| /* |
| 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. |
| */ |
| |
| /* |
| Added by Roman Ponomarev (rponom@gmail.com) |
| April 04, 2008 |
| |
| TODO: |
| - add clamping od accumulated impulse to improve stability |
| - add conversion for ODE constraint solver |
| */ |
| |
| #ifndef SLIDER_CONSTRAINT_H |
| #define SLIDER_CONSTRAINT_H |
| |
| |
| |
| #include "LinearMath/btVector3.h" |
| #include "btJacobianEntry.h" |
| #include "btTypedConstraint.h" |
| |
| |
| |
| class btRigidBody; |
| |
| |
| |
| #define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0)) |
| #define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0)) |
| #define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7)) |
| |
| |
| |
| class btSliderConstraint : public btTypedConstraint |
| { |
| protected: |
| ///for backwards compatibility during the transition to 'getInfo/getInfo2' |
| bool m_useSolveConstraintObsolete; |
| btTransform m_frameInA; |
| btTransform m_frameInB; |
| // use frameA fo define limits, if true |
| bool m_useLinearReferenceFrameA; |
| // linear limits |
| btScalar m_lowerLinLimit; |
| btScalar m_upperLinLimit; |
| // angular limits |
| btScalar m_lowerAngLimit; |
| btScalar m_upperAngLimit; |
| // softness, restitution and damping for different cases |
| // DirLin - moving inside linear limits |
| // LimLin - hitting linear limit |
| // DirAng - moving inside angular limits |
| // LimAng - hitting angular limit |
| // OrthoLin, OrthoAng - against constraint axis |
| btScalar m_softnessDirLin; |
| btScalar m_restitutionDirLin; |
| btScalar m_dampingDirLin; |
| btScalar m_softnessDirAng; |
| btScalar m_restitutionDirAng; |
| btScalar m_dampingDirAng; |
| btScalar m_softnessLimLin; |
| btScalar m_restitutionLimLin; |
| btScalar m_dampingLimLin; |
| btScalar m_softnessLimAng; |
| btScalar m_restitutionLimAng; |
| btScalar m_dampingLimAng; |
| btScalar m_softnessOrthoLin; |
| btScalar m_restitutionOrthoLin; |
| btScalar m_dampingOrthoLin; |
| btScalar m_softnessOrthoAng; |
| btScalar m_restitutionOrthoAng; |
| btScalar m_dampingOrthoAng; |
| |
| // for interlal use |
| bool m_solveLinLim; |
| bool m_solveAngLim; |
| |
| btJacobianEntry m_jacLin[3]; |
| btScalar m_jacLinDiagABInv[3]; |
| |
| btJacobianEntry m_jacAng[3]; |
| |
| btScalar m_timeStep; |
| btTransform m_calculatedTransformA; |
| btTransform m_calculatedTransformB; |
| |
| btVector3 m_sliderAxis; |
| btVector3 m_realPivotAInW; |
| btVector3 m_realPivotBInW; |
| btVector3 m_projPivotInW; |
| btVector3 m_delta; |
| btVector3 m_depth; |
| btVector3 m_relPosA; |
| btVector3 m_relPosB; |
| |
| btScalar m_linPos; |
| btScalar m_angPos; |
| |
| btScalar m_angDepth; |
| btScalar m_kAngle; |
| |
| bool m_poweredLinMotor; |
| btScalar m_targetLinMotorVelocity; |
| btScalar m_maxLinMotorForce; |
| btScalar m_accumulatedLinMotorImpulse; |
| |
| bool m_poweredAngMotor; |
| btScalar m_targetAngMotorVelocity; |
| btScalar m_maxAngMotorForce; |
| btScalar m_accumulatedAngMotorImpulse; |
| |
| //------------------------ |
| void initParams(); |
| public: |
| // constructors |
| btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA); |
| btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB); |
| btSliderConstraint(); |
| // overrides |
| virtual void buildJacobian(); |
| virtual void getInfo1 (btConstraintInfo1* info); |
| |
| void getInfo1NonVirtual(btConstraintInfo1* info); |
| |
| virtual void getInfo2 (btConstraintInfo2* info); |
| |
| void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass); |
| |
| virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep); |
| |
| |
| // access |
| const btRigidBody& getRigidBodyA() const { return m_rbA; } |
| const btRigidBody& getRigidBodyB() const { return m_rbB; } |
| const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; } |
| const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; } |
| const btTransform & getFrameOffsetA() const { return m_frameInA; } |
| const btTransform & getFrameOffsetB() const { return m_frameInB; } |
| btTransform & getFrameOffsetA() { return m_frameInA; } |
| btTransform & getFrameOffsetB() { return m_frameInB; } |
| btScalar getLowerLinLimit() { return m_lowerLinLimit; } |
| void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; } |
| btScalar getUpperLinLimit() { return m_upperLinLimit; } |
| void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; } |
| btScalar getLowerAngLimit() { return m_lowerAngLimit; } |
| void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); } |
| btScalar getUpperAngLimit() { return m_upperAngLimit; } |
| void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); } |
| bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; } |
| btScalar getSoftnessDirLin() { return m_softnessDirLin; } |
| btScalar getRestitutionDirLin() { return m_restitutionDirLin; } |
| btScalar getDampingDirLin() { return m_dampingDirLin ; } |
| btScalar getSoftnessDirAng() { return m_softnessDirAng; } |
| btScalar getRestitutionDirAng() { return m_restitutionDirAng; } |
| btScalar getDampingDirAng() { return m_dampingDirAng; } |
| btScalar getSoftnessLimLin() { return m_softnessLimLin; } |
| btScalar getRestitutionLimLin() { return m_restitutionLimLin; } |
| btScalar getDampingLimLin() { return m_dampingLimLin; } |
| btScalar getSoftnessLimAng() { return m_softnessLimAng; } |
| btScalar getRestitutionLimAng() { return m_restitutionLimAng; } |
| btScalar getDampingLimAng() { return m_dampingLimAng; } |
| btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; } |
| btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; } |
| btScalar getDampingOrthoLin() { return m_dampingOrthoLin; } |
| btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; } |
| btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; } |
| btScalar getDampingOrthoAng() { return m_dampingOrthoAng; } |
| void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; } |
| void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; } |
| void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; } |
| void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; } |
| void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; } |
| void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; } |
| void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; } |
| void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; } |
| void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; } |
| void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; } |
| void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; } |
| void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; } |
| void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; } |
| void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; } |
| void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; } |
| void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; } |
| void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; } |
| void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; } |
| void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; } |
| bool getPoweredLinMotor() { return m_poweredLinMotor; } |
| void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; } |
| btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; } |
| void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; } |
| btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; } |
| void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; } |
| bool getPoweredAngMotor() { return m_poweredAngMotor; } |
| void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; } |
| btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; } |
| void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; } |
| btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; } |
| btScalar getLinearPos() { return m_linPos; } |
| |
| |
| // access for ODE solver |
| bool getSolveLinLimit() { return m_solveLinLim; } |
| btScalar getLinDepth() { return m_depth[0]; } |
| bool getSolveAngLimit() { return m_solveAngLim; } |
| btScalar getAngDepth() { return m_angDepth; } |
| // internal |
| void buildJacobianInt(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB); |
| void solveConstraintInt(btRigidBody& rbA, btSolverBody& bodyA,btRigidBody& rbB, btSolverBody& bodyB); |
| // shared code used by ODE solver |
| void calculateTransforms(const btTransform& transA,const btTransform& transB); |
| void testLinLimits(); |
| void testLinLimits2(btConstraintInfo2* info); |
| void testAngLimits(); |
| // access for PE Solver |
| btVector3 getAncorInA(); |
| btVector3 getAncorInB(); |
| }; |
| |
| |
| |
| #endif //SLIDER_CONSTRAINT_H |
| |