fuchsia / third_party / llvm-test-suite / refs/tags/llvmorg-12.0.1 / . / MultiSource / Benchmarks / Bullet / btUniversalConstraint.cpp

/* | |

Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org | |

Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. | |

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/btUniversalConstraint.h" | |

#include "BulletDynamics/Dynamics/btRigidBody.h" | |

#include "LinearMath/btTransformUtil.h" | |

#define UNIV_EPS btScalar(0.01f) | |

// constructor | |

// anchor, axis1 and axis2 are in world coordinate system | |

// axis1 must be orthogonal to axis2 | |

btUniversalConstraint::btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, btVector3& anchor, btVector3& axis1, btVector3& axis2) | |

: btGeneric6DofConstraint(rbA, rbB, btTransform::getIdentity(), btTransform::getIdentity(), true), | |

m_anchor(anchor), | |

m_axis1(axis1), | |

m_axis2(axis2) | |

{ | |

// build frame basis | |

// 6DOF constraint uses Euler angles and to define limits | |

// it is assumed that rotational order is : | |

// Z - first, allowed limits are (-PI,PI); | |

// new position of Y - second (allowed limits are (-PI/2 + epsilon, PI/2 - epsilon), where epsilon is a small positive number | |

// used to prevent constraint from instability on poles; | |

// new position of X, allowed limits are (-PI,PI); | |

// So to simulate ODE Universal joint we should use parent axis as Z, child axis as Y and limit all other DOFs | |

// Build the frame in world coordinate system first | |

btVector3 zAxis = axis1.normalize(); | |

btVector3 yAxis = axis2.normalize(); | |

btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system | |

btTransform frameInW; | |

frameInW.setIdentity(); | |

frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0], | |

xAxis[1], yAxis[1], zAxis[1], | |

xAxis[2], yAxis[2], zAxis[2]); | |

frameInW.setOrigin(anchor); | |

// now get constraint frame in local coordinate systems | |

m_frameInA = rbA.getCenterOfMassTransform().inverse() * frameInW; | |

m_frameInB = rbB.getCenterOfMassTransform().inverse() * frameInW; | |

// sei limits | |

setLinearLowerLimit(btVector3(0., 0., 0.)); | |

setLinearUpperLimit(btVector3(0., 0., 0.)); | |

setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI + UNIV_EPS, -SIMD_PI + UNIV_EPS)); | |

setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI - UNIV_EPS, SIMD_PI - UNIV_EPS)); | |

} | |