lowLim - delta_max)))
+                {
+                        lim_fact = (lowLim - pos) / delta_max;
+                }
+                else if(pos  < lowLim)
+                {
+                        lim_fact = btScalar(0.0f);
+                }
+                else
+                {
+                        lim_fact = btScalar(1.0f);
+                }
+        }
+        else if(delta_max > btScalar(0.0f))
+        {
+                if((pos <= uppLim) && (pos > (uppLim - delta_max)))
+                {
+                        lim_fact = (uppLim - pos) / delta_max;
+                }
+                else if(pos  > uppLim)
+                {
+                        lim_fact = btScalar(0.0f);
+                }
+                else
+                {
+                        lim_fact = btScalar(1.0f);
+                }
+        }
+        else
+        {
+                        lim_fact = btScalar(0.0f);
+        }
+        return lim_fact;
+} // btTypedConstraint::getMotorFactor()
+
+