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Diffstat (limited to 'thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp | 209 |
1 files changed, 209 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp new file mode 100644 index 0000000000..02c11db320 --- /dev/null +++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp @@ -0,0 +1,209 @@ +/* +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 "b3Point2PointConstraint.h" +#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" + +#include <new> + + + + + +b3Point2PointConstraint::b3Point2PointConstraint(int rbA,int rbB, const b3Vector3& pivotInA,const b3Vector3& pivotInB) +:b3TypedConstraint(B3_POINT2POINT_CONSTRAINT_TYPE,rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB), +m_flags(0) +{ + +} + +/* +b3Point2PointConstraint::b3Point2PointConstraint(int rbA,const b3Vector3& pivotInA) +:b3TypedConstraint(B3_POINT2POINT_CONSTRAINT_TYPE,rbA),m_pivotInA(pivotInA),m_pivotInB(rbA.getCenterOfMassTransform()(pivotInA)), +m_flags(0), +m_useSolveConstraintObsolete(false) +{ + +} +*/ + + +void b3Point2PointConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies) +{ + getInfo1NonVirtual(info,bodies); +} + +void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies) +{ + info->m_numConstraintRows = 3; + info->nub = 3; +} + + + + +void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies) +{ + b3Transform trA; + trA.setIdentity(); + trA.setOrigin(bodies[m_rbA].m_pos); + trA.setRotation(bodies[m_rbA].m_quat); + + b3Transform trB; + trB.setIdentity(); + trB.setOrigin(bodies[m_rbB].m_pos); + trB.setRotation(bodies[m_rbB].m_quat); + + getInfo2NonVirtual(info, trA,trB); +} + +void b3Point2PointConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans) +{ + + //retrieve matrices + + // anchor points in global coordinates with respect to body PORs. + + // set jacobian + info->m_J1linearAxis[0] = 1; + info->m_J1linearAxis[info->rowskip+1] = 1; + info->m_J1linearAxis[2*info->rowskip+2] = 1; + + b3Vector3 a1 = body0_trans.getBasis()*getPivotInA(); + //b3Vector3 a1a = b3QuatRotate(body0_trans.getRotation(),getPivotInA()); + + { + b3Vector3* angular0 = (b3Vector3*)(info->m_J1angularAxis); + b3Vector3* angular1 = (b3Vector3*)(info->m_J1angularAxis+info->rowskip); + b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis+2*info->rowskip); + b3Vector3 a1neg = -a1; + a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + + if (info->m_J2linearAxis) + { + info->m_J2linearAxis[0] = -1; + info->m_J2linearAxis[info->rowskip+1] = -1; + info->m_J2linearAxis[2*info->rowskip+2] = -1; + } + + b3Vector3 a2 = body1_trans.getBasis()*getPivotInB(); + + { + // b3Vector3 a2n = -a2; + b3Vector3* angular0 = (b3Vector3*)(info->m_J2angularAxis); + b3Vector3* angular1 = (b3Vector3*)(info->m_J2angularAxis+info->rowskip); + b3Vector3* angular2 = (b3Vector3*)(info->m_J2angularAxis+2*info->rowskip); + a2.getSkewSymmetricMatrix(angular0,angular1,angular2); + } + + + + // set right hand side + b3Scalar currERP = (m_flags & B3_P2P_FLAGS_ERP) ? m_erp : info->erp; + b3Scalar k = info->fps * currERP; + int j; + for (j=0; j<3; j++) + { + info->m_constraintError[j*info->rowskip] = k * (a2[j] + body1_trans.getOrigin()[j] - a1[j] - body0_trans.getOrigin()[j]); + //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]); + } + if(m_flags & B3_P2P_FLAGS_CFM) + { + for (j=0; j<3; j++) + { + info->cfm[j*info->rowskip] = m_cfm; + } + } + + b3Scalar impulseClamp = m_setting.m_impulseClamp;// + for (j=0; j<3; j++) + { + if (m_setting.m_impulseClamp > 0) + { + info->m_lowerLimit[j*info->rowskip] = -impulseClamp; + info->m_upperLimit[j*info->rowskip] = impulseClamp; + } + } + info->m_damping = m_setting.m_damping; + +} + + + +void b3Point2PointConstraint::updateRHS(b3Scalar timeStep) +{ + (void)timeStep; + +} + +///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). +///If no axis is provided, it uses the default axis for this constraint. +void b3Point2PointConstraint::setParam(int num, b3Scalar value, int axis) +{ + if(axis != -1) + { + b3AssertConstrParams(0); + } + else + { + switch(num) + { + case B3_CONSTRAINT_ERP : + case B3_CONSTRAINT_STOP_ERP : + m_erp = value; + m_flags |= B3_P2P_FLAGS_ERP; + break; + case B3_CONSTRAINT_CFM : + case B3_CONSTRAINT_STOP_CFM : + m_cfm = value; + m_flags |= B3_P2P_FLAGS_CFM; + break; + default: + b3AssertConstrParams(0); + } + } +} + +///return the local value of parameter +b3Scalar b3Point2PointConstraint::getParam(int num, int axis) const +{ + b3Scalar retVal(B3_INFINITY); + if(axis != -1) + { + b3AssertConstrParams(0); + } + else + { + switch(num) + { + case B3_CONSTRAINT_ERP : + case B3_CONSTRAINT_STOP_ERP : + b3AssertConstrParams(m_flags & B3_P2P_FLAGS_ERP); + retVal = m_erp; + break; + case B3_CONSTRAINT_CFM : + case B3_CONSTRAINT_STOP_CFM : + b3AssertConstrParams(m_flags & B3_P2P_FLAGS_CFM); + retVal = m_cfm; + break; + default: + b3AssertConstrParams(0); + } + } + return retVal; +} + |