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Diffstat (limited to 'thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp | 190 |
1 files changed, 0 insertions, 190 deletions
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp deleted file mode 100644 index cfa7c7dd11..0000000000 --- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp +++ /dev/null @@ -1,190 +0,0 @@ -/* -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; -} |