Changeset 8393 for code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h

Timestamp:

May 3, 2011, 5:07:42 AM (13 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File:

• code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h (modified) (9 diffs)

code/trunk/src/external/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -16 +16 @@
 /* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
 
-#ifndef HINGECONSTRAINT_H
-#define HINGECONSTRAINT_H
+#ifndef BT_HINGECONSTRAINT_H
+#define BT_HINGECONSTRAINT_H
+
+#define _BT_USE_CENTER_LIMIT_ 1
+
 
 #include "LinearMath/btVector3.h"
@@ -32 +35 @@
 #define btHingeConstraintDataName       "btHingeConstraintFloatData"
 #endif //BT_USE_DOUBLE_PRECISION
+
 
 
@@ -58 +62 @@
         btScalar        m_maxMotorImpulse;
 
+
+#ifdef  _BT_USE_CENTER_LIMIT_
+        btAngularLimit  m_limit;
+#else
+        btScalar        m_lowerLimit;   
+        btScalar        m_upperLimit;   
+        btScalar        m_limitSign;
+        btScalar        m_correction;
+
         btScalar        m_limitSoftness; 
         btScalar        m_biasFactor; 
-        btScalar    m_relaxationFactor; 
-
-        btScalar    m_lowerLimit;       
-        btScalar    m_upperLimit;       
-        
+        btScalar        m_relaxationFactor; 
+
+        bool            m_solveLimit;
+#endif
+
         btScalar        m_kHinge;
 
-        btScalar        m_limitSign;
-        btScalar        m_correction;
 
         btScalar        m_accLimitImpulse;
         btScalar        m_hingeAngle;
-        btScalar    m_referenceSign;
+        btScalar        m_referenceSign;
 
         bool            m_angularOnly;
         bool            m_enableAngularMotor;
-        bool            m_solveLimit;
         bool            m_useSolveConstraintObsolete;
         bool            m_useOffsetForConstraintFrame;
@@ -133 +143 @@
         {               
                 return m_rbB;   
-        }       
+        }
+
+        btTransform& getFrameOffsetA()
+        {
+        return m_rbAFrame;
+        }
+
+        btTransform& getFrameOffsetB()
+        {
+                return m_rbBFrame;
+        }
+
+        void setFrames(const btTransform& frameA, const btTransform& frameB);
         
         void    setAngularOnly(bool angularOnly)
@@ -158 +180 @@
         void    setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
         {
+#ifdef  _BT_USE_CENTER_LIMIT_
+                m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor);
+#else
                 m_lowerLimit = btNormalizeAngle(low);
                 m_upperLimit = btNormalizeAngle(high);
-
                 m_limitSoftness =  _softness;
                 m_biasFactor = _biasFactor;
                 m_relaxationFactor = _relaxationFactor;
-
+#endif
         }
 
@@ -183 +207 @@
                 btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
 
-
-                m_rbBFrame.getOrigin() = m_rbA.getCenterOfMassTransform()(pivotInA);
+                m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA));
+
                 m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
                                                                                 rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
                                                                                 rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
+                m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis();
+
         }
 
         btScalar        getLowerLimit() const
         {
-                return m_lowerLimit;
+#ifdef  _BT_USE_CENTER_LIMIT_
+        return m_limit.getLow();
+#else
+        return m_lowerLimit;
+#endif
         }
 
         btScalar        getUpperLimit() const
         {
-                return m_upperLimit;
+#ifdef  _BT_USE_CENTER_LIMIT_
+        return m_limit.getHigh();
+#else           
+        return m_upperLimit;
+#endif
         }
 
@@ -216 +250 @@
         inline int getSolveLimit()
         {
-                return m_solveLimit;
+#ifdef  _BT_USE_CENTER_LIMIT_
+        return m_limit.isLimit();
+#else
+        return m_solveLimit;
+#endif
         }
 
         inline btScalar getLimitSign()
         {
+#ifdef  _BT_USE_CENTER_LIMIT_
+        return m_limit.getSign();
+#else
                 return m_limitSign;
+#endif
         }
 
@@ -320 +362 @@
         hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity);
         hingeData->m_useReferenceFrameA = m_useReferenceFrameA;
-        
+#ifdef  _BT_USE_CENTER_LIMIT_
+        hingeData->m_lowerLimit = float(m_limit.getLow());
+        hingeData->m_upperLimit = float(m_limit.getHigh());
+        hingeData->m_limitSoftness = float(m_limit.getSoftness());
+        hingeData->m_biasFactor = float(m_limit.getBiasFactor());
+        hingeData->m_relaxationFactor = float(m_limit.getRelaxationFactor());
+#else
         hingeData->m_lowerLimit = float(m_lowerLimit);
         hingeData->m_upperLimit = float(m_upperLimit);
@@ -326 +374 @@
         hingeData->m_biasFactor = float(m_biasFactor);
         hingeData->m_relaxationFactor = float(m_relaxationFactor);
+#endif
 
         return btHingeConstraintDataName;
 }
 
-#endif //HINGECONSTRAINT_H
+#endif //BT_HINGECONSTRAINT_H