diff options
Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp | 54 |
1 files changed, 0 insertions, 54 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp deleted file mode 100644 index bcd457b673..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGearConstraint.cpp +++ /dev/null @@ -1,54 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2012 Advanced Micro Devices, Inc. http://bulletphysics.org - -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. -*/ - -/// Implemented by Erwin Coumans. The idea for the constraint comes from Dimitris Papavasiliou. - -#include "btGearConstraint.h" - -btGearConstraint::btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio) -:btTypedConstraint(GEAR_CONSTRAINT_TYPE,rbA,rbB), -m_axisInA(axisInA), -m_axisInB(axisInB), -m_ratio(ratio) -{ -} - -btGearConstraint::~btGearConstraint () -{ -} - -void btGearConstraint::getInfo1 (btConstraintInfo1* info) -{ - info->m_numConstraintRows = 1; - info->nub = 1; -} - -void btGearConstraint::getInfo2 (btConstraintInfo2* info) -{ - btVector3 globalAxisA, globalAxisB; - - globalAxisA = m_rbA.getWorldTransform().getBasis()*this->m_axisInA; - globalAxisB = m_rbB.getWorldTransform().getBasis()*this->m_axisInB; - - info->m_J1angularAxis[0] = globalAxisA[0]; - info->m_J1angularAxis[1] = globalAxisA[1]; - info->m_J1angularAxis[2] = globalAxisA[2]; - - info->m_J2angularAxis[0] = m_ratio*globalAxisB[0]; - info->m_J2angularAxis[1] = m_ratio*globalAxisB[1]; - info->m_J2angularAxis[2] = m_ratio*globalAxisB[2]; - -} - |