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Diffstat (limited to 'servers/physics/joints/slider_joint_sw.h')
| -rw-r--r-- | servers/physics/joints/slider_joint_sw.h | 218 |
1 files changed, 218 insertions, 0 deletions
diff --git a/servers/physics/joints/slider_joint_sw.h b/servers/physics/joints/slider_joint_sw.h new file mode 100644 index 0000000000..517bb5e6bc --- /dev/null +++ b/servers/physics/joints/slider_joint_sw.h @@ -0,0 +1,218 @@ +#ifndef SLIDER_JOINT_SW_H +#define SLIDER_JOINT_SW_H + +#include "servers/physics/joints_sw.h" +#include "servers/physics/joints/jacobian_entry_sw.h" + + +/* +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 + +*/ + +#define SLIDER_CONSTRAINT_DEF_SOFTNESS (real_t(1.0)) +#define SLIDER_CONSTRAINT_DEF_DAMPING (real_t(1.0)) +#define SLIDER_CONSTRAINT_DEF_RESTITUTION (real_t(0.7)) + +//----------------------------------------------------------------------------- + +class SliderJointSW : public JointSW { +protected: + + union { + struct { + BodySW *A; + BodySW *B; + }; + + BodySW *_arr[2]; + }; + + Transform m_frameInA; + Transform m_frameInB; + + // linear limits + real_t m_lowerLinLimit; + real_t m_upperLinLimit; + // angular limits + real_t m_lowerAngLimit; + real_t 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 + real_t m_softnessDirLin; + real_t m_restitutionDirLin; + real_t m_dampingDirLin; + real_t m_softnessDirAng; + real_t m_restitutionDirAng; + real_t m_dampingDirAng; + real_t m_softnessLimLin; + real_t m_restitutionLimLin; + real_t m_dampingLimLin; + real_t m_softnessLimAng; + real_t m_restitutionLimAng; + real_t m_dampingLimAng; + real_t m_softnessOrthoLin; + real_t m_restitutionOrthoLin; + real_t m_dampingOrthoLin; + real_t m_softnessOrthoAng; + real_t m_restitutionOrthoAng; + real_t m_dampingOrthoAng; + + // for interlal use + bool m_solveLinLim; + bool m_solveAngLim; + + JacobianEntrySW m_jacLin[3]; + real_t m_jacLinDiagABInv[3]; + + JacobianEntrySW m_jacAng[3]; + + real_t m_timeStep; + Transform m_calculatedTransformA; + Transform m_calculatedTransformB; + + Vector3 m_sliderAxis; + Vector3 m_realPivotAInW; + Vector3 m_realPivotBInW; + Vector3 m_projPivotInW; + Vector3 m_delta; + Vector3 m_depth; + Vector3 m_relPosA; + Vector3 m_relPosB; + + real_t m_linPos; + + real_t m_angDepth; + real_t m_kAngle; + + bool m_poweredLinMotor; + real_t m_targetLinMotorVelocity; + real_t m_maxLinMotorForce; + real_t m_accumulatedLinMotorImpulse; + + bool m_poweredAngMotor; + real_t m_targetAngMotorVelocity; + real_t m_maxAngMotorForce; + real_t m_accumulatedAngMotorImpulse; + + //------------------------ + void initParams(); +public: + // constructors + SliderJointSW(BodySW* rbA, BodySW* rbB, const Transform& frameInA, const Transform& frameInB); + //SliderJointSW(); + // overrides + + // access + const BodySW* getRigidBodyA() const { return A; } + const BodySW* getRigidBodyB() const { return B; } + const Transform & getCalculatedTransformA() const { return m_calculatedTransformA; } + const Transform & getCalculatedTransformB() const { return m_calculatedTransformB; } + const Transform & getFrameOffsetA() const { return m_frameInA; } + const Transform & getFrameOffsetB() const { return m_frameInB; } + Transform & getFrameOffsetA() { return m_frameInA; } + Transform & getFrameOffsetB() { return m_frameInB; } + real_t getLowerLinLimit() { return m_lowerLinLimit; } + void setLowerLinLimit(real_t lowerLimit) { m_lowerLinLimit = lowerLimit; } + real_t getUpperLinLimit() { return m_upperLinLimit; } + void setUpperLinLimit(real_t upperLimit) { m_upperLinLimit = upperLimit; } + real_t getLowerAngLimit() { return m_lowerAngLimit; } + void setLowerAngLimit(real_t lowerLimit) { m_lowerAngLimit = lowerLimit; } + real_t getUpperAngLimit() { return m_upperAngLimit; } + void setUpperAngLimit(real_t upperLimit) { m_upperAngLimit = upperLimit; } + + real_t getSoftnessDirLin() { return m_softnessDirLin; } + real_t getRestitutionDirLin() { return m_restitutionDirLin; } + real_t getDampingDirLin() { return m_dampingDirLin ; } + real_t getSoftnessDirAng() { return m_softnessDirAng; } + real_t getRestitutionDirAng() { return m_restitutionDirAng; } + real_t getDampingDirAng() { return m_dampingDirAng; } + real_t getSoftnessLimLin() { return m_softnessLimLin; } + real_t getRestitutionLimLin() { return m_restitutionLimLin; } + real_t getDampingLimLin() { return m_dampingLimLin; } + real_t getSoftnessLimAng() { return m_softnessLimAng; } + real_t getRestitutionLimAng() { return m_restitutionLimAng; } + real_t getDampingLimAng() { return m_dampingLimAng; } + real_t getSoftnessOrthoLin() { return m_softnessOrthoLin; } + real_t getRestitutionOrthoLin() { return m_restitutionOrthoLin; } + real_t getDampingOrthoLin() { return m_dampingOrthoLin; } + real_t getSoftnessOrthoAng() { return m_softnessOrthoAng; } + real_t getRestitutionOrthoAng() { return m_restitutionOrthoAng; } + real_t getDampingOrthoAng() { return m_dampingOrthoAng; } + void setSoftnessDirLin(real_t softnessDirLin) { m_softnessDirLin = softnessDirLin; } + void setRestitutionDirLin(real_t restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; } + void setDampingDirLin(real_t dampingDirLin) { m_dampingDirLin = dampingDirLin; } + void setSoftnessDirAng(real_t softnessDirAng) { m_softnessDirAng = softnessDirAng; } + void setRestitutionDirAng(real_t restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; } + void setDampingDirAng(real_t dampingDirAng) { m_dampingDirAng = dampingDirAng; } + void setSoftnessLimLin(real_t softnessLimLin) { m_softnessLimLin = softnessLimLin; } + void setRestitutionLimLin(real_t restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; } + void setDampingLimLin(real_t dampingLimLin) { m_dampingLimLin = dampingLimLin; } + void setSoftnessLimAng(real_t softnessLimAng) { m_softnessLimAng = softnessLimAng; } + void setRestitutionLimAng(real_t restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; } + void setDampingLimAng(real_t dampingLimAng) { m_dampingLimAng = dampingLimAng; } + void setSoftnessOrthoLin(real_t softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; } + void setRestitutionOrthoLin(real_t restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; } + void setDampingOrthoLin(real_t dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; } + void setSoftnessOrthoAng(real_t softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; } + void setRestitutionOrthoAng(real_t restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; } + void setDampingOrthoAng(real_t dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; } + void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; } + bool getPoweredLinMotor() { return m_poweredLinMotor; } + void setTargetLinMotorVelocity(real_t targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; } + real_t getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; } + void setMaxLinMotorForce(real_t maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; } + real_t getMaxLinMotorForce() { return m_maxLinMotorForce; } + void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; } + bool getPoweredAngMotor() { return m_poweredAngMotor; } + void setTargetAngMotorVelocity(real_t targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; } + real_t getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; } + void setMaxAngMotorForce(real_t maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; } + real_t getMaxAngMotorForce() { return m_maxAngMotorForce; } + real_t getLinearPos() { return m_linPos; } + + // access for ODE solver + bool getSolveLinLimit() { return m_solveLinLim; } + real_t getLinDepth() { return m_depth[0]; } + bool getSolveAngLimit() { return m_solveAngLim; } + real_t getAngDepth() { return m_angDepth; } + // shared code used by ODE solver + void calculateTransforms(void); + void testLinLimits(void); + void testAngLimits(void); + // access for PE Solver + Vector3 getAncorInA(void); + Vector3 getAncorInB(void); + + void set_param(PhysicsServer::SliderJointParam p_param, float p_value); + float get_param(PhysicsServer::SliderJointParam p_param) const; + + bool setup(float p_step); + void solve(float p_step); + + virtual PhysicsServer::JointType get_type() const { return PhysicsServer::JOINT_SLIDER; } + +}; + + +#endif // SLIDER_JOINT_SW_H |