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+/*
+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.
+*/
+
+#ifndef BT_JACOBIAN_ENTRY_H
+#define BT_JACOBIAN_ENTRY_H
+
+#include "LinearMath/btMatrix3x3.h"
+
+
+//notes:
+// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
+// which makes the btJacobianEntry memory layout 16 bytes
+// if you only are interested in angular part, just feed massInvA and massInvB zero
+
+/// Jacobian entry is an abstraction that allows to describe constraints
+/// it can be used in combination with a constraint solver
+/// Can be used to relate the effect of an impulse to the constraint error
+ATTRIBUTE_ALIGNED16(class) btJacobianEntry
+{
+public:
+ btJacobianEntry() {};
+ //constraint between two different rigidbodies
+ btJacobianEntry(
+ const btMatrix3x3& world2A,
+ const btMatrix3x3& world2B,
+ const btVector3& rel_pos1,const btVector3& rel_pos2,
+ const btVector3& jointAxis,
+ const btVector3& inertiaInvA,
+ const btScalar massInvA,
+ const btVector3& inertiaInvB,
+ const btScalar massInvB)
+ :m_linearJointAxis(jointAxis)
+ {
+ m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis));
+ m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis));
+ m_0MinvJt = inertiaInvA * m_aJ;
+ m_1MinvJt = inertiaInvB * m_bJ;
+ m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
+
+ btAssert(m_Adiag > btScalar(0.0));
+ }
+
+ //angular constraint between two different rigidbodies
+ btJacobianEntry(const btVector3& jointAxis,
+ const btMatrix3x3& world2A,
+ const btMatrix3x3& world2B,
+ const btVector3& inertiaInvA,
+ const btVector3& inertiaInvB)
+ :m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
+ {
+ m_aJ= world2A*jointAxis;
+ m_bJ = world2B*-jointAxis;
+ m_0MinvJt = inertiaInvA * m_aJ;
+ m_1MinvJt = inertiaInvB * m_bJ;
+ m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+
+ btAssert(m_Adiag > btScalar(0.0));
+ }
+
+ //angular constraint between two different rigidbodies
+ btJacobianEntry(const btVector3& axisInA,
+ const btVector3& axisInB,
+ const btVector3& inertiaInvA,
+ const btVector3& inertiaInvB)
+ : m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
+ , m_aJ(axisInA)
+ , m_bJ(-axisInB)
+ {
+ m_0MinvJt = inertiaInvA * m_aJ;
+ m_1MinvJt = inertiaInvB * m_bJ;
+ m_Adiag = m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+
+ btAssert(m_Adiag > btScalar(0.0));
+ }
+
+ //constraint on one rigidbody
+ btJacobianEntry(
+ const btMatrix3x3& world2A,
+ const btVector3& rel_pos1,const btVector3& rel_pos2,
+ const btVector3& jointAxis,
+ const btVector3& inertiaInvA,
+ const btScalar massInvA)
+ :m_linearJointAxis(jointAxis)
+ {
+ m_aJ= world2A*(rel_pos1.cross(jointAxis));
+ m_bJ = world2A*(rel_pos2.cross(-jointAxis));
+ m_0MinvJt = inertiaInvA * m_aJ;
+ m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
+ m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
+
+ btAssert(m_Adiag > btScalar(0.0));
+ }
+
+ btScalar getDiagonal() const { return m_Adiag; }
+
+ // for two constraints on the same rigidbody (for example vehicle friction)
+ btScalar getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const
+ {
+ const btJacobianEntry& jacA = *this;
+ btScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
+ btScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
+ return lin + ang;
+ }
+
+
+
+ // for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
+ btScalar getNonDiagonal(const btJacobianEntry& jacB,const btScalar massInvA,const btScalar massInvB) const
+ {
+ const btJacobianEntry& jacA = *this;
+ btVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
+ btVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
+ btVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
+ btVector3 lin0 = massInvA * lin ;
+ btVector3 lin1 = massInvB * lin;
+ btVector3 sum = ang0+ang1+lin0+lin1;
+ return sum[0]+sum[1]+sum[2];
+ }
+
+ btScalar getRelativeVelocity(const btVector3& linvelA,const btVector3& angvelA,const btVector3& linvelB,const btVector3& angvelB)
+ {
+ btVector3 linrel = linvelA - linvelB;
+ btVector3 angvela = angvelA * m_aJ;
+ btVector3 angvelb = angvelB * m_bJ;
+ linrel *= m_linearJointAxis;
+ angvela += angvelb;
+ angvela += linrel;
+ btScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
+ return rel_vel2 + SIMD_EPSILON;
+ }
+//private:
+
+ btVector3 m_linearJointAxis;
+ btVector3 m_aJ;
+ btVector3 m_bJ;
+ btVector3 m_0MinvJt;
+ btVector3 m_1MinvJt;
+ //Optimization: can be stored in the w/last component of one of the vectors
+ btScalar m_Adiag;
+
+};
+
+#endif //BT_JACOBIAN_ENTRY_H