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Diffstat (limited to 'thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp | 137 |
1 files changed, 137 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp new file mode 100644 index 0000000000..af687b54e9 --- /dev/null +++ b/thirdparty/bullet/src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.cpp @@ -0,0 +1,137 @@ +/* +Copyright (c) 2012 Advanced Micro Devices, Inc. + +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. +*/ +//Originally written by Erwin Coumans + +#include "b3GpuGenericConstraint.h" +#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h" + +#include <new> +#include "Bullet3Common/b3Transform.h" + +void b3GpuGenericConstraint::getInfo1 (unsigned int* info,const b3RigidBodyData* bodies) +{ + switch (m_constraintType) + { + case B3_GPU_POINT2POINT_CONSTRAINT_TYPE: + { + *info = 3; + break; + }; + default: + { + b3Assert(0); + } + }; +} + +void getInfo2Point2Point(b3GpuGenericConstraint* constraint, b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies) +{ + b3Transform trA; + trA.setIdentity(); + trA.setOrigin(bodies[constraint->m_rbA].m_pos); + trA.setRotation(bodies[constraint->m_rbA].m_quat); + + b3Transform trB; + trB.setIdentity(); + trB.setOrigin(bodies[constraint->m_rbB].m_pos); + trB.setRotation(bodies[constraint->m_rbB].m_quat); + + // 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 = trA.getBasis()*constraint->getPivotInA(); + //b3Vector3 a1a = b3QuatRotate(trA.getRotation(),constraint->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 = trB.getBasis()*constraint->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 currERP = info->erp; + + b3Scalar k = info->fps * currERP; + int j; + for (j=0; j<3; j++) + { + info->m_constraintError[j*info->rowskip] = k * (a2[j] + trB.getOrigin()[j] - a1[j] - trA.getOrigin()[j]); + //printf("info->m_constraintError[%d]=%f\n",j,info->m_constraintError[j]); + } +#if 0 + if(m_flags & B3_P2P_FLAGS_CFM) + { + for (j=0; j<3; j++) + { + info->cfm[j*info->rowskip] = m_cfm; + } + } +#endif + +#if 0 + 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; +#endif + +} + +void b3GpuGenericConstraint::getInfo2 (b3GpuConstraintInfo2* info, const b3RigidBodyData* bodies) +{ + switch (m_constraintType) + { + case B3_GPU_POINT2POINT_CONSTRAINT_TYPE: + { + getInfo2Point2Point(this,info,bodies); + break; + }; + default: + { + b3Assert(0); + } + }; +} |