diff options
Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp')
-rw-r--r-- | thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp | 185 |
1 files changed, 0 insertions, 185 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp deleted file mode 100644 index 6f765884ec..0000000000 --- a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp +++ /dev/null @@ -1,185 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org -Copyright (C) 2006, 2007 Sony Computer Entertainment 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. -*/ - -#include "btGeneric6DofSpringConstraint.h" -#include "BulletDynamics/Dynamics/btRigidBody.h" -#include "LinearMath/btTransformUtil.h" - - -btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA) - : btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA) -{ - init(); -} - - -btGeneric6DofSpringConstraint::btGeneric6DofSpringConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB) - : btGeneric6DofConstraint(rbB, frameInB, useLinearReferenceFrameB) -{ - init(); -} - - -void btGeneric6DofSpringConstraint::init() -{ - m_objectType = D6_SPRING_CONSTRAINT_TYPE; - - for(int i = 0; i < 6; i++) - { - m_springEnabled[i] = false; - m_equilibriumPoint[i] = btScalar(0.f); - m_springStiffness[i] = btScalar(0.f); - m_springDamping[i] = btScalar(1.f); - } -} - - -void btGeneric6DofSpringConstraint::enableSpring(int index, bool onOff) -{ - btAssert((index >= 0) && (index < 6)); - m_springEnabled[index] = onOff; - if(index < 3) - { - m_linearLimits.m_enableMotor[index] = onOff; - } - else - { - m_angularLimits[index - 3].m_enableMotor = onOff; - } -} - - - -void btGeneric6DofSpringConstraint::setStiffness(int index, btScalar stiffness) -{ - btAssert((index >= 0) && (index < 6)); - m_springStiffness[index] = stiffness; -} - - -void btGeneric6DofSpringConstraint::setDamping(int index, btScalar damping) -{ - btAssert((index >= 0) && (index < 6)); - m_springDamping[index] = damping; -} - - -void btGeneric6DofSpringConstraint::setEquilibriumPoint() -{ - calculateTransforms(); - int i; - - for( i = 0; i < 3; i++) - { - m_equilibriumPoint[i] = m_calculatedLinearDiff[i]; - } - for(i = 0; i < 3; i++) - { - m_equilibriumPoint[i + 3] = m_calculatedAxisAngleDiff[i]; - } -} - - - -void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index) -{ - btAssert((index >= 0) && (index < 6)); - calculateTransforms(); - if(index < 3) - { - m_equilibriumPoint[index] = m_calculatedLinearDiff[index]; - } - else - { - m_equilibriumPoint[index] = m_calculatedAxisAngleDiff[index - 3]; - } -} - -void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val) -{ - btAssert((index >= 0) && (index < 6)); - m_equilibriumPoint[index] = val; -} - - -void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info) -{ - // it is assumed that calculateTransforms() have been called before this call - int i; - //btVector3 relVel = m_rbB.getLinearVelocity() - m_rbA.getLinearVelocity(); - for(i = 0; i < 3; i++) - { - if(m_springEnabled[i]) - { - // get current position of constraint - btScalar currPos = m_calculatedLinearDiff[i]; - // calculate difference - btScalar delta = currPos - m_equilibriumPoint[i]; - // spring force is (delta * m_stiffness) according to Hooke's Law - btScalar force = delta * m_springStiffness[i]; - btScalar velFactor = info->fps * m_springDamping[i] / btScalar(info->m_numIterations); - m_linearLimits.m_targetVelocity[i] = velFactor * force; - m_linearLimits.m_maxMotorForce[i] = btFabs(force) / info->fps; - } - } - for(i = 0; i < 3; i++) - { - if(m_springEnabled[i + 3]) - { - // get current position of constraint - btScalar currPos = m_calculatedAxisAngleDiff[i]; - // calculate difference - btScalar delta = currPos - m_equilibriumPoint[i+3]; - // spring force is (-delta * m_stiffness) according to Hooke's Law - btScalar force = -delta * m_springStiffness[i+3]; - btScalar velFactor = info->fps * m_springDamping[i+3] / btScalar(info->m_numIterations); - m_angularLimits[i].m_targetVelocity = velFactor * force; - m_angularLimits[i].m_maxMotorForce = btFabs(force) / info->fps; - } - } -} - - -void btGeneric6DofSpringConstraint::getInfo2(btConstraintInfo2* info) -{ - // this will be called by constraint solver at the constraint setup stage - // set current motor parameters - internalUpdateSprings(info); - // do the rest of job for constraint setup - btGeneric6DofConstraint::getInfo2(info); -} - - -void btGeneric6DofSpringConstraint::setAxis(const btVector3& axis1,const btVector3& axis2) -{ - btVector3 zAxis = axis1.normalized(); - btVector3 yAxis = axis2.normalized(); - btVector3 xAxis = yAxis.cross(zAxis); // we want right coordinate system - - btTransform frameInW; - frameInW.setIdentity(); - frameInW.getBasis().setValue( xAxis[0], yAxis[0], zAxis[0], - xAxis[1], yAxis[1], zAxis[1], - xAxis[2], yAxis[2], zAxis[2]); - - // now get constraint frame in local coordinate systems - m_frameInA = m_rbA.getCenterOfMassTransform().inverse() * frameInW; - m_frameInB = m_rbB.getCenterOfMassTransform().inverse() * frameInW; - - calculateTransforms(); -} - - - |