Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 117 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
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index 0000000000..0115de6241
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+++ b/thirdparty/bullet/src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2013 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+///This file was written by Erwin Coumans
+
+#ifndef BT_MULTIBODY_GEAR_CONSTRAINT_H
+#define BT_MULTIBODY_GEAR_CONSTRAINT_H
+
+#include "btMultiBodyConstraint.h"
+
+class btMultiBodyGearConstraint : public btMultiBodyConstraint
+{
+protected:
+
+	btRigidBody*	m_rigidBodyA;
+	btRigidBody*	m_rigidBodyB;
+	btVector3		m_pivotInA;
+	btVector3		m_pivotInB;
+	btMatrix3x3     m_frameInA;
+	btMatrix3x3     m_frameInB;
+	btScalar			m_gearRatio;
+	int			m_gearAuxLink;
+	btScalar	m_erp;
+	btScalar	m_relativePositionTarget;
+	
+public:
+
+	//btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
+	btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
+
+	virtual ~btMultiBodyGearConstraint();
+
+	virtual void finalizeMultiDof();
+
+	virtual int getIslandIdA() const;
+	virtual int getIslandIdB() const;
+
+	virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
+		btMultiBodyJacobianData& data,
+		const btContactSolverInfo& infoGlobal);
+
+    const btVector3& getPivotInA() const
+    {
+        return m_pivotInA;
+    }
+    
+    void setPivotInA(const btVector3& pivotInA)
+    {
+        m_pivotInA = pivotInA;
+    }
+
+	const btVector3& getPivotInB() const
+	{
+		return m_pivotInB;
+	}
+
+	virtual void setPivotInB(const btVector3& pivotInB)
+	{
+		m_pivotInB = pivotInB;
+	}
+    
+    const btMatrix3x3& getFrameInA() const
+    {
+        return m_frameInA;
+    }
+    
+    void setFrameInA(const btMatrix3x3& frameInA)
+    {
+        m_frameInA = frameInA;
+    }
+    
+    const btMatrix3x3& getFrameInB() const
+    {
+        return m_frameInB;
+    }
+    
+    virtual void setFrameInB(const btMatrix3x3& frameInB)
+    {
+        m_frameInB = frameInB;
+    }
+
+	virtual void debugDraw(class btIDebugDraw* drawer)
+	{
+		//todo(erwincoumans)
+	}
+	
+	virtual void setGearRatio(btScalar gearRatio)
+	{
+		m_gearRatio = gearRatio;
+	}
+	virtual void setGearAuxLink(int gearAuxLink)
+	{
+		m_gearAuxLink = gearAuxLink;
+	}
+	virtual void setRelativePositionTarget(btScalar relPosTarget)
+	{
+		m_relativePositionTarget = relPosTarget;
+	}
+	virtual void setErp(btScalar erp)
+	{
+		m_erp = erp;
+	}
+};
+
+#endif //BT_MULTIBODY_GEAR_CONSTRAINT_H