Changeset 2882 for code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.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/btTypedConstraint.h (modified) (6 diffs)

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

@@ -19 +19 @@
 class btRigidBody;
 #include "LinearMath/btScalar.h"
+#include "btSolverConstraint.h"
+struct  btSolverBody;
+
+
+
 
 enum btTypedConstraintType
@@ -26 +31 @@
         CONETWIST_CONSTRAINT_TYPE,
         D6_CONSTRAINT_TYPE,
-        VEHICLE_CONSTRAINT_TYPE,
         SLIDER_CONSTRAINT_TYPE
 };
@@ -49 +53 @@
         btRigidBody&    m_rbB;
         btScalar        m_appliedImpulse;
+        btScalar        m_dbgDrawSize;
 
 
@@ -56 +61 @@
         virtual ~btTypedConstraint() {};
         btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
+        btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
 
-        btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
+        struct btConstraintInfo1 {
+                int m_numConstraintRows,nub;
+        };
+
+        struct btConstraintInfo2 {
+                // integrator parameters: frames per second (1/stepsize), default error
+                // reduction parameter (0..1).
+                btScalar fps,erp;
+
+                // for the first and second body, pointers to two (linear and angular)
+                // n*3 jacobian sub matrices, stored by rows. these matrices will have
+                // been initialized to 0 on entry. if the second body is zero then the
+                // J2xx pointers may be 0.
+                btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
+
+                // elements to jump from one row to the next in J's
+                int rowskip;
+
+                // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
+                // "constraint force mixing" vector. c is set to zero on entry, cfm is
+                // set to a constant value (typically very small or zero) value on entry.
+                btScalar *m_constraintError,*cfm;
+
+                // lo and hi limits for variables (set to -/+ infinity on entry).
+                btScalar *m_lowerLimit,*m_upperLimit;
+
+                // findex vector for variables. see the LCP solver interface for a
+                // description of what this does. this is set to -1 on entry.
+                // note that the returned indexes are relative to the first index of
+                // the constraint.
+                int *findex;
+        };
+
 
         virtual void    buildJacobian() = 0;
 
-        virtual void    solveConstraint(btScalar        timeStep) = 0;
+        virtual void    setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep)
+        {
+        }
+        virtual void getInfo1 (btConstraintInfo1* info)=0;
 
+        virtual void getInfo2 (btConstraintInfo2* info)=0;
+
+        virtual void    solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar        timeStep) = 0;
+
+        btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
+        
         const btRigidBody& getRigidBodyA() const
         {
@@ -95 +142 @@
                 m_userConstraintId = uid;
         }
-        
+
         int getUserConstraintId() const
         {
@@ -115 +162 @@
                 return m_constraintType;
         }
-
+        
+        void setDbgDrawSize(btScalar dbgDrawSize)
+        {
+                m_dbgDrawSize = dbgDrawSize;
+        }
+        btScalar getDbgDrawSize()
+        {
+                return m_dbgDrawSize;
+        }
+        
 };