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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h | 435 |
1 files changed, 0 insertions, 435 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h deleted file mode 100644 index 7a33d01d1e..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +++ /dev/null @@ -1,435 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios - -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. - -Written by: Marcus Hennix -*/ - - - -/* -Overview: - -btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc). -It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint". -It divides the 3 rotational DOFs into swing (movement within a cone) and twist. -Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape. -(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.) - -In the contraint's frame of reference: -twist is along the x-axis, -and swing 1 and 2 are along the z and y axes respectively. -*/ - - - -#ifndef BT_CONETWISTCONSTRAINT_H -#define BT_CONETWISTCONSTRAINT_H - -#include "LinearMath/btVector3.h" -#include "btJacobianEntry.h" -#include "btTypedConstraint.h" - -#ifdef BT_USE_DOUBLE_PRECISION -#define btConeTwistConstraintData2 btConeTwistConstraintDoubleData -#define btConeTwistConstraintDataName "btConeTwistConstraintDoubleData" -#else -#define btConeTwistConstraintData2 btConeTwistConstraintData -#define btConeTwistConstraintDataName "btConeTwistConstraintData" -#endif //BT_USE_DOUBLE_PRECISION - - -class btRigidBody; - -enum btConeTwistFlags -{ - BT_CONETWIST_FLAGS_LIN_CFM = 1, - BT_CONETWIST_FLAGS_LIN_ERP = 2, - BT_CONETWIST_FLAGS_ANG_CFM = 4 -}; - -///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) -ATTRIBUTE_ALIGNED16(class) btConeTwistConstraint : public btTypedConstraint -{ -#ifdef IN_PARALLELL_SOLVER -public: -#endif - btJacobianEntry m_jac[3]; //3 orthogonal linear constraints - - btTransform m_rbAFrame; - btTransform m_rbBFrame; - - btScalar m_limitSoftness; - btScalar m_biasFactor; - btScalar m_relaxationFactor; - - btScalar m_damping; - - btScalar m_swingSpan1; - btScalar m_swingSpan2; - btScalar m_twistSpan; - - btScalar m_fixThresh; - - btVector3 m_swingAxis; - btVector3 m_twistAxis; - - btScalar m_kSwing; - btScalar m_kTwist; - - btScalar m_twistLimitSign; - btScalar m_swingCorrection; - btScalar m_twistCorrection; - - btScalar m_twistAngle; - - btScalar m_accSwingLimitImpulse; - btScalar m_accTwistLimitImpulse; - - bool m_angularOnly; - bool m_solveTwistLimit; - bool m_solveSwingLimit; - - bool m_useSolveConstraintObsolete; - - // not yet used... - btScalar m_swingLimitRatio; - btScalar m_twistLimitRatio; - btVector3 m_twistAxisA; - - // motor - bool m_bMotorEnabled; - bool m_bNormalizedMotorStrength; - btQuaternion m_qTarget; - btScalar m_maxMotorImpulse; - btVector3 m_accMotorImpulse; - - // parameters - int m_flags; - btScalar m_linCFM; - btScalar m_linERP; - btScalar m_angCFM; - -protected: - - void init(); - - void computeConeLimitInfo(const btQuaternion& qCone, // in - btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs - - void computeTwistLimitInfo(const btQuaternion& qTwist, // in - btScalar& twistAngle, btVector3& vTwistAxis); // all outs - - void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const; - - -public: - - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame); - - btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame); - - virtual void buildJacobian(); - - virtual void getInfo1 (btConstraintInfo1* info); - - void getInfo1NonVirtual(btConstraintInfo1* info); - - virtual void getInfo2 (btConstraintInfo2* info); - - void getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB); - - virtual void solveConstraintObsolete(btSolverBody& bodyA,btSolverBody& bodyB,btScalar timeStep); - - - void updateRHS(btScalar timeStep); - - - const btRigidBody& getRigidBodyA() const - { - return m_rbA; - } - const btRigidBody& getRigidBodyB() const - { - return m_rbB; - } - - void setAngularOnly(bool angularOnly) - { - m_angularOnly = angularOnly; - } - - bool getAngularOnly() const - { - return m_angularOnly; - } - - void setLimit(int limitIndex,btScalar limitValue) - { - switch (limitIndex) - { - case 3: - { - m_twistSpan = limitValue; - break; - } - case 4: - { - m_swingSpan2 = limitValue; - break; - } - case 5: - { - m_swingSpan1 = limitValue; - break; - } - default: - { - } - }; - } - - btScalar getLimit(int limitIndex) const - { - switch (limitIndex) - { - case 3: - { - return m_twistSpan; - break; - } - case 4: - { - return m_swingSpan2; - break; - } - case 5: - { - return m_swingSpan1; - break; - } - default: - { - btAssert(0 && "Invalid limitIndex specified for btConeTwistConstraint"); - return 0.0; - } - }; - } - - // setLimit(), a few notes: - // _softness: - // 0->1, recommend ~0.8->1. - // describes % of limits where movement is free. - // beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached. - // _biasFactor: - // 0->1?, recommend 0.3 +/-0.3 or so. - // strength with which constraint resists zeroth order (angular, not angular velocity) limit violation. - // __relaxationFactor: - // 0->1, recommend to stay near 1. - // the lower the value, the less the constraint will fight velocities which violate the angular limits. - void setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f) - { - m_swingSpan1 = _swingSpan1; - m_swingSpan2 = _swingSpan2; - m_twistSpan = _twistSpan; - - m_limitSoftness = _softness; - m_biasFactor = _biasFactor; - m_relaxationFactor = _relaxationFactor; - } - - const btTransform& getAFrame() const { return m_rbAFrame; }; - const btTransform& getBFrame() const { return m_rbBFrame; }; - - inline int getSolveTwistLimit() - { - return m_solveTwistLimit; - } - - inline int getSolveSwingLimit() - { - return m_solveSwingLimit; - } - - inline btScalar getTwistLimitSign() - { - return m_twistLimitSign; - } - - void calcAngleInfo(); - void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB); - - inline btScalar getSwingSpan1() const - { - return m_swingSpan1; - } - inline btScalar getSwingSpan2() const - { - return m_swingSpan2; - } - inline btScalar getTwistSpan() const - { - return m_twistSpan; - } - inline btScalar getLimitSoftness() const - { - return m_limitSoftness; - } - inline btScalar getBiasFactor() const - { - return m_biasFactor; - } - inline btScalar getRelaxationFactor() const - { - return m_relaxationFactor; - } - inline btScalar getTwistAngle() const - { - return m_twistAngle; - } - bool isPastSwingLimit() { return m_solveSwingLimit; } - - btScalar getDamping() const { return m_damping; } - void setDamping(btScalar damping) { m_damping = damping; } - - void enableMotor(bool b) { m_bMotorEnabled = b; } - bool isMotorEnabled() const { return m_bMotorEnabled; } - btScalar getMaxMotorImpulse() const { return m_maxMotorImpulse; } - bool isMaxMotorImpulseNormalized() const { return m_bNormalizedMotorStrength; } - void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; } - void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; } - - btScalar getFixThresh() { return m_fixThresh; } - void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; } - - // setMotorTarget: - // q: the desired rotation of bodyA wrt bodyB. - // note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability) - // note: don't forget to enableMotor() - void setMotorTarget(const btQuaternion &q); - const btQuaternion& getMotorTarget() const { return m_qTarget; } - - // same as above, but q is the desired rotation of frameA wrt frameB in constraint space - void setMotorTargetInConstraintSpace(const btQuaternion &q); - - btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const; - - ///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. - virtual void setParam(int num, btScalar value, int axis = -1); - - virtual void setFrames(const btTransform& frameA, const btTransform& frameB); - - const btTransform& getFrameOffsetA() const - { - return m_rbAFrame; - } - - const btTransform& getFrameOffsetB() const - { - return m_rbBFrame; - } - - - ///return the local value of parameter - virtual btScalar getParam(int num, int axis = -1) const; - - int getFlags() const - { - return m_flags; - } - - virtual int calculateSerializeBufferSize() const; - - ///fills the dataBuffer and returns the struct name (and 0 on failure) - virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; - -}; - - - -struct btConeTwistConstraintDoubleData -{ - btTypedConstraintDoubleData m_typeConstraintData; - btTransformDoubleData m_rbAFrame; - btTransformDoubleData m_rbBFrame; - - //limits - double m_swingSpan1; - double m_swingSpan2; - double m_twistSpan; - double m_limitSoftness; - double m_biasFactor; - double m_relaxationFactor; - - double m_damping; - - - -}; - -#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION -///this structure is not used, except for loading pre-2.82 .bullet files -struct btConeTwistConstraintData -{ - btTypedConstraintData m_typeConstraintData; - btTransformFloatData m_rbAFrame; - btTransformFloatData m_rbBFrame; - - //limits - float m_swingSpan1; - float m_swingSpan2; - float m_twistSpan; - float m_limitSoftness; - float m_biasFactor; - float m_relaxationFactor; - - float m_damping; - - char m_pad[4]; - -}; -#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION -// - -SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() const -{ - return sizeof(btConeTwistConstraintData2); - -} - - - ///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const -{ - btConeTwistConstraintData2* cone = (btConeTwistConstraintData2*) dataBuffer; - btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer); - - m_rbAFrame.serialize(cone->m_rbAFrame); - m_rbBFrame.serialize(cone->m_rbBFrame); - - cone->m_swingSpan1 = m_swingSpan1; - cone->m_swingSpan2 = m_swingSpan2; - cone->m_twistSpan = m_twistSpan; - cone->m_limitSoftness = m_limitSoftness; - cone->m_biasFactor = m_biasFactor; - cone->m_relaxationFactor = m_relaxationFactor; - cone->m_damping = m_damping; - - return btConeTwistConstraintDataName; -} - - -#endif //BT_CONETWISTCONSTRAINT_H |