diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp | 151 |
1 files changed, 66 insertions, 85 deletions
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp index 02c11db320..cfa7c7dd11 100644 --- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp +++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp @@ -13,21 +13,14 @@ subject to the following restrictions: 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, int rbB, const b3Vector3& pivotInA, const b3Vector3& pivotInB) + : b3TypedConstraint(B3_POINT2POINT_CONSTRAINT_TYPE, rbA, rbB), m_pivotInA(pivotInA), m_pivotInB(pivotInB), m_flags(0) { - } /* @@ -40,22 +33,18 @@ m_useSolveConstraintObsolete(false) } */ - -void b3Point2PointConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyData* bodies) +void b3Point2PointConstraint::getInfo1(b3ConstraintInfo1* info, const b3RigidBodyData* bodies) { - getInfo1NonVirtual(info,bodies); + getInfo1NonVirtual(info, bodies); } -void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyData* bodies) +void b3Point2PointConstraint::getInfo1NonVirtual(b3ConstraintInfo1* info, const b3RigidBodyData* bodies) { - info->m_numConstraintRows = 3; - info->nub = 3; + info->m_numConstraintRows = 3; + info->nub = 3; } - - - -void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBodyData* bodies) +void b3Point2PointConstraint::getInfo2(b3ConstraintInfo2* info, const b3RigidBodyData* bodies) { b3Transform trA; trA.setIdentity(); @@ -67,143 +56,135 @@ void b3Point2PointConstraint::getInfo2 (b3ConstraintInfo2* info, const b3RigidBo trB.setOrigin(bodies[m_rbB].m_pos); trB.setRotation(bodies[m_rbB].m_quat); - getInfo2NonVirtual(info, trA,trB); + getInfo2NonVirtual(info, trA, trB); } -void b3Point2PointConstraint::getInfo2NonVirtual (b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans) +void b3Point2PointConstraint::getInfo2NonVirtual(b3ConstraintInfo2* info, const b3Transform& body0_trans, const b3Transform& body1_trans) { - - //retrieve matrices + //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(); + // 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* angular1 = (b3Vector3*)(info->m_J1angularAxis + info->rowskip); + b3Vector3* angular2 = (b3Vector3*)(info->m_J1angularAxis + 2 * info->rowskip); b3Vector3 a1neg = -a1; - a1neg.getSkewSymmetricMatrix(angular0,angular1,angular2); + 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; + info->m_J2linearAxis[info->rowskip + 1] = -1; + info->m_J2linearAxis[2 * info->rowskip + 2] = -1; } - - b3Vector3 a2 = body1_trans.getBasis()*getPivotInB(); - + + b3Vector3 a2 = body1_trans.getBasis() * getPivotInB(); + { - // b3Vector3 a2n = -a2; + // 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); + 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 + // 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]); + 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) + } + if (m_flags & B3_P2P_FLAGS_CFM) { - for (j=0; j<3; j++) + for (j = 0; j < 3; j++) { - info->cfm[j*info->rowskip] = m_cfm; + info->cfm[j * info->rowskip] = m_cfm; } } - b3Scalar impulseClamp = m_setting.m_impulseClamp;// - for (j=0; j<3; j++) - { + 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_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 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). +///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) + if (axis != -1) { b3AssertConstrParams(0); } else { - switch(num) + switch (num) { - case B3_CONSTRAINT_ERP : - case B3_CONSTRAINT_STOP_ERP : - m_erp = value; + 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; + case B3_CONSTRAINT_CFM: + case B3_CONSTRAINT_STOP_CFM: + m_cfm = value; m_flags |= B3_P2P_FLAGS_CFM; break; - default: + default: b3AssertConstrParams(0); } } } ///return the local value of parameter -b3Scalar b3Point2PointConstraint::getParam(int num, int axis) const +b3Scalar b3Point2PointConstraint::getParam(int num, int axis) const { b3Scalar retVal(B3_INFINITY); - if(axis != -1) + if (axis != -1) { b3AssertConstrParams(0); } else { - switch(num) + switch (num) { - case B3_CONSTRAINT_ERP : - case B3_CONSTRAINT_STOP_ERP : + case B3_CONSTRAINT_ERP: + case B3_CONSTRAINT_STOP_ERP: b3AssertConstrParams(m_flags & B3_P2P_FLAGS_ERP); - retVal = m_erp; + retVal = m_erp; break; - case B3_CONSTRAINT_CFM : - case B3_CONSTRAINT_STOP_CFM : + case B3_CONSTRAINT_CFM: + case B3_CONSTRAINT_STOP_CFM: b3AssertConstrParams(m_flags & B3_P2P_FLAGS_CFM); - retVal = m_cfm; + retVal = m_cfm; break; - default: + default: b3AssertConstrParams(0); } } return retVal; } - |