| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 1. 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| |
| #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" |
| #include "BulletDynamics/Dynamics/btRigidBody.h" |
| |
| static btRigidBody s_fixed(0, 0,0); |
| |
| #define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f) |
| |
| btTypedConstraint::btTypedConstraint(btTypedConstraintType type) |
| :btTypedObject(type), |
| m_userConstraintType(-1), |
| m_userConstraintId(-1), |
| m_needsFeedback(false), |
| m_rbA(s_fixed), |
| m_rbB(s_fixed), |
| m_appliedImpulse(btScalar(0.)), |
| m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE) |
| { |
| s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); |
| } |
| btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA) |
| :btTypedObject(type), |
| m_userConstraintType(-1), |
| m_userConstraintId(-1), |
| m_needsFeedback(false), |
| m_rbA(rbA), |
| m_rbB(s_fixed), |
| m_appliedImpulse(btScalar(0.)), |
| m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE) |
| { |
| s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); |
| } |
| |
| |
| btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB) |
| :btTypedObject(type), |
| m_userConstraintType(-1), |
| m_userConstraintId(-1), |
| m_needsFeedback(false), |
| m_rbA(rbA), |
| m_rbB(rbB), |
| m_appliedImpulse(btScalar(0.)), |
| m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE) |
| { |
| s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); |
| |
| } |
| |
| |
| |
| |
| 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; |
| } |
| |
| |